CN110099628B

CN110099628B - Laterally actuatable articulation locking arrangement for locking an end effector of a surgical instrument in an articulated configuration

Info

Publication number: CN110099628B
Application number: CN201780079791.3A
Authority: CN
Inventors: J·S·斯韦兹; F·E·谢尔顿四世; M·D·奥尔梅亚
Original assignee: Ethicon LLC
Current assignee: Ethicon LLC
Priority date: 2016-12-21
Filing date: 2017-12-14
Publication date: 2022-10-25
Anticipated expiration: 2037-12-14
Also published as: CN110099628A; BR112019012221A2; MX2019007424A; JP7046951B2; JP2020501786A

Abstract

The present disclosure relates to a surgical instrument that includes an elongate shaft having an end effector coupled thereto for selective articulation relative to the shaft. At least one articulation link is operably connected with the articulation motion source and is coupled to the surgical end effector to apply articulation motions thereto. An articulation locking member corresponds to each articulation link and is configured to be laterally movable into locking engagement with the corresponding articulation link from an unlocked position laterally adjacent the corresponding articulation link. An actuation system is operably connected with each of the articulation locking members to selectively move each articulation locking member laterally from an unlocked position into locking engagement with the corresponding articulation link.

Description

Laterally actuatable articulation locking arrangement for locking an end effector of a surgical instrument in an articulated configuration

Background

The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments designed to staple and cut tissue and staple cartridges for use therewith.

Drawings

Various features of the embodiments described herein, along with their advantages, may be understood from the following description in conjunction with the following drawings:

fig. 1 is a perspective view of an embodiment of an interchangeable surgical tool assembly operably coupled to an embodiment of a handle assembly.

FIG. 2 is an exploded assembly view of portions of the handle assembly and interchangeable surgical tool assembly of FIG. 1;

FIG. 3 is a perspective view of the interchangeable surgical tool assembly embodiment shown in FIGS. 1 and 2 with portions thereof omitted for clarity;

FIG. 4 is a perspective view of a proximal portion of the interchangeable surgical tool assembly embodiment of FIGS. 1-3 with portions thereof omitted for clarity;

FIG. 5 is an exploded assembly view of a proximal portion of the interchangeable surgical tool assembly of FIGS. 1-4;

FIG. 6 is an exploded assembly view of the distal portion of the interchangeable surgical tool assembly of FIGS. 1-5;

FIG. 7 illustrates the use of the interchangeable surgical tool assembly embodiment to perform a medical procedure known as inferior frontal resection in the human pelvic region;

FIG. 8 is a top view of a portion of the interchangeable surgical tool assembly shown in FIG. 7;

FIG. 9 is another top view of the interchangeable surgical tool assembly illustrated in FIG. 8, with portions thereof shown in cross-section;

FIG. 10 is a partial perspective view of the distal portion of the interchangeable surgical tool assembly of FIG. 9;

FIG. 11 is a cross-sectional view of the interchangeable surgical tool assembly of FIG. 10 taken along line 11-11 of FIG. 10;

FIG. 12 is a partial perspective view of a portion of another interchangeable surgical tool assembly;

FIG. 13 is a cross-sectional end view of a shaft assembly portion of another interchangeable surgical tool embodiment;

FIG. 14 is a cross-sectional end view of a shaft assembly portion of another interchangeable surgical tool embodiment;

FIG. 15 is a top cross-sectional view of a portion of an embodiment of an interchangeable surgical tool in an articulating configuration;

FIG. 15A is a top view of a portion of another surgical end effector and elongate shaft assembly arrangement with the surgical end effector in an unarticulated position (solid lines) and an articulated position (dashed lines);

FIG. 16 is a perspective view of a portion of an interchangeable surgical tool end effector employing an anvil cover to cover a portion of a firing member parking area within its end effector;

FIG. 17 is another perspective view of a portion of the surgical end effector of FIG. 16 with the anvil cover omitted for clarity;

FIG. 18 is a side elevational view of the surgical end effector of FIG. 16 with the anvil thereof in an open configuration;

FIG. 18A is a cross-sectional side view of the surgical end effector of FIG. 18;

FIG. 19 is a cross-sectional side view of the surgical end effector of FIG. 18 at the beginning of an anvil closure procedure;

FIG. 20 is another cross-sectional side view of the surgical end effector of FIGS. 18 and 19 with its anvil in a fully open position;

FIG. 20A is another cross-sectional side view of the surgical end effector of FIG. 20 after its firing member has advanced distally out of the firing member parking region;

FIG. 21 is a perspective view of a distal closure member embodiment;

FIG. 22 is a side view of a portion of an interchangeable surgical tool assembly employing the distal closure member of FIG. 21 with the anvil of the surgical end effector portion thereof in a fully closed position;

FIG. 23 is another side elevational view of a portion of the interchangeable surgical tool assembly of FIG. 22 with the distal closure member in an initial open position;

FIG. 24 is another side elevational view of a portion of the interchangeable surgical tool assembly of FIG. 22 with the distal closure member in another open position;

FIG. 25 is another side elevational view of a portion of the interchangeable surgical tool assembly of FIG. 22 with the anvil thereof in a fully open position;

FIG. 26 is a perspective view of another distal closure member embodiment;

FIG. 27 is a side view of another anvil embodiment;

FIG. 28 is a partial cross-sectional side view of another interchangeable surgical tool assembly employing the distal closure member of FIG. 26 and the anvil embodiment of FIG. 27 with the anvil in a fully closed position;

FIG. 29 is another partial cross-sectional side view of the interchangeable surgical tool assembly of FIG. 28 with the anvil thereof in a fully open position;

FIG. 30 is a perspective view of another distal closure member embodiment;

FIG. 31 is a partial cross-sectional side view of another interchangeable surgical tool assembly employing the distal closure member embodiment of FIG. 30 and with the anvil seat thereof in a fully open position;

FIG. 32 is a partial cross-sectional side view of another interchangeable surgical tool assembly with the anvil in a fully closed position;

FIG. 33 is another partial cross-sectional side view of the interchangeable surgical tool assembly of FIG. 32 with the anvil thereof in a fully open position;

FIG. 34 is a side elevational view of a portion of another interchangeable surgical tool assembly with the anvil in a fully closed position;

FIG. 35 is another side elevational view of a portion of the interchangeable surgical tool assembly of FIG. 34 with the anvil thereof in a fully open position;

FIG. 36 is a side elevational view of a portion of another interchangeable surgical tool assembly with its anvil in a fully closed position;

FIG. 37 is another side elevational view of a portion of the interchangeable surgical tool assembly of FIG. 36 with the anvil thereof in a partially open position;

FIG. 38 is a side elevational view of a portion of another interchangeable surgical tool assembly with its anvil in a fully closed position;

FIG. 39 is another side elevational view of a portion of the interchangeable surgical tool assembly of FIG. 38 with its anvil in a partially open position;

FIG. 40 is a bottom perspective view of a cam drive or slider assembly embodiment;

FIG. 41 is a top view of a portion of a surgical end effector embodiment with an unfired surgical staple cartridge installed therein and with its cam drive assembly in a starting position and in unlocked engagement with a firing member locking member;

FIG. 42 is a top view of a portion of the surgical end effector embodiment of FIG. 41 having an unfired surgical staple cartridge installed therein with the cam gear assembly in a start position and the firing member lock in locking engagement with the firing member;

FIG. 43 is an exploded perspective view of portions of an anvil, firing member, sled assembly and firing member lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 44 is a partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 43 with the firing member thereof omitted for clarity;

FIG. 45 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 44 with the unfired surgical staple cartridge properly seated in its surgical end effector, with its anvil in the open position and the firing member in the starting position;

FIG. 46 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 45 with the anvil in a fully closed position and the firing member in an initial firing position;

FIG. 47 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 45 with the anvil in the fully closed position and the firing member further advanced distally within the surgical end effector;

FIG. 48 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 47 with the anvil in a fully closed position and the firing member retracted to a starting position just prior to contacting the firing member lock;

FIG. 49 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 48 with the anvil in a fully closed position and the firing member retracted to a starting position after initially contacting the firing member lock;

FIG. 50 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 49 with the anvil in a fully closed position and the firing member retracted to a starting position;

FIG. 51 is a side cross-sectional view of a portion of another embodiment of an interchangeable surgical tool assembly with an unfired surgical staple cartridge loaded into its surgical end effector and a firing member in a starting position or configuration;

FIG. 52 is another side cross-sectional view of the interchangeable surgical tool assembly embodiment of FIG. 51 after the firing member has begun to advance distally through the surgical end effector;

FIG. 53 is another side cross-sectional view of the interchangeable surgical tool assembly embodiment of FIGS. 51 and 52 during retraction of the firing member to a starting position;

FIG. 54 is another side cross-sectional view of the interchangeable surgical tool assembly embodiment of FIGS. 51-53 after the firing member has been further retracted to the starting position;

FIG. 55 is another side cross-sectional view of the interchangeable surgical tool assembly embodiment of FIGS. 51-54 after the firing member has been fully retracted to a starting position;

FIG. 56 is an exploded perspective view of portions of a firing member, a slide assembly, a firing member and a firing member lockout member of another interchangeable surgical tool assembly embodiment;

FIG. 57 is a side cross-sectional view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 56 with the anvil of the surgical end effector in an open position and the firing member in a starting position prior to installation of an unfired surgical staple cartridge within the surgical end effector;

FIG. 58 is another side cross-sectional view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 57 with an unfired surgical staple cartridge installed in the surgical end effector and the anvil in a closed position;

FIG. 59 is a top cross-sectional view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 58 with the firing member locked in a disengaged configuration relative to the firing member;

FIG. 60 is another side cross-sectional view of a portion of the interchangeable surgical tool assembly embodiment of FIGS. 58 and 59 after initial distal advancement of the firing member;

FIG. 61 is another side cross-sectional view of a portion of the interchangeable surgical tool assembly embodiment of FIGS. 58 to 60 during retraction to a starting position;

FIG. 62 is a top view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 61;

FIG. 63 is another side cross-sectional view of a portion of the interchangeable surgical tool assembly embodiment of FIGS. 58-62 after the firing member has been fully retracted to a starting position and lockingly engaged with the firing member;

FIG. 64 is an exploded perspective view of portions of an articulation joint and articulation lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 65 is a perspective view of a lock spring assembly embodiment of the articulation lock embodiment of FIG. 64;

FIG. 66 is a top view of an end effector mounting assembly embodiment of the interchangeable surgical tool assembly of FIG. 64;

FIG. 67 is a top view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 64 with its surgical end effector in an unarticulated configuration;

FIG. 68 is another top view of the portion of the interchangeable surgical tool assembly embodiment of FIG. 67 upon initial application of articulation motion to the articulation joint;

FIG. 69 is a bottom view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 68;

FIG. 70 is another bottom view of the portion of the interchangeable surgical tool assembly embodiment of FIG. 69 with the surgical end effector in an articulated configuration;

FIG. 71 is an exploded perspective view of portions of an articulation joint and articulation lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 72 is a top view of an end effector mounting assembly embodiment of the interchangeable surgical tool assembly of FIG. 71;

FIG. 73 is a top view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 71 with its surgical end effector in an unarticulated configuration;

FIG. 74 is a partial cross-sectional view of a portion of the articulation lock embodiment of FIG. 73 taken along line 74-74 in FIG. 73;

FIG. 75 is another top view of the portion of the interchangeable surgical tool assembly embodiment of FIG. 73 with an articulation motion initially applied to the articulation joint;

FIG. 76 is another top view of the portion of the interchangeable surgical tool assembly embodiment of FIG. 75 with its surgical end effector in an articulated configuration and the articulation lock in an unlocked configuration;

FIG. 77 is another top view of the portion of the interchangeable surgical tool assembly embodiment of FIG. 75 with its surgical end effector in an articulation configuration and the articulation lock in a locked configuration;

FIG. 78 is an exploded perspective view of portions of an articulation joint and articulation lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 79 is a top view of a portion of the interchangeable surgical tool assembly embodiment of FIG. 78 with its surgical end effector in an unarticulated configuration;

FIG. 80 is a side cross-sectional view of the portion of the interchangeable surgical tool assembly of FIG. 79 taken along line 80-80 in FIG. 79;

FIG. 81 is another side cross-sectional view of the portion of the interchangeable surgical tool assembly of FIG. 80 with an articulation motion initially applied to its articulation lock;

FIG. 82 is another side cross-sectional view of the portion of the interchangeable surgical tool assembly of FIG. 81 with the articulation joint locked in place by the articulation lock;

FIG. 83 is an exploded perspective view of portions of a spine assembly, articulation joint and articulation lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 84 is a top view of the distal end of the spine assembly and a portion of the articulation locking arrangement of the interchangeable surgical tool assembly embodiment of FIG. 83;

FIG. 85 is an exploded perspective view of portions of a spine assembly, articulation joint and articulation lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 86 is another exploded perspective view of portions of the spine assembly and articulation joint and articulation lock of the interchangeable surgical tool assembly of FIG. 85;

FIG. 87 is a top cross-sectional view of the interchangeable surgical tool assembly of FIG. 85 with the surgical end effector in an unarticulated configuration;

FIG. 88 is another top cross-sectional view of the interchangeable surgical tool assembly of FIG. 87 with the surgical end effector thereof in an articulated configuration and the articulation lock in an unlocked configuration;

FIG. 89 is another top cross-sectional view of the interchangeable surgical tool assembly of FIG. 88 with the surgical end effector thereof in the articulation configuration and the articulation lock in the locked configuration;

FIG. 90 is an exploded perspective view of portions of a spine assembly, articulation joint and articulation lock embodiment of another interchangeable surgical tool assembly embodiment;

FIG. 91 is a top cross-sectional view of the interchangeable surgical tool assembly of FIG. 90 with its surgical end effector in an unarticulated configuration;

FIG. 92 is another top cross-sectional view of the interchangeable surgical tool assembly of FIG. 91 with the surgical end effector thereof in an articulated configuration and the articulation lock in an unlocked configuration;

FIG. 93 is a partial cross-sectional view of the articulation lock of FIG. 92 taken along line 93-93 in FIG. 92;

FIG. 94 is another top cross-sectional view of the interchangeable surgical tool assembly of FIG. 91 with the surgical end effector thereof in an articulation configuration and the articulation lock in a locked configuration;

FIG. 95 is a partial cross-sectional view of the articulation lock of FIG. 94 taken along line 95-95 in FIG. 94;

FIG. 96 is a perspective view of a portion of an articulation travel multiplier embodiment;

FIG. 97 is a cross-sectional end view of the shaft assembly of the interchangeable surgical tool assembly embodiment with the articulation stroke multiplier embodiment of FIG. 96;

FIG. 98A is a top view of a portion of the articulation travel multiplier embodiment of FIG. 96 in an unactuated configuration;

FIG. 98B is another top view of the portion of the articulation stroke multiplier of FIG. 98A after axial articulation motion has been applied thereto in the first axial direction;

FIG. 98C is another top view of the portion of the articulation stroke multiplier of FIG. 98A after another axial articulation motion is applied thereto in the second axial direction;

FIG. 99A is a top cross-sectional view of a portion of a shaft assembly of an interchangeable surgical tool assembly embodiment with another articulation stroke multiplier embodiment in an unactuated configuration;

FIG. 99B is another top cross-sectional view of the shaft assembly and articulation stroke multiplier of FIG. 99A after axial articulation motions have been applied thereto in a first axial direction;

FIG. 99C is a top cross-sectional view of a portion of a shaft assembly of another interchangeable surgical tool assembly embodiment with another articulation stroke multiplier embodiment in an unactuated configuration;

FIG. 99D is another top cross-sectional view of the shaft assembly and articulation stroke multiplier of FIG. 99C after axial articulation motions have been applied thereto in a first axial direction;

FIG. 100 is an exploded perspective view of the channel and staple cartridge;

FIG. 101 is a front view of the channel and staple cartridge of FIG. 100;

FIG. 102 is a cross-sectional elevation view of the channel and staple cartridge of FIG. 100 taken along the plane indicated in FIG. 101;

FIG. 103 is an exploded perspective view of the channel and staple cartridge;

FIG. 104 is a front view of the staple cartridge of FIG. 103;

FIG. 105 is a cross-sectional elevation view of the channel and staple cartridge of FIG. 103 taken along the plane indicated in FIG. 104;

FIG. 106 is an exploded elevation view of the channel and staple cartridge;

FIG. 107 is a front view of the channel and staple cartridge of FIG. 106, showing the staple cartridge fully installed in the channel;

FIG. 108 is an exploded elevation view of the channel and staple cartridge;

FIG. 109 is a front view of the channel and staple cartridge of FIG. 108, showing the staple cartridge fully installed in the channel;

FIG. 110 is a front view of the staple cartridge of FIG. 106 and the channel of FIG. 108, showing the staple cartridge not fully installed in the channel;

FIG. 111 is a perspective view of a portion of a staple cartridge;

FIG. 112 is a perspective view of a portion of a staple cartridge;

FIG. 113 is a perspective view of the end effector; and is

Fig. 114 and 115 show tables of identifications for different types of end effectors.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

Detailed Description

The applicants of the present application have the following U.S. patent applications filed on December 21 of 2016, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/386,185 entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF";

-U.S. patent application Ser. No. 15/386,221 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS";

U.S. patent application Ser. No. 15/386,209 entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF";

U.S. patent application Ser. No. 15/386,198 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES"; and

U.S. patent application Ser. No. 15/386,240 entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR";

U.S. patent application Ser. No. 15/385,939 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,941 entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ICULATION AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,943 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,950 entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES";

U.S. patent application Ser. No. 15/385,945 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,946 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,951 entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE";

U.S. patent application Ser. No. 15/385,953 entitled "METHODS OF STAPLING TISSUE";

U.S. patent application Ser. No. 15/385,954 entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS";

-U.S. patent application Ser. No. 15/385,955 entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS";

U.S. patent application Ser. No. 15/385,948 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS";

U.S. patent application Ser. No. 15/385,956 entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES";

U.S. patent application Ser. No. 15/385,958 entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTIONATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT"; and

U.S. patent application Ser. No. 15/385,947 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,896 entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";

U.S. patent application Ser. No. 15/385,898 entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES";

U.S. patent application Ser. No. 15/385,899 entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL";

U.S. patent application Ser. No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN";

U.S. patent application Ser. No. 15/385,902 entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER";

U.S. patent application Ser. No. 15/385,904 entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT";

-U.S. patent application Ser. No. 15/385,905 entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT";

U.S. patent application Ser. No. 15/385,907 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT";

-U.S. patent application Ser. No. 15/385,908 entitled "FIRING ASSEMBLY COMPRISING A FUSE"; and

U.S. patent application Ser. No. 15/385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE";

-U.S. patent application Ser. No. 15/385,920, entitled "STAPLE FORMING POCKET ARRANGEMENTS";

U.S. patent application Ser. No. 15/385,913 entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS";

U.S. patent application Ser. No. 15/385,914 entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";

U.S. patent application Ser. No. 15/385,893 entitled "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS";

U.S. patent application Ser. No. 15/385,929 entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,911 entitled "SURGICAL STAPLERS WITH INDEPENDENTLY ACTITABLE CLOSING AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES";

U.S. patent application Ser. No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS";

U.S. patent application Ser. No. 15/385,900 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS";

-U.S. patent application Ser. No. 15/385,931 entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLERS";

-U.S. patent application serial No. 15/385,915 entitled "fixing MEMBER PIN ANGLE";

U.S. patent application Ser. No. 15/385,897 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES";

U.S. patent application Ser. No. 15/385,922 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES";

U.S. patent application Ser. No. 15/385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";

U.S. patent application Ser. No. 15/385,912 entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,910 entitled "ANVIL HAVING A KNIFE SLOT WIDTH";

U.S. patent application Ser. No. 15/385,903 entitled "CLOSURE MEMBERGEMENTS FOR SURGICAL INSTRUMENTS"; and

-U.S. patent application serial No. 15/385,906 entitled "fixing MEMBER PIN CONFIGURATIONS";

U.S. patent application Ser. No. 15/386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES";

U.S. patent application Ser. No. 15/386,192 entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES";

-U.S. patent application Ser. No. 15,386,206 entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES";

U.S. patent application Ser. No. 15/386,226 entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/386,222 entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES"; and

U.S. patent application Ser. No. 15/386,236 entitled "connecting ports FOR dispiable LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/385,887 entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND ALTERNATIVELY, TO A SURGICAL ROBOT";

U.S. patent application Ser. No. 15/385,889 entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM";

U.S. patent application Ser. No. 15/385,890 entitled "SHAFT ASSEMBLY COMPRISING SECONATE ACTUATABLE AND RETRACTABLE SYSTEMS";

U.S. patent application Ser. No. 15/385,891 entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS";

U.S. patent application Ser. No. 15/385,892 entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM";

-U.S. patent application Ser. No. 15/385,894 entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT"; and

U.S. patent application Ser. No. 15/385,895 entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS";

applicants of the present application have the following U.S. patent applications filed on December 21 of 2016, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/385,916 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,918 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,919 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,921 entitled "SURGICAL STAPLE CARTRIDGE WITH Movable CAMMING MEMBER CONFIG. TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES";

U.S. patent application Ser. No. 15/385,923 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,925 entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLES AN FIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR";

-U.S. patent application Ser. No. 15/385,926 entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 15/385,928 entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOBILE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT";

U.S. patent application Ser. No. 15/385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";

U.S. patent application Ser. No. 15/385,932 entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT";

U.S. patent application Ser. No. 15/385,933 entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK";

U.S. patent application Ser. No. 15/385,934 entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTION OF A JAW CLOSURE SYSTEM"; and

U.S. patent application Ser. No. 15/385,936 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES";

The applicants of the present application have the following U.S. patent applications filed on June 24 of 2016 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/191,775 entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES";

U.S. patent application Ser. No. 15/191,807 entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES";

U.S. patent application Ser. No. 15/191,834 entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME";

U.S. patent application Ser. No. 15/191,788 entitled "STAPLE CARTRIDGE COMPRISING OVERDRIN STAPLES"; and

-U.S. patent application Ser. No. 15/191,818 entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS";

U.S. design patent application Ser. No. 29/569,218 entitled "SURGICAL FASTENER";

U.S. design patent application Ser. No. 29/569,227 entitled "SURGICAL FASTENER";

U.S. design patent application Ser. No. 29/569,259 entitled "SURGICAL FASTENER CARTRIDGE"; and

U.S. design patent application Ser. No. 29/569,264 entitled "SURGICAL FASTENER CARTRIDGE".

The applicants of the present application have the following patent applications filed on April 1 of 2016 and each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/089,325 entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM";

U.S. patent application Ser. No. 15/089,321 entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY";

U.S. patent application Ser. No. 15/089,326 entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

U.S. patent application Ser. No. 15/089,263 entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION";

U.S. patent application Ser. No. 15/089,262 entitled "Rolling Power weighted accumulation Induction WITH Manual active BAILOUT SYSTEM";

U.S. patent application Ser. No. 15/089,277 entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER";

U.S. patent application Ser. No. 15/089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";

U.S. patent application Ser. No. 15/089,258 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTTABLE TRANSMISSION";

U.S. patent application Ser. No. 15/089,278 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE";

U.S. patent application Ser. No. 15/089,284 entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT";

U.S. patent application Ser. No. 15/089,295 entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT";

U.S. patent application Ser. No. 15/089,300 entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";

U.S. patent application Ser. No. 15/089,196 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT";

U.S. patent application Ser. No. 15/089,203 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT";

U.S. patent application Ser. No. 15/089,210 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT";

U.S. patent application Ser. No. 15/089,324 entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM";

U.S. patent application Ser. No. 15/089,335 entitled "SURGICAL STAPLING INSTRUMENTS COMPLEMENTING MULTIPLE LOCKOUTS";

U.S. patent application Ser. No. 15/089,339 entitled "SURGICAL STAPLING INSTRUMENT";

U.S. patent application Ser. No. 15/089,253 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS";

U.S. patent application Ser. No. 15/089,304 entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET";

U.S. patent application Ser. No. 15/089,331 entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS";

U.S. patent application Ser. No. 15/089,336 entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES";

-U.S. patent application Ser. No. 15/089,312 entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT";

-U.S. patent application Ser. No. 15/089,309 entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and

U.S. patent application Ser. No. 15/089,349 entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL".

The applicant of the present application also owns the following identified U.S. patent applications filed on 31 december 2015 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/984,488 entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 14/984,525 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/984,552 entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CICUITS".

The applicant of the present application also owns the following identified U.S. patent applications filed in february 9 of 2016, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/019,220 entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR";

U.S. patent application Ser. No. 15/019,228 entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

U.S. patent application Ser. No. 15/019,206 entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGGATE SHAFT ASSEMBLY";

U.S. patent application Ser. No. 15/019,215 entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,227 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,235 entitled "SURGICAL INSTRUMENTS WITH TESTIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS";

U.S. patent application Ser. No. 15/019,230 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; and

U.S. patent application Ser. No. 15/019,245 entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

The applicant of the present application also owns the following identified U.S. patent applications filed in february 12 of 2016, each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/043,254 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,259 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,275 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 15/043,289 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicants of the present application have the following patent applications filed on june 18 of 2015 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS";

U.S. patent application Ser. No. 14/742,941 entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES";

U.S. patent application Ser. No. 14/742,914 entitled "moving File SUPPORT FOR aircraft minor requirements";

U.S. patent application Ser. No. 14/742,900 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT";

U.S. patent application Ser. No. 14/742,885 entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/742,876 entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS".

The applicants of the present application have the following patent applications filed on march 6 of 2015 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/640,746 entitled "POWER SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0256184;

U.S. patent application Ser. No. 14/640,795 entitled "Multi LEVEL sheets OF heated TO modified OPERATION OF heated INSTRUMENTS; now U.S. patent application publication 2016/02561185;

U.S. patent application Ser. No. 14/640,832 entitled "ADAPTIVE time Equipment System FOR detecting TO ADJUST the time FOR MULTIPLE time Equipment TYPES", now U.S. patent application publication 2016/0256154;

U.S. patent application Ser. No. 14/640,935 entitled "OVERAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION", now U.S. patent application publication 2016/0256071;

U.S. patent application Ser. No. 14/640,831 entitled "MONITORING SPEED CONTROL AND PRECISION INCREASING OF MOTOR FOR POWER SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0256153;

U.S. patent application Ser. No. 14/640,859 entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STATIONITY, CREEP, AND VISCELATIC ELEMENTS OF MEASURES", now U.S. patent application publication 2016/0256187;

-U.S. patent application serial No. 14/640,817 entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0256186;

U.S. patent application Ser. No. 14/640,844 entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE", now U.S. patent application publication 2016/0256155;

U.S. patent application Ser. No. 14/640,837 entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING", now U.S. patent application publication 2016/0256163;

U.S. patent application Ser. No. 14/640,765 entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER," now U.S. patent application publication 2016/0256160;

U.S. patent application Ser. No. 14/640,799 entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", now U.S. patent application publication 2016/0256162; and

U.S. patent application Ser. No. 14/640,780 entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING," now U.S. patent application publication 2016/0256161;

applicants of the present application own the following patent applications filed in february 27 of 2015 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPLISING AN INSPECTION STATION," now U.S. patent application publication 2016/0249919;

U.S. patent application Ser. No. 14/633,546 entitled "SURGICAL APPATUS CONFIRORRED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now U.S. patent application publication 2016/0249915;

U.S. patent application Ser. No. 14/633,560 entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES", now U.S. patent application publication 2016/0249910;

U.S. patent application Ser. No. 14/633,566 entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTION FOR CHARGING A BATTERY", now U.S. patent application publication 2016/0249918;

U.S. patent application Ser. No. 14/633,555 entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED," now U.S. patent application publication 2016/0249916;

U.S. patent application Ser. No. 14/633,542 entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249908;

U.S. patent application Ser. No. 14/633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249909;

U.S. patent application Ser. No. 14/633,526, entitled "ADAPTABLE SURGICAL INSTRUMENTT HANDLE," now U.S. patent application publication 2016/0249945;

U.S. patent application Ser. No. 14/633,541 entitled MODULAR STAPLING ASSEMBLY, now U.S. patent application publication 2016/0249927; and

U.S. patent application Ser. No. 14/633,562 entitled "SURGICAL APPATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER", now U.S. patent application publication 2016/0249917;

The applicants of the present application own the following patent applications filed on 18 th december 2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS SYSTEM ENGTHENING AN ARTICULATED EFFECTOR AND MEANS FOR ADJUSE THE FIRING STROKE OF A FIRING MEMBER", now U.S. patent application publication 2016/0174977;

U.S. patent application Ser. No. 14/574,483 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING LOCKABLE SYSTEMS", now U.S. patent application publication 2016/0174969;

U.S. patent application Ser. No. 14/575,139 entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0174978;

U.S. patent application Ser. No. 14/575,148 entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS", now U.S. patent application publication 2016/0174976;

U.S. patent application Ser. No. 14/575,130 entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE", now U.S. patent application publication 2016/0174972;

U.S. patent application Ser. No. 14/575,143 entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS," now U.S. patent application publication 2016/0174983;

U.S. patent application Ser. No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FILING BEAM SUPPORT ARRANGEMENTS", now U.S. patent application publication 2016/0174975;

U.S. patent application Ser. No. 14/575,154 entitled "SURGICAL INSTRUMENTS WITH ARTICULATED END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS", now U.S. patent application publication 2016/0174973;

U.S. patent application Ser. No. 14/574,493 entitled "SURGICAL INSTRUMENT ASSEMBLING A FLEXIBLE ARTICULATION SYSTEM", now U.S. patent application publication 2016/0174970; and

U.S. patent application Ser. No. 14/574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM," now U.S. patent application publication 2016/0174971.

The applicants of the present application own the following patent applications filed on march 1 of 2013 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/782,295 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUTIVE PATHWAYS FOR SIGNAL COMMUNICATION", now U.S. patent application publication 2014/0246471;

U.S. patent application Ser. No. 13/782,323 entitled "ROTARY POWER ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/0246472;

U.S. patent application Ser. No. 13/782,338 entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/0249557;

U.S. patent application Ser. No. 13/782,499 entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT", now U.S. Pat. No. 9,358,003;

U.S. patent application Ser. No. 13/782,460 entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0246478;

U.S. patent application Ser. No. 13/782,358 entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS", now U.S. patent 9,326,767;

-U.S. patent application Ser. No. 13/782,481 entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR", now U.S. Pat. No. 9,468,438;

U.S. patent application Ser. No. 13/782,518 entitled "CONTROL METHOD FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now U.S. patent application publication 2014/0246475;

U.S. patent application Ser. No. 13/782,375 entitled "Rolling Power weighted accumulation INSTRUMENTS WITH MULTIPLE layers OF FREEDOM", now U.S. patent 9,398,911; and

U.S. patent application Ser. No. 13/782,536 entitled "SURGICAL INSTRUMENT SOFT STOP", now U.S. patent 9,307,986.

The applicant of the present application also owns the following patent applications filed on 14 march 2013 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. patent application publication 2014/0263542;

U.S. patent application Ser. No. 13/803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now U.S. Pat. No. 9,332,987;

U.S. patent application Ser. No. 13/803,053 entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263564;

U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPLIMENTING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541;

U.S. patent application Ser. No. 13/803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263538;

U.S. patent application Ser. No. 13/803,148 entitled "Multi-functional Motor FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263554;

U.S. patent application Ser. No. 13/803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263565;

U.S. patent application Ser. No. 13/803,117 entitled "ARTICULATION CONTROL FOR ARTICULATE SURGICAL INSTRUMENTS," now U.S. Pat. No. 9,351,726;

U.S. patent application Ser. No. 13/803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. Pat. No. 9,351,727; and

U.S. patent application Ser. No. 13/803,159 entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0277017.

The applicant of the present application also owns the following patent applications filed on march 7 2014 and incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/0263539.

The applicant of the present application also owns the following patent applications filed on march 26 2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/226,106 entitled "POWER MANAGEMENT CONTROL SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272582;

U.S. patent application Ser. No. 14/226,099 entitled "STERILIZATION VERIFICATION CICUIT", now U.S. patent application publication 2015/0272581;

U.S. patent application Ser. No. 14/226,094 entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT", now U.S. patent application publication 2015/0272580;

U.S. patent application Ser. No. 14/226,117 entitled "POWER MANAGEMENT THROUGH SLOPEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now U.S. patent application publication 2015/0272574;

U.S. patent application Ser. No. 14/226,075 entitled "MODULAR POWER SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now U.S. patent application publication 2015/0272579;

U.S. patent application Ser. No. 14/226,093 entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272569;

U.S. patent application Ser. No. 14/226,116 entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now U.S. patent application publication 2015/0272571;

U.S. patent application Ser. No. 14/226,071 entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR", now U.S. patent application publication 2015/0272578;

U.S. patent application Ser. No. 14/226,097 entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now U.S. patent application publication 2015/0272570;

U.S. patent application Ser. No. 14/226,126 entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272572;

U.S. patent application Ser. No. 14/226,133 entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now U.S. patent application publication 2015/0272557;

U.S. patent application Ser. No. 14/226,081 entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now U.S. patent application publication 2015/0277471;

U.S. patent application Ser. No. 14/226,076 entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION", now U.S. patent application publication 2015/0280424;

U.S. patent application Ser. No. 14/226,111 entitled "SURGICAL STAPLING INSTRUMENTS SYSTEM", now U.S. patent application publication 2015/0272583; and

U.S. patent application Ser. No. 14/226,125 entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now U.S. patent application publication 2015/0280384.

The applicant of the present application also owns the following patent applications filed on September 5 of 2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/479,103 entitled "CIRCUITRY AND SENSORS FOR POWER MEDICAL DEVICE," now U.S. patent application publication 2016/0066912;

U.S. patent application Ser. No. 14/479,119 entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION", now U.S. patent application publication 2016/0066914;

U.S. patent application Ser. No. 14/478,908 entitled "MONITORING DEVICE DEGRADATION BASE COMPENSATION", now U.S. patent application publication 2016/0066910;

U.S. patent application Ser. No. 14/478,895 entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR' S OUTPUT OR INTERPRETATION", now U.S. patent application publication 2016/0066909;

U.S. patent application Ser. No. 14/479,110 entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", now U.S. patent application publication 2016/0066915;

U.S. patent application Ser. No. 14/479,098 entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION", now U.S. patent application publication 2016/0066911;

U.S. patent application Ser. No. 14/479,115 entitled "MULTIPLE MOTOR CONTROL FOR POWER MEDICAL DEVICE," now U.S. patent application publication 2016/0066916; and

U.S. patent application Ser. No. 14/479,108 entitled "LOCAL DISPLAY OF TIMSSUE PARAMETER STABILIZATION", now U.S. patent application publication 2016/0066913.

The applicant of the present application also owns the following patent applications filed on april 9 of 2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/248,590 entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now U.S. patent application publication 2014/0305987;

-U.S. patent application Ser. No. 14/248,581 entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now U.S. patent application publication 2014/0305989;

-U.S. patent application Ser. No. 14/248,595 entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCH FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305988;

-U.S. patent application Ser. No. 14/248,588 entitled "POWER LINEAR SURGICAL STAPLER", now U.S. patent application publication 2014/0309666;

-U.S. patent application Ser. No. 14/248,591 entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305991;

U.S. patent application Ser. No. 14/248,584 entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now U.S. patent application publication 2014/0305994;

-U.S. patent application serial No. 14/248,587 entitled "POWERED minor platform," now U.S. patent application publication 2014/0309665;

U.S. patent application Ser. No. 14/248,586 entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305990; and

U.S. patent application Ser. No. 14/248,607 entitled MODULAR MOTOR DRIVE SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now U.S. patent application publication 2014/0305992.

The applicant of the present application also owns the following patent applications filed on april 16 of 2013 and each incorporated herein by reference in their entirety:

U.S. provisional patent application Ser. No. 61/812,365 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTION PERFORED BY A SINGLE MOTOR";

U.S. provisional patent application Ser. No. 61/812,376 entitled "LINEAR CUTTER WITH POWER";

U.S. provisional patent application Ser. No. 61/812,382 entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP";

U.S. provisional patent application Ser. No. 61/812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTIVITION MOTORS AND MOTOR CONTROL"; and

U.S. provisional patent application Ser. No. 61/812,372 entitled "SURGICAL INSTRUMENT WITH MULTI FUNCTION PERFORED BY A SINGLE MOTOR".

Numerous specific details are set forth herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and illustrated in the accompanying drawings. Well-known operations, components and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples and that specific structural and functional details disclosed herein are representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

The term "comprises" (and any form of "comprising", such as "comprises" and "comprising)", "has" (and "has)", such as "has" and "has)", "contains" (and any form of "containing", such as "comprises" and "containing)", and "containing" (and any form of "containing", such as "containing" and "containing", are open-ended verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "contains," or "contains" one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, apparatus, or device that "comprises," "has," "includes," or "contains" one or more features has those one or more features, but is not limited to having only those one or more features.

The terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in a variety of surgical procedures and applications, including, for example, in conjunction with open surgical procedures. With continued reference to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural orifice, through an incision or puncture formed in tissue, and the like. The working or end effector portion of the instrument may be inserted directly into a patient or may be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

A surgical stapling system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. A staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable or at least easily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to allow the end effector to rotate or articulate relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored in the cartridge body can then be deployed into tissue. The cartridge body includes staple cavities defined therein, wherein the staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of the staple cavities and staples are possible.

The staples are supported by staple driving devices in the cartridge body. The drive device is movable between a first, or unfired position and a second, or fired position to eject the staples from the staple cartridge. The drive is retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes an elastic member configured to grip the cartridge body and retain the retainer to the cartridge body. The drive device is movable between its unfired position and its fired position by the sled. The slider is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramp surfaces configured to slide under the drive device toward the anvil and lift the drive device, and the staples are supported on the drive device.

In addition to the above, the sled can be moved distally by the firing member. The firing member is configured to contact the sled and urge the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive a firing member. The anvil also includes a slot configured to receive the firing member. The firing member also includes a first cam that engages the first jaw and a second cam that engages the second jaw. The first and second cams can control a distance or tissue gap between a deck of the staple cartridge and the anvil as the firing member is advanced distally. The firing member also includes a knife configured to incise tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the ramp surface so that the staples are ejected prior to the knife.

Fig. 1 illustrates one form of an interchangeable surgical tool assembly 1000 operably coupled to a motor drive handle assembly 500. The interchangeable surgical tool assembly 1000 may also be effectively employed with a tool drive assembly of a robotically controlled or automated surgical system. For example, the SURGICAL tool assemblies disclosed herein may be employed WITH various robotic systems, INSTRUMENTS, components, and methods disclosed in, such as but not limited to, U.S. patent 9,072,535, entitled "SURGICAL station inserting INSTRUMENTS WITH robotic station systems and methods," which is hereby incorporated by reference in its entirety. The handle assembly 500 and the tool drive assembly of the robotic system may also be referred to herein as a "control system" or "control unit".

Fig. 2 illustrates the attachment of an interchangeable surgical tool assembly 1000 to a handle assembly 500. The handle assembly 500 may include a handle housing 502 including a pistol grip portion 504 that may be grasped and manipulated by a clinician. The handle assembly 500 may also include a frame 506 that operatively supports a plurality of drive systems. For example, the frame 506 operably supports a "first" or closure drive system, generally designated 510, which may be employed to operatively apply a closing motion and an opening motion to the interchangeable surgical tool assembly 1000 attached or coupled to the handle assembly 500. In at least one form, the closure drive system 510 can include an actuator in the form of a closure trigger 512 pivotally supported by the frame 506. Such a configuration enables the closure trigger 512 to be manipulated by the clinician such that when the clinician grips the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 can be easily pivoted from the activated or "unactuated" position to the "actuated" position and more specifically to the fully compressed or fully actuated position. In various forms, the closure drive system 510 also includes a closure linkage assembly 514 that is pivotally coupled to or otherwise operatively connected with the closure trigger 512. As will be discussed in further detail below, in the illustrated example, the closure link assembly 514 includes a lateral attachment pin 516 that facilitates attachment to a corresponding drive system on the surgical tool assembly. In use, to actuate the closure drive system 510, the clinician depresses the closure trigger 512 toward the pistol grip portion 504. As described in further detail in U.S. patent application Ser. No. 14/226,142, entitled "SURGICAL INSTRUMENT COMPLEMENTING A SENSOR SYSTEM," now U.S. patent application publication 2015/0272575, which is hereby incorporated by reference in its entirety, the closure drive SYSTEM 510 is configured to lock the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to obtain a "full" closure stroke. When the clinician desires to unlock the closure trigger 512 to allow it to be biased to the unactuated position, the clinician need only activate the closure release button assembly 518, which enables the closure trigger 512 to return to the unactuated position. The closure release button assembly 518 may also be configured to interact with various sensors that communicate with the microcontroller 520 in the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the configuration and operation of the closure trigger 518 can be found in U.S. patent application publication 2015/0272575.

In at least one form, the handle assembly 500 and the frame 506 can operably support another drive system, referred to herein as a firing drive system 530, that is configured to apply an axial or firing motion to the corresponding portion of the interchangeable surgical tool assembly attached thereto. As described in detail in U.S. patent application publication 2015/0272575, the firing drive system 530 may employ an electric motor 505 located in the pistol grip portion 504 of the handle assembly 500. In various forms, the motor 505 may be, for example, a dc brushed driving motor having a maximum rotation of about 25,000RPM. In other constructions, the motor 505 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 505 may be powered by a power source 522, which in one form may comprise a removable power pack. The power pack may support a plurality of lithium ion ("LI") or other suitable batteries therein. A plurality of batteries connected in series may be used as the power source 522 of the handle assembly 500. In addition, the power source 522 may be replaceable and/or rechargeable.

The electric motor 505 is configured to axially drive the longitudinally movable drive member 540 in the distal and proximal directions depending on the polarity of the motor. For example, when the motor 505 is driven in one rotational direction, the longitudinally movable drive member 540 will be driven axially in the distal direction "DD". When the motor 505 is driven in the opposite rotational direction, the longitudinally movable drive member 540 will be driven axially in the proximal direction "PD". The handle assembly 500 may include a switch 513, which may be configured to reverse the polarity applied to the electric motor 505 by the power source 522 or otherwise control the motor 505. The handle assembly 500 may further include one or more sensors (not shown) configured to detect the position of the drive member 540 and/or the direction in which the drive member 540 is moving. Actuation of the motor 505 may be controlled by a firing trigger 532 pivotally supported on the handle assembly 500. The firing trigger 532 may be pivotable between an unactuated position and an actuated position. The firing trigger 532 may be biased to an unactuated position by a spring (not shown) or other biasing arrangement such that when the clinician releases the firing trigger 532, it may be pivoted by the spring or biasing structure to or otherwise returned to the unactuated position. In at least one form, the firing trigger 532 may be positioned "outboard" of the closure trigger 512 as described above. As discussed in U.S. patent application publication 2015/0272575, the handle assembly 500 may be equipped with a firing trigger safety button (not shown) to prevent inadvertent actuation of the firing trigger 532. When the closure trigger 512 is in the unactuated position, the safety button is housed in the handle assembly 500, in which case the safety button is not readily accessible to the clinician and moved between a safety position preventing actuation of the firing trigger 532 and a firing position in which the firing trigger 532 may be fired. When the clinician presses the closure trigger 512, the safety button and firing trigger 532 may be pivoted downward and may then be manipulated by the clinician.

In at least one form, the longitudinally movable drive member 540 can have a gear rack (not shown) formed thereon for meshing engagement with a corresponding drive gear arrangement (not shown) connected to the motor 505. More details regarding these features can be found in U.S. patent application publication 2015/0272575. At least one form further includes a manually actuatable "rescue" assembly configured to enable a clinician to manually retract the longitudinally movable drive member 540 in the event the motor 505 becomes disabled. The rescue assembly may comprise a lever or rescue handle assembly that is stored within the handle assembly 500 below the release door 550. The lever is configured to be manually pivotable into engagement with a toothed ratchet in the drive member 540. Thus, the clinician may manually retract the drive member 540 by using the rescue handle assembly to engage the drive member 540 in the proximal direction PD. U.S. patent application serial No. 12/249,117 entitled "POWERED SURGICAL therapy AND STAPLING APPARATUS WITH manual revtable FIRING SYSTEM" (now U.S. patent application publication 2010/0089970, the entire disclosure of which is hereby incorporated by reference herein) discloses a rescue arrangement and other components, arrangements and systems that may also be employed WITH the tool assembly 1000.

Turning now to fig. 5 and 6, the interchangeable surgical tool assembly 1000 includes a shaft mounting portion 1300 that is operably attached to an elongate shaft assembly 1400. A surgical end effector 1100 including an elongate channel 1102 is operably attached to the elongate shaft assembly 1400, wherein the elongate channel is configured to operably support a surgical staple cartridge 1150 therein. See fig. 3 and 6. The surgical end effector 1100 may also include an anvil 1130 that is pivotally supported relative to the elongate channel 1102. The elongate channel 1102 in which the staple cartridge 1150 is mounted and the anvil 1130 may also be referred to as end effector "jaws". The interchangeable surgical tool assembly 1000 can further include an articulation joint 1200 and an articulation lock 1210 (fig. 3 and 6) that can be configured to releasably retain the surgical end effector 1100 in a desired articulation position about an articulation axis B-B (transverse to the shaft axis SA). Much of the details regarding the construction and operation of the ARTICULATION LOCK 1210 can be found in U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENTS COMPLIMING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541, the entire disclosure of which is hereby incorporated by reference herein. Additional details regarding ARTICULATION lock 1210 may also be found in U.S. patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT" filed on February 9 of 2016, the entire disclosure of which is hereby incorporated by reference herein.

As shown in fig. 5 and 6, shaft mounting portion 1300 includes a proximal housing or nozzle 1301 comprised of

nozzle portions

1302, 1304 and an actuator wheel portion 1306 configured to be coupled to the assembled

nozzle portions

1302, 1304 by snaps, ears, screws, or the like. In the illustrated embodiment, interchangeable surgical tool assembly 1000 further includes a closure assembly 1406 which can be used to close and/or open anvil 1130 relative to elongate channel 1102 of surgical end effector 1100, as will be described in further detail below. In addition, the illustrated interchangeable surgical tool assembly 1000 includes a spine assembly 1500 that operably supports an articulation lock 1210. The spine assembly 1500 is configured to: first, a firing member assembly 1600 slidably supported therein; second, a closure assembly 1406 that extends around or is otherwise movably supported by spine assembly 1500 is slidably supported.

In the illustrated arrangement, the surgical end effector 1100 is operably coupled to the elongate shaft assembly 1400 by an articulation joint 1200 that facilitates selective articulation of the surgical end effector 1100 about an articulation axis B-B that is transverse to the shaft axis SA. See fig. 1. As shown in fig. 5 and 6, the spine assembly 1500 slidably supports a proximal articulation driver 1700 that is operably coupled to an articulation lock 1210. The articulation lock 1210 is supported on a distal frame segment 1560 that also includes a portion of the spine assembly 1500. As seen in fig. 6, the distal frame segment 1560 includes a distal spine extension 1562 that is pivotally coupled to the elongate channel 1102 by an end effector mounting assembly 1230. For example, in one arrangement, the distal end 1563 of the distal frame segment 1560 has a spine attachment pin 1564 formed thereon. Spine attachment pin 1564 is adapted to be pivotally received within spine attachment aperture 1234 formed in end effector mounting assembly 1230. See fig. 6.

Referring again to fig. 6, in the illustrated embodiment, the proximal articulation driver 1700 has a distal end 1702 configured to operably engage the articulation lock 1210. The articulation lock 1210 includes an articulation frame 1212 that is pivotally coupled or pinned to a distal articulation link 1710 that is also configured to pivotally attach to the end effector mounting assembly 1230. Specifically, as shown in fig. 6, the distal end 1712 of the distal articulation link 1710 includes an articulation pin 1714 that is configured to be pivotally received within a corresponding articulation hole 1236 in the end effector mounting assembly 1230. The distal articulation link 1710 is slidably supported by the distal spine extension 1562. The end effector mounting assembly 1230 is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 that extends through a transverse mounting hole 1231 in the end effector mounting assembly 1230 to be received within a channel or jaw mounting hole 1106 provided in the proximal end 1103 of the elongate channel 1102. The spine attachment pin 1564 defines an articulation axis B-B that is transverse to the shaft axis SA. Such an arrangement facilitates pivotal travel (i.e., articulation) of the surgical end effector 1100 relative to the spine assembly 1500 about an articulation axis B-B. As mentioned above, more details regarding the operation of articulation lock 1210 and articulation frame 1212 may be found in U.S. patent application Ser. No. 13/803,086, now U.S. patent application publication 2014/0263541.

In various instances, spine assembly 1500 also includes an intermediate spine segment 1510 attached to a distal frame segment 1560 of articulation lock 1210. Spine assembly 1500 also includes a proximal spine mounting segment 1530 that includes a proximal end portion 1532 having opposing notches 1535 (only one visible in fig. 5) for receiving corresponding mounting ears 1308 (as shown in fig. 4) projecting inwardly from each

nozzle portion

1302, 1304. Such an arrangement facilitates rotation of the proximal spine assembly 1500 about the shaft axis SA by rotating the nozzle 1301 about the shaft axis SA. The interchangeable surgical tool assembly 1000 includes a base 1800 that rotatably supports the shaft assembly 1400. The proximal portion 1532 of the proximal spine mounting segment is rotatably supported in a central axial bore 1801 formed in the base 1800. See fig. 5. For example, in one arrangement, the proximal portion 1532 has threads 1533 thereon to facilitate attachment to a spine bearing (not shown) or otherwise support in a spine bearing mounted within the base 1800. Such an arrangement facilitates rotatable attachment of the spine assembly 1500 to the base 1800 such that the spine assembly 1500 may be selectively rotated relative to the base 1800 about the shaft axis SA.

The closure assembly 1406 includes an elongate proximal closure member 1410 and a distal closure member 1430. In the illustrated arrangement, the proximal closure member 1410 comprises a hollow tubular member that is slidably supported on the spine assembly 1500. Accordingly, the proximal closure member 1410 may also be referred to herein as a "proximal closure tube". Similarly, the distal closure member 1430 may also be referred to as a "distal closure tube". Referring primarily to FIG. 5, the interchangeable surgical tool assembly 1000 includes a closure shuttle 1420 that is slidably supported within the base 1800 in an axially movable manner relative thereto. In one form, the closure shuttle 1420 includes a pair of proximally projecting hooks 1421 that are configured for attachment to a lateral attachment pin 516 (fig. 2) that is attached to the closure link assembly 514 of the handle assembly 500. Thus, when the hook 1421 is hooked onto the lateral attachment pin 516, actuation of the closure trigger 512 will result in axial movement of the closure shuttle 1420, and ultimately the closure assembly 1406, over the spine assembly 1500. A closure spring (not shown) may also be journaled on the closure assembly 1406 and serve to bias the closure assembly 1406 in the proximal direction "PD," which may serve to pivot the closure trigger 512 into the unactuated position when the surgical tool assembly 1000 is operatively coupled to the handle assembly 500. In use, the closure assembly 1406 is translated distally (direction DD) to close the

jaws

1130, 1102, e.g., in response to actuation of the closure trigger 512.

The closure linkage assembly 514 may also be referred to herein as a "closure actuator", and the closure linkage assembly 514 and closure shuttle 1420 may be collectively referred to herein as a "closure actuator assembly". The proximal end 1412 of the proximal closure member 1410 is coupled to the closure shuttle 1420 for rotation relative thereto. For example, the U-shaped connector 1424 is inserted into the annular slot 1414 in the proximal end 1412 of the proximal closure member 1410 so that it remains within the vertical slot 1422 in the closure shuttle 1420. See fig. 5. Such an arrangement serves to attach the proximal closure member 1410 to the closure shuttle 1420 for axial travel therewith while enabling the closure assembly 1406 to rotate relative to the closure shuttle 1420 about the shaft axis SA.

As noted above, the illustrated interchangeable surgical tool assembly 1000 includes an articulation joint 1200. As can be seen in fig. 6, the upper and

lower tangs

1415, 1416 project distally from the distal end of the proximal closure member 1410 to movably couple to the distal closure member 1430. As also seen in fig. 6, the distal closure member 1430 includes upper and

lower tangs

1434, 1436 projecting proximally from a proximal end thereof. The proximal and

distal closure members

1410, 1430 are coupled together by an upper double pivot connection 1220. The upper double pivot connection 1220 includes proximal and distal pins that engage corresponding holes in the

upper tangs

1415, 1434 of the proximal and

distal closure members

1410, 1430, respectively. The proximal and

distal closure members

1410, 1430 are likewise coupled together by a lower double pivot link 1222. The lower double pivot link 1222 includes proximal and distal pins that engage corresponding holes in the

inferior tangs

1416 and 1436 of the proximal and

distal closure members

1410 and 1430, respectively. As will be discussed in further detail below, distal and proximal axial translation of the closure assembly 1406 will result in the closure and opening of the anvil 1130.

The interchangeable surgical tool assembly 1000 illustrated in fig. 1-6 includes a surgical end effector 1100 that is articulatable in one direction about an articulation axis B-B. As described above, articulation axis B-B is defined by spine attachment pin 1564 that is rotatably received within spine attachment hole 1234 formed in end effector mounting assembly 1230. In the illustrated arrangement, the spine attachment apertures 1234 may be laterally axially aligned with the shaft axis SA. In other arrangements, the spine attachment holes 1234 may be slightly laterally offset from the shaft axis. In the illustrated example, the articulation axis B-B is transverse to and intersects the shaft axis SA. The illustrated example employs only a proximal articulation driver 1700 that is coupled to a single distal articulation link 1710 (via an articulation lock 1210) that is operably coupled to an end effector mounting assembly 1230 to apply articulation motions thereto. For example, advancing the distal articulation link 1710 distally will articulate the surgical end effector 1100 in a single "first" articulation direction. For example, in one arrangement, surgical end effector 1100 is selectively articulatable from a first, unarticulated position in which surgical end effector 1100 is axially aligned with shaft assembly 1400 (for insertion through a trocar or other access opening) through an articulation angle of about 110 ° (after surgical end effector 1100 has withdrawn the trocar into the patient). Other articulation angle arrangements may be implemented.

For example, as can be seen in fig. 7, the interchangeable surgical tool assembly 1000 may be well suited for use in connection with a medical procedure known as a lower anterior resection "LAR". Such procedures typically involve removal of the diseased portion of the colon. For example, the procedure may include removing blood vessels and lymph nodes associated with the portion of the intestine. The surgeon then reattaches the remaining colon to the remaining portion of the rectum (which may be referred to as an anastomosis). One challenge that a surgeon typically faces in this procedure is placing the end effector far enough into the pelvic region to complete the procedure. Fig. 7 illustrates a desired position of the surgical end effector 1100 within the pelvis 400 of a patient during a resection of the colon 410 of the patient. Line BTL in fig. 7 may illustrate the travel limit that is typically created by the patient's pelvic bone structure and associated tissue. In the arrangement shown, the surgical tool assembly 1000 employs an "asymmetric" proximal closure member 1410 that is configured to provide additional clearance and maneuverability to the surgical tool assembly 1000 in this region.

In one example, as shown in fig. 7, proximal closure member 1410 of shaft assembly 1400 includes an elongate proximal portion 1417 and an elongate distal portion 1411 extending from proximal portion 1417. As can be seen in fig. 7-9, to facilitate more clearance between shaft assembly 1400 and, for example, pelvic structures, an asymmetric cutout or notch region 1418 is provided in distal end portion 1411 of proximal closure member 1410. In at least one example, the notch region 1418 extends for the entire distal portion 1411. In such an arrangement, the axial length of the distal portion is less than the axial length of the proximal portion 1417.

Referring now to fig. 11, in the illustrated example, the proximal end portion 1417 has an uninterrupted or "continuous" proximal "outer perimeter or perimeter shape 1417P. At least a portion of the distal end portion 1411 has a discontinuous or interrupted "distal" outer perimeter or outer perimeter shape 1411P. For example, as also seen in fig. 9, distal spine extension 1562 has a similar notched area 1568 therein. Also, the intermediate spine segment 1510 may also have asymmetric notches 1516 therein that mate with the

notch regions

1418 and 1568. See fig. 10 and 11. Such an arrangement can allow a clinician to position the shaft assembly 1400 and surgical end effector 1100 in the pelvic region as shown in fig. 7. For example, in the arrangement shown, the articulation angle AA may be about 110 °. Thus, such an arrangement may enable a clinician to position the surgical end effector 1100 deeper within the pelvic region than other tool and end effector arrangements. In the arrangement shown, the

notch regions

1418, 1516, 1568 are located on opposite sides of the shaft axis SA from which the end effector 1100 is articulated (e.g., articulation direction DA). However, in other arrangements, it is contemplated that the

notch regions

1418, 1516, 1568 are disposed on the same side of the shaft axis SA from which the surgical end effector is articulated.

In one example, to maintain axial alignment of the proximal closure member 1410 on the spine assembly 1500 as it moves axially thereon and to delay or prevent buckling of the shaft components during articulation and closure of the

end effector jaws

1130, 1102, an opposing closure alignment member 1413 is employed. For example, in one arrangement, a pair of diametrically opposed alignment pins 1413 are attached to and extend inwardly from the proximal closure member 1410 to be slidably received within

corresponding alignment slots

1514, 1566 in the intermediate spine segment 1510 and the distal spine extension 1562, respectively. See fig. 10 and 11. As can also be seen in fig. 11, the distal spine extension 1562 may have recessed regions 1567 for receiving downwardly projecting ear portions 1518 formed on the underside of the intermediate spine segment 1510. Such an arrangement may be used to laterally interlock the intermediate spine segment 1510 and the distal spine extension 1562 together to some extent, thereby resisting any lateral deflection that occurs between these components. Fig. 12 shows an alternative proximal closure member 1410 'that is identical to the proximal closure member 1410 described above, except that the proximal closure member 1410' includes a connector bridge 1419 extending between the superior and

inferior tangs

1415, 1416 that can be used to limit any tendency of the superior and

inferior tangs

1415, 1416 to spread apart during use.

Fig. 13 illustrates another arrangement configured to prevent or limit proximal closure member 1410 "from opening in the OD direction when a side load LL is applied laterally to shaft assembly 1400 in the notch region. The proximal closure member 1410 "may be identical to the proximal closure member 1410, except for the differences described herein. As can be seen in fig. 13, the proximal closure member 1410 "also includes a pair of inwardly projecting, slightly diametrically opposed flex tabs 1425. One flexure tab 1425 is slidably received within a corresponding axially extending slot 1519 and the other flexure tab 1425 is slidably received within a corresponding axial slot 1569 in the distal spine extension 1562. Such an arrangement serves to slidably interlock the proximal closure member 1410 "on the spine assembly 1500', causing the proximal closure member 1410" to resist opening (in the OD direction) when a lateral load LL is applied thereto. Fig. 14 shows an alternative arrangement employing a flexure tab 1425' that is slightly L-shaped and slidably received within corresponding L-shaped slots 1514' and 1569 '.

As described above, the interchangeable surgical tool assembly 1000 further includes a firing member assembly 1600 that is supported for axial travel within the spine assembly 1500. In the illustrated embodiment, the firing member assembly 1600 includes a proximal firing shaft segment 1602 and a distal cutting portion or distal firing bar 1620. The firing member assembly 1600 may also be referred to herein as a "second shaft" and/or a "second shaft assembly". As can be seen in fig. 5, the proximal firing shaft segment 1602 includes a proximal attachment ear 1604 that protrudes proximally from a proximal end thereof that is configured to be operably received within a firing shaft attachment bracket 542 in a longitudinally movable drive member 540 that is supported in the handle assembly 500. See fig. 2.

Referring again to FIG. 5, the distal end 1606 of the proximal firing shaft segment 1602 includes a longitudinal slot 1608 configured to receive a tab (not shown) on the proximal end of the distal firing rod 1620. The longitudinal slot 1608 and the proximal end of the distal firing bar 1620 may be sized and configured to allow relative movement therebetween and may include a sliding joint 1622. The slip joint 1622 may allow the proximal firing shaft segment 1602 to move during articulation actuation without moving, or at least substantially without moving, the distal firing bar 1620. Once the end effector 1100 has been properly oriented, the proximal firing shaft segment 1602 can be advanced distally until the proximal end wall of the slot 1608 comes into contact with a tab on the distal firing bar 1620 in order to advance the distal firing bar 1620 and fire a surgical staple cartridge 1150 positioned within the elongate channel 1102. As can be further seen in fig. 5, the intermediate spine segment 1510 includes a channel 1512 for slidably supporting the proximal firing shaft segment 1602 therein. To facilitate assembly of the proximal firing shaft segment 1602 and the spine assembly 1500, a top spine cap 1527 may be engaged with the middle spine segment 1510 to enclose those portions of the firing member assembly 1600 therein.

Fig. 15 shows the surgical end effector 1100 in an articulated position. As can be seen in fig. 15 and 6, the intermediate support member 1614 is employed to provide lateral support to the distal firing bar 1620 as it flexes to accommodate articulation of the surgical end effector 1100. In one example, distal pivot pin 1615 protrudes from the distal end of intermediate support member 1614 and is received within spine attachment hole 1234 in end effector mounting assembly 1230. A proximal pivot pin 1616 is received within an elongated slot 1569 in the distal spine extension 1562. In addition, the intermediate support member 1614 includes a channel 1618 therein that provides lateral support to the distal firing bar 1620 as the surgical end effector 1100 is articulated. Further details regarding intermediate support members and alternative knife bar support arrangements are disclosed in U.S. patent application serial No. 15/019,245, which is incorporated by reference herein in its entirety.

Fig. 15A illustrates an alternative articulation joint 1200 'that facilitates articulation of the surgical end effector 1100 about an articulation axis B-B that is transverse to a shaft axis SA defined by an elongate shaft assembly 1400' that is operably attached to the surgical end effector. In the illustrated example, the surgical end effector 1100 is selectively articulatable to one side of the shaft axis SA. Such articulation directions are indicated by arrows LD. Similar to the embodiments described above, the end effector mounting assembly 1230 is pivotally attached to the proximal end 1103 of the elongate channel 1102 of the surgical end effector 1100. The end effector mounting assembly 1230 is pivotally attached to a distal spine extension 1562 of the distal frame segment 1560 of the elongate shaft assembly 1400'. Similar to the embodiments described above, the distal frame segment 1560 may operably support an articulation lock 1210 (fig. 6) that is actuated by a proximal articulation driver 1700 (fig. 6) that is operably connected to a source of articulation and retraction motions, as described in detail herein. In the example shown in fig. 15A, the end effector mounting assembly 1230 is pivotally connected to a distal spine extension 1562 by a distal support link 1570. For example, in one arrangement, the end effector mounting assembly 1230 is pinned to a distal end 1572 of a distal support link 1570 by an articulation pin 1580 that defines an articulation axis B-B. The proximal end 1574 of the distal support link 1570 is attached to the distal end 1563 of the distal spine extension 1562 for axial and pivotal travel relative thereto.

As can be further seen in fig. 15A, the proximal end 1574 of the distal support link 1570 includes an axial slot 1576 sized to slidably and pivotally receive therein a proximal attachment pin 1578 attached to the distal spine extension 1562. Such an arrangement is used to couple the surgical end effector 1100 to the distal frame segment 1560 for selective pivotal travel (articulation) about an articulation axis B-B and some limited axial travel relative to that axis. In the illustrated arrangement, articulation is imparted to the surgical end effector 1100 by a distal articulation link 1710 that is pivotally coupled to or otherwise operably connected with the articulation lock 1210. Axial movement of the distal articulation link 1710 in the proximal direction PD (which is constrained to move axially along one side of the shaft axis SA) will articulate the surgical end effector 1100 in the left direction LD from an unarticulated position in which the surgical end effector 1100 is axially aligned on the shaft axis SA to an articulated position on the left side of the shaft axis SA (shown in phantom in fig. 15A). Axial movement of the distal articulation link 1710 in the distal direction DD will move the surgical end effector 1100 from the articulated position toward the unactuated position (arrow RD). In one arrangement, a stop member or stop formation 1232 is formed or otherwise attached to the end effector mounting assembly 1230 to contact the distal end 1563 of the distal spine extension when the surgical end effector 1100 has reached the unactuated position to prevent any further travel of the surgical end effector in the right direction RD. Such articulation joint arrangements may provide improved articulation travel and closure stability.

In addition to the above, the interchangeable surgical tool assembly 1000 includes a clutch assembly 1640 that can be configured to selectively and releasably couple the proximal articulation driver 1700 to the firing member assembly 1600. In one form, the clutch assembly 1640 includes a rotational lock assembly that, in at least one embodiment, includes a lock collar or lock sleeve 1600 positioned around the firing member assembly 1650. The lock sleeve 1650 is configured to rotate between an engaged position, in which the lock sleeve 1650 couples the proximal articulation driver 1700 to the firing member assembly 1600, and a disengaged position, in which the proximal articulation driver 1700 is not operatively coupled to the firing member assembly 1600. When the locking sleeve 1650 is in its engaged position, distal movement of the firing member assembly 1600 can move the proximal articulation driver 1700 distally, and, correspondingly, proximal movement of the firing member assembly 1600 can move the proximal articulation driver 1700 proximally. When the locking sleeve 1650 is in its disengaged position, movement of the firing member assembly 1600 is not transferred to the proximal articulation driver 1700, and thus, the firing member assembly 1600 may move independently of the proximal articulation driver 1700. In various circumstances, the proximal articulation driver 1700 can be held in place by the articulation lock 1210 when the firing member assembly 1600 does not move the proximal articulation driver 1700 in the proximal or distal direction.

Referring primarily to fig. 4 and 5, the lock sleeve 1650 includes a cylindrical or at least substantially cylindrical body that includes a longitudinal bore 1652 configured to receive the proximal firing shaft segment 1602 of the firing member assembly 1600. Locking sleeve 1650 also has two diametrically opposed, inwardly facing locking tabs 1654 and an outwardly projecting second locking member 1656 formed thereon. The lock protrusion 1654 can be configured to selectively engage with the proximal firing shaft segment 1602 of the firing member assembly 1600. More specifically, when the lock sleeve 1650 is in its engaged position, the lock protrusion 1654 is positioned within a drive notch 1603 provided in the proximal firing shaft segment 1602 such that a distal pushing force and/or a proximal pushing force can be transferred from the firing member assembly 1600 to the lock sleeve 1650. When the locking sleeve 1650 is in its engaged position, the second locking member 1656 is received within a drive notch 1704 defined in the proximal articulation driver 1700 such that distal pushing and/or proximal pulling forces applied to the locking sleeve 1650 may be transmitted to the articulation driver 1700. Indeed, when the lock sleeve 1650 is in its engaged position, the firing member assembly 1600, the lock sleeve 1650, and the proximal articulation driver 1700 will move together. On the other hand, when the lock sleeve 1650 is in its disengaged position, the lock protrusion 1654 may not be positioned within the drive notch 1603 of the proximal firing shaft segment 1602 of the firing member assembly 1600; and, as such, the distal thrust and/or proximal thrust may not be transmitted from the firing member assembly 1600 to the locking sleeve 1650. Correspondingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal articulation driver 1700. In such instances, the firing member assembly 1600 can slide proximally and/or distally relative to the locking sleeve 1650 and the proximal articulation driver 1700.

The clutch assembly 1640 also includes a shift barrel 1630 that engages the locking sleeve 1650. Further details regarding the operation of the switching barrel 1630 and locking sleeve 1650 can be found in U.S. patent application Ser. No. 13/803,086 and U.S. patent application Ser. No. 15/019,196, each of which is incorporated by reference herein in its entirety. The switch barrel 1630 may also include an at least partially circumferentially extending opening 1632 defined therein that may receive a peripheral mount 1305 extending from the

nozzle portions

1302, 1304 and allow relative rotation, but not translation, between the switch barrel 1630 and the proximal nozzle 1301. See fig. 6. Rotation of the nozzle 1301 to the point where the mount reaches the end of its corresponding opening 1632 in the switch drum 1630 will result in rotation of the switch drum 1630 about the shaft axis SA. Rotation of the switching barrel 1630 will ultimately cause the locking sleeve 1650 to move between its engaged and disengaged positions. Thus, in essence, nozzle 1301 may be employed to operably engage and disengage an articulation drive system with a firing drive system in various ways as described in further detail in U.S. patent application Ser. No. 13/803,086 and U.S. patent application Ser. No. 15/019,196.

In the illustrated arrangement, the switching barrel 1630 includes an L-shaped slot 1636 that extends into a distal opening 1637 in the switching barrel 1630. The distal opening 1637 receives a lateral switch pin 1639 of the moving plate 1638. In one example, the moving plate 1638 is received within a longitudinal slot (not shown) provided in the locking sleeve 1650 to facilitate axial movement of the locking sleeve 1650 when engaged with the proximal articulation driver 1700. Further details regarding the operation of the moving plate and moving drum arrangement can be found in U.S. patent application Ser. No. 14/868,718, entitled "SURGICAL STAPLING INSTRUMENT WITH SHAFT RELEASE, POWERED FIRING AND POWER ARTICULATION", filed on 28.2015, the entire disclosure of which is hereby incorporated by reference herein.

Also in the illustrated embodiment, the switch drum 1630 includes a magnet support arm 1665 that supports a magnet or other sensor arrangement configured to operably interface with a hall effect sensor 1662 that interfaces with a slip ring assembly 1800 operably mounted to a base 1660. For example, the slip ring assembly 1660 is configured to conduct electrical power to and/or from the interchangeable surgical tool assembly 1000 and/or to communicate signals to and/or from the interchangeable surgical tool assembly 1000 and/or back to the microcontroller 520 (fig. 2) or robotic system controller in the handle assembly 500 from the interchangeable surgical tool assembly components. Further details regarding slip ring assembly 1660 and associated connectors can be found in U.S. patent application Ser. No. 13/803,806 and U.S. patent application Ser. No. 15/019,196 (the respective entireties of which are each incorporated herein by reference), and U.S. patent application Ser. No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE THICKNESSENSSOR SYSTEM" (now U.S. patent application publication 2014/0263552), the entire contents of which are hereby incorporated herein by reference. One or more magnets supported on a magnet support arm 1665 cooperate with a hall effect sensor 1662 or other sensor device to detect the rotational position of the switch drum 1630 and communicate this information to the microcontroller 520, which can be used to provide one or more indications to a user in various manners discussed in the above-incorporated references. Other sensor arrangements may also be employed.

Referring again to fig. 2 and 5, the base 1800 includes at least one, and preferably two, tapered attachment portions 1802 formed thereon that are adapted to be received within corresponding dovetail slots 507 formed within the distal portion of the frame 506 of the handle assembly 500. As can be further seen in fig. 2, a shaft attachment ear 1607 is formed on the proximal end of the proximal firing shaft segment 1602. As will be discussed in further detail below, when the interchangeable surgical tool assembly 1000 is coupled to the handle assembly 500, the shaft attachment ears 1607 are received in the firing shaft attachment brackets 542 formed in the distal end of the longitudinally movable drive member 540. See fig. 2.

The interchangeable surgical tool assembly 1000 employs a latch system 1810 for removably coupling the interchangeable surgical tool assembly 1000 to the frame 506 of the handle assembly 500. As can be seen in fig. 5, for example, in at least one form, the latch system 1810 includes a lock member or lock yoke 1812 movably coupled to the chassis 1800. In the illustrated embodiment, for example, the lock yoke 1812 is U-shaped and includes two downwardly extending legs 1814. The legs 1814 each have pivot ears (not shown) formed thereon that are adapted to be received in corresponding holes 1816 formed in the base 1800. Such a configuration facilitates pivotal attachment of lock yoke 1812 to base 1800. The locking yoke 1812 may include two proximally projecting locking ears 1818 configured to releasably engage with corresponding locking detents or grooves 509 in the distal end of the frame 506 of the handle assembly 500. See fig. 2. In various forms, the lock yoke 1812 is biased in a proximal direction by a spring or biasing member 1819. Actuation of the lock yoke 1812 may be accomplished by a latch button 1820 slidably mounted on a latch actuator assembly 1822 that is mounted to the chassis 1800. The latch button 1820 may be biased in a proximal direction relative to the locking yoke 1812. The locking yoke 1812 can be moved to the unlocked position by biasing the latch button 1820 in a distal direction, which also pivots the locking yoke 1812 out of retaining engagement with the distal end of the frame 506. When the lock yoke 1812 is "held in engagement" with the distal end of the frame 506, the lock ears 1818 remain seated within corresponding lock stops or grooves 509 in the distal end of the frame 506.

In the illustrated arrangement, the locking yoke 1812 includes at least one and preferably two locking hooks 1824 adapted to contact corresponding locking ear portions 1426 formed on the closure shuttle 1420. When the closure shuttle 1420 is in the unactuated position, the lock yoke 1812 may be pivoted in the distal direction to unlock the interchangeable surgical tool assembly 1000 from the handle assembly 500. When in this position, the locking hook 1824 does not contact the locking ear portion 1426 on the closure shuttle 1420. However, when the closure shuttle 1420 is moved to the actuated position, the lock yoke 1812 is prevented from pivoting to the unlocked position. In other words, if the clinician attempts to pivot the lock yoke 1812 to the unlocked position, or, for example, the lock yoke 1812 is inadvertently bumped or contacted in a manner that might otherwise cause it to pivot distally, the lock hooks 1824 on the lock yoke 1812 will contact the lock ears 1426 on the closure shuttle 1420 and prevent the lock yoke 1812 from moving to the unlocked position. See fig. 5. More details regarding latching systems can be found in U.S. patent application publication 2014/0263541.

The attachment of the interchangeable surgical tool assembly 1000 to the handle assembly 500 will now be described with reference to fig. 2. To begin the coupling process, the clinician may position the base 1800 of the interchangeable surgical tool assembly 1000 over or near the distal end of the frame 506 such that the tapered attachment portions 1802 formed on the base 1800 are aligned with the dovetail slots 507 in the frame 506. The clinician may then move the surgical tool assembly 1000 along a mounting axis IA perpendicular to the shaft axis SA to place the tapered attachment portions 1802 in "operative engagement" with corresponding dovetail receiving slots 507 in the distal end of the frame 506. In doing so, the shaft attachment ears 1606 on the proximal firing shaft segment 1602 will also seat in the brackets 542 in the longitudinally movable drive member 540, and the portions of the lateral attachment pins 516 on the closure linkage assembly 514 will seat in the corresponding hooks 1421 in the closure shuttle 1420. As used herein, the term "operably engaged" in the context of two components means that the two components are sufficiently engaged with one another such that upon application of an actuation motion thereto, the components may perform their intended action, function, and/or procedure.

Referring again to FIGS. 11 and 15, the distal firing bar 1620 may comprise a laminated beam structure comprising at least two beam layers. The beam layers may comprise, for example, stainless steel strips, the strips being interconnected together, for example, by welding or pinning at their proximal ends and/or other locations along their lengths. In alternative embodiments, the distal ends of the bands are not connected together to allow the laminate or bands to expand relative to each other as the end effector articulates. Such an arrangement allows the distal firing bar 1620 to be sufficiently flexible to accommodate articulation of the end effector. Various other suitable laminate knife bar arrangements are disclosed in U.S. patent application serial No. 15/019,245. As can also be seen in fig. 4, the intermediate support member 1614 is employed to provide lateral support to the distal firing bar 1620 as it flexes to accommodate articulation of the surgical end effector 1100. Further details regarding the intermediate support member and alternative knife bar support arrangement are disclosed in U.S. patent application serial No. 15/019,245.

After the interchangeable surgical tool assembly 1000 has been operably coupled to the handle assembly 500 (fig. 1), the clinician may operate the surgical tool assembly 1000 as follows. As described above, when the closure drive system 510 is in its unactuated position (i.e., the closure trigger 512 is not actuated), the torsion spring 1642 has biased the clutch assembly 1640, and more particularly, the shift pin 1639 and the locking sleeve 1650, into the articulated position. When in this mode, one or more magnets in the magnet support arm 1665 can cooperate with the hall effect sensor 1662 or other sensor arrangement to indicate to the microcontroller 520 that the surgical tool assembly 1000 is in an articulation mode. When the clinician actuates the firing trigger 532, the motor drives the proximal firing shaft segment 1602 distally. However, as described above, the slip joint 1622 facilitates movement of the proximal firing shaft segment 1602 without moving, or at least substantially without moving, the distal firing bar 1620. Because the locking sleeve 1650 is operably engaged with the proximal firing shaft segment 1602 and the proximal articulation driver 1700 is engaged with the locking sleeve 1650, actuation of the proximal firing shaft segment 1602 causes distal movement of the proximal articulation driver 1700. Distal movement of the proximal articulation driver 1700 articulates the surgical end effector 1100 about an articulation axis B-B. During this time, the clinician can also partially close the jaws of the surgical end effector 1100 by partially depressing the closure trigger. Such an arrangement facilitates axial movement of the proximal closure member 1410 without automatically switching the clutch assembly 1640 to the firing mode. This feature may enable a clinician to use the jaws to grasp and manipulate tissue prior to clamping onto the target tissue.

Once the clinician has articulated the surgical end effector 1100 to a desired position and the jaws have been positioned in a desired orientation relative to the target tissue, the clinician releases the firing trigger 532, which interrupts the motorized movement of the proximal firing shaft segment 1602 and the proximal articulation driver 1700. The articulation lock 1210 locks the proximal articulation driver 1700 in this position to prevent further articulation of the surgical end effector 1100. The clinician can clamp the target tissue between the jaws by pressing the closure trigger 512 to a fully depressed position. Such action moves the proximal closure member 1410 distally. Such distal movement of the proximal closure member 1410 causes the moving plate 1638 to rotate the locking sleeve 1650 to rotate to a position disengaged from the proximal firing shaft segment 1602. When in this position, the locking tab 1654 has disengaged from the drive notch 1603 in the proximal firing shaft segment 1602. Thus, the proximal firing shaft segment 1602 may move axially without moving the locking sleeve 1650 and the proximal articulation driver 1700. As the proximal closure member 1410 is moved distally to the fully actuated position (by depressing the closure trigger 512), the proximal and

distal closure members

1410, 1430 are moved distally to close the

jaws

1130, 1102. When in this position, the closure drive system 510 in the handle assembly 500 may be locked and the clinician may release the closure trigger 512. When the clutch assembly 1640 has been moved to this firing mode, a magnet or other sensor in the magnet support arm 1665 or other portion communicates with the hall effect sensor 1662 to indicate the position of the clutch assembly 1640 to the microcontroller 520.

The microcontroller 520 can provide the clinician with an indication of the position of the distal firing bar 1620 as it is advanced distally through the target tissue clamped between the end effector jaws. Once the distal firing bar 1620, and more particularly the firing member or knife member attached thereto, has been advanced to a fully fired position, the microcontroller 520 detects the position of a portion of the firing member assembly 1600 using a sensor arrangement and can then reverse the motor to retract the distal firing bar 1620 to its starting position. This action may be automatic or the clinician may have to depress the firing trigger 532 during retraction. Once the distal firing bar 1620 has been fully retracted to its starting position, the microcontroller 520 can provide an indication to the clinician that the distal firing bar 1620 has been fully retracted, and the closure trigger 512 can be unlocked to enable the closure assembly 1406 to return to an unactuated position to move the jaws to an open position.

In one example, the elongate channel 1102 is generally C-shaped, having two upright sidewall portions 1104. Anvil 1130 includes an anvil body portion 1132 and an anvil mounting portion 1134. The anvil mounting portion 1134 includes a pair of anvil mounting walls 1136 that are separated by a slot 1138 (fig. 6). As described above, the end effector mounting assembly 1230 is pivotally attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 that extends through a transverse mounting hole 1231 in the end effector mounting assembly 1230 to be received within a channel mounting hole 1106 provided in the side wall 1104 of the elongate channel 1102. Each anvil mounting wall 1136 has an anvil lug 1137 projecting therefrom, each anvil trunnion adapted to be rotatably received within a corresponding anvil mounting hole 1107 in the proximal end 1103 of the elongate channel 1102. As can be seen in fig. 16 and 17, each channel sidewall 1104 may have a vertical slot or relief area 1108 corresponding to each anvil mounting hole 1107 that enables anvil lug 1137 to drop vertically into each slot 1108 for assembly. The anvil ears define a pivot axis PA about which the anvil 1130 can be selectively pivoted relative to the elongate channel 1102. In various examples, the pivot axis PA is transverse to the shaft axis SA. See fig. 16.

The elongate channel 1102 is configured to removably support a surgical staple cartridge 1150 therein. The surgical staple cartridge 1150 comprises a cartridge body 1151 that defines a deck surface 1152 that faces a staple forming undersurface 1133 of the anvil body portion 1132. The cartridge body 1151 has an elongate slot 1154 extending therethrough to allow passage of a firing member 1670 that is attached to the distal end of the distal firing bar 1620. The cartridge body 1151 has a plurality of anvil pockets 1156 that are arranged in series on either side of the elongate slot 1154. See fig. 6. Housed within these pockets 1156 are staple drivers that operably support one or more surgical staples or fasteners thereon. When the target tissue is clamped between the staple forming undersurface 1133 of the anvil body portion 1132 and the cartridge deck surface 1152, the target tissue must be positioned such that the severed tissue is stapled on each side of the cutting line. To avoid positioning of the target tissue proximal of the proximal-most staple or fastener, the anvil 1130 may include two downwardly extending tissue stops 1140. See fig. 18. When extending downwardly beyond the cartridge deck surface 1152, the tissue stop 1140 serves to prevent the target tissue from becoming too close between the anvil 1130 and the surgical cartridge 1150.

Still referring to fig. 18 and 19, in the illustrated example, the anvil mounting wall 1136 is slightly elongated and extends proximally. In one example, one or both of the anvil mounting walls 1136 includes an opening limiter 1139 (fig. 18) formed thereon that is configured to contact the end effector mounting assembly 1230 to prevent the anvil 1130 from opening too far. See fig. 18. Such anvil opening limiters 1139 may prevent the anvil 1130 from becoming too loose on the elongate channel 1102. In addition, opening limiter 1139 prevents anvil 1130 from opening to a position where tissue stop 1140 extends above cartridge deck surface 1152. If this occurs, the tissue may be allowed to extend too far proximally between the anvil 1130 and the surgical staple cartridge 1150 and may be severed but not stapled. Such an arrangement may also serve to prevent the anvil from being considered too loose relative to the elongate channel.

Referring again to fig. 17, the anvil mounting portion 1134 defines a firing member "park zone" 1141 that receives the firing member 1670 therein when the firing member 1670 is in the starting (unfired) position. In the arrangement shown, at least a portion of parking region 1141 is proximal to the pivot axis. See, for example, fig. 19. Such an arrangement can reduce a negative moment arm generated from tissue clamped between the anvil 1130 and the surgical staple cartridge 1150 supported in the elongate channel 1102. In one example, an anvil cap or cover 1142 is attached to the anvil mounting portion 1134 to provide a pre-closure surface 1143 for contact by a distal camming ramp or surface 1440 formed on the distal end 1431 of the distal closure member 1430. See fig. 20. In one arrangement, the anvil cap 1142 includes a pair of downwardly extending legs 1144 configured to snappingly engage attachment ears 1145 formed on the anvil mounting wall 1136. For example, as seen in fig. 16, the anvil cap 1142 includes a distally extending transition portion 1146 that extends between the anvil mounting walls 1136 and covers the firing member 1670 when it is in the firing member park region 1141. A transition portion 1146 extends between the anvil mounting wall 1136 and forms a transition from the pre-close surface 1143 and an anvil cam surface 1147 formed on the anvil mounting portion 1134. Further, when the anvil 1130 is in its fully open position, the anvil cap 1142 may minimize the pinch points that may exist between the anvil mounting portion 1134 and the distal end 1431 of the distal closure member 1430.

The operation of the closing process employed in this example will now be described with reference to fig. 18A, 19 and 20A. In the illustrated arrangement, the anvil body portion 1132 defines an upper anvil surface 1135. As can be seen in fig. 18A, the cam area or cam surface 1147 formed on the anvil mounting portion 1134 gradually transitions into the upper anvil surface 1135. More specifically, in the arrangement shown, the cam surface 1147 includes two surface portions: a proximal camming surface portion 1147P and a distal camming surface portion 1147D. In at least one example, the proximal cam surface portion 1147P extends from the proximal end of the anvil body portion 1132 to the distal cam surface portion 1147D. The distal cam surface portion 1147D extends from the proximal cam surface portion 1147P to the upper anvil surface 1135. In one arrangement, the proximal camming surface portion 1147P may have a slightly steeper angle than the distal camming surface portion 1147D. In other arrangements, the cam surface on the anvil mounting portion may comprise a continuous cam surface oriented at a single cam angle relative to the outer surface.

As can be seen in fig. 19, the distal closure member 1430 has a distal surface 1431 formed on a distal end thereof. The distal camming surface 1440 extends at an obtuse camming angle CA relative to the distal surface 1431. In the illustrated arrangement, the distal closure member 1430 includes a distal closure tube having an outer surface 1433 and an inner surface 1435 that define a cross-sectional thickness CT therebetween. Distal surface 1431 includes a portion of cross-sectional thickness CT. The distal camming surface 1440 extends from the distal end surface 1431 to the inner surface 1435 of the distal closure member 1430. The initial camming region 1437 includes a line of intersection or point of intersection between the distal surface 1431 and the distal camming surface 1440.

Fig. 18A shows the distal closure member 1430 in a starting position with the anvil 1130 in an open position. As can be seen in fig. 18A, the distal camming surface 1440 is in contact with the pre-closing surface 1143 on the anvil cap 1142. To begin the closing process, the distal closure member 1430 is axially advanced in the distal direction DD. When the initial cam region 1437 and/or distal surface 1431 initially contacts the cam surface 1147 (proximal cam surface portion 1147P), an initial closing motion or initial closing force ICF is applied thereto. See fig. 19. This initial closing force ICF is normal or perpendicular to the proximal cam surface portion 1147P. Continued axial advancement of the distal closure member 1430 cams the distal camming surface 1440 into camming engagement with the camming surface 1147 (distal camming surface 1147D) and applies a closing force CF substantially parallel to the shaft axis SA. See fig. 20A.

In the above example, the length of the anvil mounting wall 1136 may be slightly longer than the anvil mounting configuration employed with other anvil arrangements. Such an elongated anvil mounting wall 1136 serves to enable the pivot axis to be positioned relatively close to the articulation axis defined by the articulation joint 1200. This arrangement helps to establish a longer initial moment arm MAI (fig. 19) between the pivot axis PA and the initial closing force ICF. Such an arrangement also facilitates positioning the pivot axis PA slightly closer to the bottom of the elongate channel 1102 as compared to other anvil/channel mounting arrangements. Thus, in the arrangement shown, the distance between the pivot axis PA and the axis along which the closing force CF is applied is slightly greater than in the other arrangements (larger moment arm). This arrangement may also result in a greater closing force CF being established compared to other anvil mounting arrangements. Thus, the anvil mounting arrangement of the illustrated example may provide a greater mechanical closure advantage than is typically available with other anvil mounting arrangements. Another advantage that may be obtained by the foregoing example is that positioning at least a portion of the firing member park region 1141 proximal of the pivot axis PA may help reduce the "negative" moment arm applied to the anvil by tissue clamped between the anvil and the staple cartridge.

Turning now to fig. 21-25, the distal closure member 1430 is formed with at least one and preferably two positive jaw opening hooks or tabs 1442. Tab 1442 may also be referred to herein as a "primary positive jaw opening tab". In one example, the positive jaw opening tab is integrally formed in the distal closure member 1430. For example, the forward jaw opening tab 1442 is cut out of the wall of the tubular structure that includes the distal closure member 1430. Each positive jaw opening tab 1442 includes an upwardly projecting hook portion 1444 having a rounded cam drive end 1445 formed thereon that is configured for camming engagement with a corresponding anvil opening ramp 1148 extending downwardly from anvil body portion 1132. Fig. 22 illustrates the position of the anvil 1130 and distal closure member 1430 when the anvil assembly 1130 is in the closed position. Fig. 23 shows the beginning of the opening process, wherein the distal closure member 1430 has begun to retract in the proximal direction PD. As can be seen in fig. 23, cam drive end 1445 initially contacts anvil opening ramp 1148. Fig. 24 shows the anvil 1130 in a partially open position, while fig. 25 shows the anvil 1130 in a fully open position. As seen in fig. 25, cam drive end 1445 is seated on anvil open-beveled bottom end 1149 to hold anvil 1130 in the fully open position. Such use of features on the distal closure member to effect opening of the anvil from the fully closed position to the fully open position may be referred to herein as a "positive jaw opening" feature. Other suitable POSITIVE JAW OPENING ARRANGEMENTS are disclosed in U.S. patent application Ser. No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS," which is incorporated herein by reference in its entirety.

Fig. 26-29 illustrate an alternative distal closure member 1430' that employs auxiliary positive jaw opening tabs 1448 that are configured to mate with auxiliary jaw opening features 1160 formed on the anvil mounting wall 1136. See fig. 16, 17 and 27. As can be seen in fig. 26, the auxiliary positive jaw opening tab 1448 can be cut into the wall of the distal closure tube or member 1430 'and bent inward so as to be configured to contact the auxiliary jaw opening feature 1160 on the anvil 1130 when the distal closure tube or member 1430' is moved in the proximal direction PD. Fig. 29 shows anvil 1130 in a fully open position. As distal closure member 1430' moves proximally, primary forward jaw opening tab 1442 moves upwardly to a corresponding anvil opening ramp 1148 on anvil 1130 and begins to pivot the anvil open. Then, during the closing process, auxiliary positive jaw opening tabs 1448 in the distal closure member 1430' contact auxiliary jaw opening features 1160 formed on the anvil mounting wall 1136 to further assist in moving the anvil 1130 to the fully open position. As can be seen in fig. 26, the auxiliary forward jaw opening tab 1448 generally follows the contour of the distal closure tube 1430'.

Fig. 30 shows an alternative distal closure member 1430 'in which auxiliary positive jaw opening tabs 1448' are integrally formed in the wall of the distal closure tube 1430', but these opening tabs extend proximally inward to contact the auxiliary jaw opening features 1160 on the anvil 1130 as the distal closure tube or member 1430' is moved in the proximal direction PD. FIG. 31 shows anvil 1130 in a fully open position. Thus, these primary and secondary anvil opening or jaw opening features may be used to sequentially apply opening motions to the anvil as the distal closure member is moved from a fully actuated position corresponding to a fully closed position of the anvil to an unactuated position corresponding to a fully open position of the anvil. In such an arrangement, the primary positive jaw opening tab 1442 moves the anvil to a "mostly open" position when the distal closure tube 1430' is moved in a proximal direction. An auxiliary positive jaw opening tab 1448 is used to ensure that the anvil moves to its fully open position when the distal closure member is moved back to the unactuated position.

Fig. 32 and 33 illustrate an alternative auxiliary forward jaw opening arrangement in which the anvil mounting wall 1136 includes a proximal anvil extension 1162 that cooperates with a corresponding auxiliary anvil biasing spring 1164 to bias the anvil to the open position. As distal closure member 1430 moves proximally, primary forward jaw opening tab 1442 moves up a corresponding anvil opening ramp 1148 on anvil 1130 and begins to pivot the anvil open. In addition, an auxiliary anvil biasing spring 1164 applies a biasing force to the proximal anvil extension 1162 to further assist in moving the anvil 1130 to the fully open position. In previous jaw open arrangements, there is typically a "lag time" between actuation of the jaw opening system (e.g., firing trigger) and active opening of the jaws. In the example described above, the secondary anvil biasing spring 1164 is located proximal to the pivot axis PA about which the anvil pivots relative to the elongate channel. Such an arrangement may be used to increase the biasing (opening) action to the anvil and minimize the occurrence of any "dead zones" that may occur between the initial retraction of the closure member and the point at which the closure member actually begins to apply a sufficient amount of opening action to the anvil to move the anvil to the open position.

Fig. 34 and 35 show an alternative distal closure member 1430 "that employs a positive jaw biasing member 1450 on each positive jaw opening tab 1442. The positive jaw biasing member 1450 may form a leaf-type spring arrangement formed of metal or the like and serves to apply an additional opening force to the anvil opening ramp 1148 on the anvil 1130 as the distal closure member 1430 "is moved in the proximal direction PD. FIG. 34 illustrates the anvil 1130 in a fully closed position, while FIG. 35 illustrates the anvil 1130 in a fully open position. Fig. 36 and 37 show an alternative distal closure member 1430 "that employs another form of positive jaw biasing member 1452 on each positive jaw opening tab 1442. Positive jaw biasing member 1452 may have a slightly V-shaped configuration and be formed from spring steel or the like. Fig. 36 illustrates the anvil 1130 in a fully closed position, and fig. 37 illustrates the anvil 1130 in a partially open position upon initial movement of the distal closure member 1430 "in a proximal direction. Positive jaw biasing member 1452 is used to ensure that anvil 1130 is raised against distal closure member 1430 "from the beginning of the opening process.

Fig. 38 and 39 show an alternative distal closure member 1430 "in which each positive jaw opening tab 1442 has a compliant portion 1454 thereon which serves to ensure that anvil 1130 is raised against distal closure member 1430" from the beginning of the opening process. The compliant portion 1454 can comprise rubber or similar material formed on the hook portion 1444 of the positive jaw opening tab 1442. In other arrangements, the portion 1454 can not be formed of a compliant material, but can be formed of a hardened material to prevent wear on the positive jaw opening tab 1442. FIG. 38 illustrates anvil 1130 in a fully closed position, while FIG. 39 illustrates anvil 1130 in a partially open position. Such compliant and biasing member arrangements can be used to urge the anvil open while the closure member cam features remain in driving engagement with the cam ramp cams on the anvil to minimize any dead band lag that occurs between actuation of the closure system (opening the anvil) and actual opening of the anvil. Such a configuration may also be used to create a solid camming surface that will enable a user to compress the anvil occlusion by operating the closure trigger.

Turning next to fig. 40-42, the firing member 1670 is configured to be operably coupled to a sled or cam assembly 1120 that is operably supported within the body 1151 of the surgical staple cartridge 1150. The cam assembly 1120 slidably moves within the surgical staple cartridge body 1151 from a proximal starting position adjacent the proximal end 1153 of the cartridge body 1151 to an end position adjacent the distal end 1155 of the cartridge body 1151. The cartridge body 1151 operably supports a plurality of staple drivers (not shown) therein that are aligned in rows on each side of a centrally disposed slot 1154. The centrally disposed slot 1154 enables the firing member 1670 to pass therethrough and cut tissue clamped between the anvil 1130 and the surgical staple cartridge 1150. The drivers are associated with corresponding pockets 1156 that pass through the upper deck surface 1152 of the cartridge body 1151. Each staple driver supports one or more surgical staples or fasteners (not shown) thereon. Thus, a plurality of surgical staples are arranged in rows or rows located on either side of slot 1154. Cam assembly 1120 includes a plurality of angled or wedge-shaped cams 1122, wherein each cam 1122 corresponds to a particular row of fasteners or drivers located on one side of slot 1154. As the firing member 1670 is fired or driven distally, the firing member 1670 also drives the cam assembly 1120 distally. As the firing member 1670 is moved distally through the surgical staple cartridge 1150, the tissue cutting feature 1676 cuts the tissue clamped between the anvil 1130 and the surgical staple cartridge 1150, and the camming assembly 1120 drives the drivers in the staple cartridge upward which drive the corresponding staples or fasteners into contact with the anvil 1130.

In those embodiments in which the firing member includes a tissue cutting surface or tissue cutting feature, it is desirable that the elongate shaft assembly be configured to prevent inadvertent advancement of the firing member unless an unfired or new staple cartridge is properly supported in the elongate channel 1102 of the surgical end effector 1100. For example, if a staple cartridge were not present at all and the firing member was advanced distally through the end effector, the tissue would be severed, but not stapled. Similarly, if there is a spent staple cartridge in the end effector (i.e., a staple cartridge from which at least some staples have been fired) and the firing member is advanced, the tissue may be severed, but may not be fully stapled. It is understood that such situations may lead to undesirable catastrophic results during a surgical procedure. U.S. patent 6,988,649 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT", U.S. patent 7,044,352 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION", U.S. patent 7,380,695 entitled "SURGICAL STAPLING TROPENT HAVING A SINGLE LOCKO MECHANISM FOR PREVENTION OF FIRING", and U.S. patent application Ser. No. 14/742,933 entitled "SURGICAL STAPLING INSTRUMENT WITH LOCKING ARRANGENTS FOR PREVENTING FIRING SYSTEM ACTION WHEN A CARTRIDGE IS SPENT OR" SING MISG "each disclose various latching component ARRANGEMENTS that can be employed. Each of these U.S. patents is incorporated by reference herein in its entirety.

An "unfired," "unused," "fresh," or "new" surgical staple cartridge 1150 means herein that the surgical staple cartridge 1150 has all its fasteners in their "ready to fire" position when it is properly loaded into the end effector. When in this position, cam assembly 1120 is in its starting position. A new surgical staple cartridge 1150 is disposed within the elongate channel 1102 and can be retained therein by snap features on the cartridge body that are configured to retainingly engage corresponding portions of the elongate channel 1102. FIG. 41 illustrates a portion of a surgical end effector 1100 with a new or unfired surgical staple cartridge 1150 disposed therein. As seen in fig. 41, cam assembly 1120 is in a starting position. To prevent the firing system from being activated, and more particularly to prevent the firing member 1670 from being driven distally through the end effector 1100 UNLESS AN unfired or new SURGICAL staple cartridge has been properly seated within the elongate channel 1102, the illustrated interchangeable SURGICAL tool assembly 1000 employs a firing member LOCKOUT system, generally designated 1730, which in certain respects may be similar to the LOCKOUT system disclosed in U.S. patent application serial No. 15/385,958 entitled "SURGICAL INSTRUMENTS WITH locked ranc measuring FOR PREVENTING FIRING SYSTEM ACTUATION angle measuring AN UNSPENT STAPLE CARTRIDGE IS PRESENT," filed on December 21 of 2016, the entire disclosure of which is hereby incorporated by reference in its entirety.

In the illustrated example, the firing member lockout system 1730 includes a movable locking member 1732 that is configured to retentively engage the firing member 1670 when an unused or unfired surgical staple cartridge 1150 is not properly disposed within the elongate channel 1102. Locking member 1732 includes a pair of lateral spring arms 1733 interconnected by a central mounting tab feature 1734. As can be seen in fig. 41, each of the lateral spring arms 1733 is laterally offset from the shaft axis SA. When the locking member 1732 is installed, the mounting tab features 1734 are configured to bias the locking member 1732 upward. In addition, the locking member 1732 includes two lateral anvil spring arms 1736 that are upwardly angled to engage a bottom surface of a corresponding anvil mounting wall 1136 on the anvil mounting portion 1134 to bias the locking member 1732 downwardly when the anvil 1130 is closed. The distal portion of each lateral spring arm 1733 terminates in a slide tab 1738, each slide tab being further laterally offset from the shaft axis SA. Each slide tab 1738 is oriented to contact a corresponding unlocking feature or slide boss 1124 formed on the proximal portion 1121 of the cam assembly 1120. For example, as seen in fig. 40, in the arrangement shown, cam assembly 1120 has a central axis CA. When sled assembly 1120 is in its starting position within an unfired staple cartridge that is not properly supported in the elongate channel, central axis CA is laterally aligned with shaft axis SA. As can be seen in fig. 40, the sled boss is laterally offset from the central axis CA (and ultimately from the shaft axis SA) so as to define a central region 1123 therebetween. As the firing member is advanced distally through the end effector, the firing member contacts cam assembly 1120 in the central region to drive cam assembly 1120 distally through the cartridge body. In an alternative arrangement, only one lateral spring arm 1733 may be employed, thus providing only one lateral slide tab 1738. In such an arrangement, only one corresponding sliding boss 1124 is formed on cam assembly 1120. In other arrangements, the locking member 1732 may have two lateral spring arms 1733, but only one of the lateral spring arms may be provided with a sliding tab 1738. In the arrangement shown, each proximally facing slide boss 1124 includes a ramp 1127 to facilitate easier engagement between the slide boss 1124 and the side slide tabs 1738 during installation of a staple cartridge in the elongate channel.

Each lateral spring arm 1733 includes a locking notch therein that is configured to lockingly engage a corresponding central locking ear 1674 extending laterally from the firing member body portion 1672. Fig. 41 shows cam assembly 1120 in a starting position, wherein sliding boss 1124 has lifted locking member 1732 out of locking engagement with locking ears 1674. FIG. 42 illustrates an improper surgical staple cartridge 1150W installed relative to the locking member 1732. As can be seen in fig. 42, although staple cartridge 1150W has cam assembly 1120W with proximally extending features 1124W laterally offset from the central axis of the cam assembly, features 1124W are not in unlocked engagement with slide tabs 1738 of locking member 1732. Thus, even in its starting position, the cam assembly 1120W will not move the locking member 1732 out of locking engagement with the firing member 1670.

In an alternative arrangement, the lock member can be configured to complete the circuit when it moves downward into contact with a corresponding portion of the sled of a properly loaded, unfired staple cartridge (when the sled is in its properly fired position). In such an arrangement, for example, when the circuit is open, the motor is inoperable. In one arrangement, the locking member can also mechanically engage the firing member in the manner described above, thereby facilitating the feature/ability to mechanically and electrically lockout.

FIGS. 43-50 illustrate another firing member lockout system 1740 that may be employed in connection with the various end effector embodiments disclosed herein. In this embodiment, the firing member lockout system 1740 includes a firing member lock 1742 supported for pivotal travel between a locked position in which the firing member lock 1742 is in locking engagement with the firing member 1670, and an unlocked position in which the firing member 1670 is free to advance distally through the surgical staple cartridge 1150. As seen in fig. 43, firing member lock 1742 includes a mounting portion 1743 having a pivoting member 1744 projecting laterally from each side thereof. The pivot member 1744 is pivotally captured within a pivot notch 1238 provided in the underside of the end effector mounting assembly 1230. See fig. 44. As can be seen in fig. 44, the pivot member 1744 is rotatably captured by the lower double pivot link 1222 in a pivot notch 1238. As can also be seen in fig. 43, a pair of hook arms 1746 extend distally from the mounting portion 1743. Each hook arm 1746 includes a locking notch 1748 formed in its underside that is configured to engage a corresponding one of the central locking ears 1674 on the firing member 1670. The firing member lockout system 1740 also includes a pair of biasing members 1749, in the form of leaf springs or the like, that engage corresponding anvil mounting walls 1136 on the anvil 1130 and firing member locks 1742 to bias the firing member locks 1742 downward.

Fig. 45 illustrates a surgical end effector 1100 with the anvil 1130 and elongate channel 1102 in their fully open positions which occurs during loading of an unused or unfired surgical staple cartridge 1150 therein. When in the open position, the firing member 1670 cannot be advanced distally due at least to misalignment of portions of the firing member with corresponding channels within the anvil 1130. Further, the instrument may employ various sensor arrangements configured to detect the position of the anvil and/or the configuration of other portions of the anvil closure system to prevent actuation of firing system components (unless the anvil is in a fully closed position). As can be seen in fig. 45, when in the open position, the hook arms 1746 are oriented in an unactuated position wherein a portion of each hook arm 1746 is received on a corresponding central locking ear 1674 of the firing member 1670 such that the locking notch 1748 is not in a position engaged with the corresponding central locking ear 1674.

FIG. 46 shows the end effector after an unfired surgical staple cartridge 1150 having a sled or cam assembly 1120 has been properly installed in the elongate channel 1102 and the anvil 1130 has been closed. When in such a configuration, the biasing member 1749 applies a downward biasing motion to the firing member lock 1742, which is now in contact with the sliding boss 1124 and the central locking ear 1674 on the firing member 1670. As can be further seen in fig. 46, the sliding bosses 1124 on the sled assembly 1120 serve to lift the firing member lock 1742 upwardly such that the lock notches 148 therein are out of locking engagement with the central lock ears 1674 on the firing member 1670. Thus, the firing member 1670 is free to advance distally, as shown in fig. 47. As can be seen in fig. 47, the firing member lock 1742 is disengaged from the firing member 1670 and the sled assembly 1120, and the biasing member 1749 pivots the firing member lock 1742 downward.

Fig. 48-50 illustrate retraction of the firing member 1670. FIG. 48 illustrates the position of the firing member 1670 and firing member lock 1742 at the beginning of the retraction process. Fig. 49 illustrates the position of the firing member 1670 after the tapered proximal end 1675 of the central locking ear 1674 has contacted the angled surface on the distal end of the hook arm 1746 and pivoted the hook arm 1746 upward (arrow U). FIG. 50 shows the firing member 1670 in its fully retracted or starting position. As can be seen in fig. 50, the hook arm 1746 has been pivoted down to a "pre-lock" position. When the locking member is in the pre-locked position, the firing member 1670 may be moved distally until the central locking ear 1674 thereon lockingly engages the hook arm 1746, which serves to prevent further distal advancement of the firing member 1670. Thus, in the illustrated example, the firing member lock 1742 will not move from the unlocked or unactuated position to the actuated position unless the anvil is first moved to the closed position. For example, in this context, the term "closed position" means that the anvil is moved to a position relative to the staple cartridge and firing member that would otherwise enable the firing member to advance distally but for the firing member lockout system.

Fig. 51-55 illustrate another firing member lockout system 1750 that may be used in connection with the various end effector embodiments disclosed herein. In this embodiment, the firing member lockout system 1750 includes at least one firing member lock 1752 supported for vertical travel along a lock axis LA that is transverse to the shaft axis SA. In one example, a firing member lock 1752 corresponds to each anvil mounting wall 1136. In other examples, only one firing member lock 1752 may be employed. For clarity, only one firing member lock 1752 is shown in the figures. In the illustrated example, each firing member lock 1752 has an L-shape and a latching portion 1754. The firing member locks 1752 are movably journaled on corresponding mounting rods 1751 that are attached to corresponding anvil mounting walls 1136 or other portions of the anvil. A corresponding lock spring or biasing member 1756 biases the firing member lock 1752 downward (arrow D in fig. 52 and 53). FIG. 51 illustrates the surgical end effector 1100 with the anvil 1130 and elongate channel 1102 in their fully closed positions with an unused or unfired surgical staple cartridge 1150 properly supported therein. As can be seen in fig. 51, the tapered end 1755 of each latch portion 1754 has been engaged by a corresponding unlocking feature 1125 on the slider assembly 1120. The unlocking feature 1125 is used to move the latch portion 1754 vertically so that the central locking ear 1674 on the firing member 1670 can pass under it. Thus, the firing member 1670 is free to advance distally. FIG. 52 illustrates the position of the firing member 1670 at the beginning of the firing process, wherein the firing member has been advanced distally from its starting position. As can be seen in fig. 52, the unlocking feature 1125 is no longer in contact with the latch portion 1754.

Fig. 53-55 illustrate retraction of the firing member 1670. FIG. 53 illustrates the position of the firing member 1670 and firing member lock 1752 at the beginning of the retraction process. Fig. 54 illustrates the position of the firing member 1670 after the tapered proximal end 1675 of the central lock ear 1674 has contacted the angled surface or tapered end 1755 of the latch portion 1754 to vertically move the firing member lock 1752 in an upward direction (arrow U-fig. 54 and 55). FIG. 55 illustrates the firing member 1670 in its fully retracted or starting position. As can be seen in fig. 55, the firing member locks 1752 are in a locked or bottom position wherein if the firing member 1670 were to move distally, the central locking ear 1674 on the firing member 1670 would contact the latch portion 1754 of the corresponding firing member lock 1752. When in this position, the firing member 1670 cannot be advanced distally. Because the firing member locks 1752 are attached to the anvil, when the anvil is in the open position, the firing member locks 1752 are not in a locked position in which they may prevent axial advancement of the firing member 1670. Thus, to actuate the firing member lockout system 1750, the anvil 1130 must first be moved to the closed position. For example, in this context, the term "closed position" means that the anvil is moved to a position relative to the staple cartridge and firing member that would otherwise enable the firing member to advance distally but for the firing member lockout system.

56-63 illustrate another firing member lockout system 1760 that includes a movable lockout member 1762 that is configured to retentively engage the firing member 1670 when the surgical staple cartridge 1150 is not properly seated within the elongate channel 1102. The lockout member 1762 comprises at least one laterally moving lockout portion 1764 that is configured to retentively engage a corresponding portion of the firing member when the sled assembly 1120 is not present in the surgical staple cartridge 1150 in its initial position. In the illustrated arrangement, the locking member 1762 employs two laterally moving locking portions 1764, with each locking portion 1764 engaging a laterally extending portion of the firing member 1670.

In the illustrated embodiment, the locking member 1762 comprises a generally U-shaped spring member with each laterally movable leg or locking portion 1764 extending from a central spring portion 1763 and configured to be movable in a lateral direction indicated by arrow "L" in fig. 56, 59, and 62. It should be understood that the term "lateral" refers to a direction transverse to the shaft axis SA. The spring or locking member 1762 may be made of high strength spring steel or similar material. The central spring portion 1763 may include a proximally extending spring tab 1767 that is retained within a recess 1240 in the end effector mounting assembly 1230. See fig. 57. In the illustrated example, the spring tabs 1767 serve to bias the locking member 1762 into an unlocked configuration when the anvil 1130 is in the open position. FIG. 57 illustrates the anvil 1130 in an open position ready for installation of an unfired or new staple cartridge in the elongate channel 1102. As can be seen in fig. 57, the mounting tab 1767 biases the lock member 1762 in an upward direction (arrow U). When in this unlocked position, the locking member 1762 is not in a position that prevents distal advancement of the firing member 1762. However, the instrument may employ other sensors and lockout arrangements to detect the position of the anvil and otherwise prevent actuation of the firing system unless the anvil has been moved to the closed position.

Fig. 58 illustrates a portion of a surgical end effector 1100 with an unfired staple cartridge 1150 loaded or suitably supported within the elongate channel 1102 and after the anvil 1130 has been moved to a closed position. As the anvil 1130 is moved to the closed position, the anvil mounting wall 1136 contacts a corresponding laterally extending anvil tab 1766 formed on the lock member 1762. See fig. 56. Thus, the anvil mounting wall 1136 functions to move the locking member 1762 from the disengaged position to a locked position in which the locking member 1762 is in locking engagement with the firing member 1670. In one example, each laterally movable leg or locking portion 1764 of the lock member 1762 includes a lock window 1768 therein. When the lockout member 1762 is in the locked position, a central lockout ear 1674 on each side of the firing member 1670 extends into a corresponding lockout window 1768 to maintain the firing member 1670 from being axially advanced distally.

As can be seen in fig. 56, the slider or cam assembly 1120 includes an unlocking feature 1125 corresponding to each laterally movable locking portion 1764. In the arrangement shown, an unlocking feature 1125 is provided on or extends proximally from each central wedge cam 1122. In an alternative arrangement, the unlocking feature 1125 may comprise a proximal protruding portion of the corresponding wedge cam 1122. As can be seen in fig. 59, when the slider assembly 1120 is in its starting position, the unlocking feature 1125 laterally engages and biases the corresponding locking portion 1764 in a direction transverse to the shaft axis SA (arrow L). When the lock portions 1764 are in those unlocked orientations, the central lock ear 1674 does not remain engaged with its corresponding lock window 1768. When in those orientations, the firing member 1670 may be advanced (fired) axially distally. However, when an unfired surgical staple cartridge 1150 is not present in the elongate channel 1102 or the sled assembly 1120 has moved out of its starting position (which may mean that the staple cartridge is at least partially or fully fired), the lockout portion 1764 remains laterally resiliently engaged with the firing member 1670. When in that position as shown in fig. 58, the central locking ears 1674 are received within their respective locking windows 1768 and are prevented from moving distally by the lockout stops 1769. When in such a position, the firing member 1670 cannot move distally.

FIG. 61 illustrates the firing member 1670 as it is retracted to its starting or unfired position. When the tapered or tapered proximal end 1675 of the central locking ear 1674 contacts the arcuate distal end 1765 of the movable locking portion 1764, the movable locking portion 1764 is biased laterally outward, as shown in fig. 62, until each central locking ear 1674 is again fully received within the locking window portion 1768 in the locking portion 1764 (fig. 63). When the firing member 1670 has been fully retracted to the starting position shown in FIG. 63, the firing member 1670 is again locked in place by the locking member 1762 and prevented from advancing distally until another new staple cartridge has been properly loaded into the elongate channel 1102 as described above. When the anvil 1130 is opened, the spring tabs 1767 again bias the locking member 1762 back to the unlocked or pre-actuated position. Thus, to actuate the firing member lockout system 1760, the user must first move the anvil to the closed position. For example, in this context, the term "closed position" means that the anvil is moved to a position relative to the staple cartridge and firing member that would otherwise enable the firing member to advance distally but for the firing member lockout system.

Fig. 64-70 illustrate an alternative articulation locking arrangement 1910 for locking the surgical end effector 1100' in an articulated position about an articulation axis B-B relative to a shaft axis SA. In the illustrated example, the surgical end effector 1100 'is pivotally coupled to the spine assembly 1500'. Spine assembly 1500' may be attached to base 1800 (fig. 4) in the manner described above. The distal portion 1540 of the spine assembly 1500' is formed with a downwardly projecting articulation pin 1542 that defines an articulation axis B-B. Articulation pin 1542 is configured to be rotatably or pivotally received within spine attachment hole 1254 provided in mounting base 1252 of end effector mounting assembly 1250. The end effector mounting assembly 1250 is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 (fig. 6) that extends through a transverse mounting hole 1251 in the mounting assembly 1250 to be received within a channel mounting hole 1106 (fig. 6) provided in the proximal end 1103 of the elongate channel 1102.

Referring to fig. 64 and 65, in one example, the articulation lock arrangement 1910 includes a lock spring assembly 1920 that includes a central spring body portion 1922 that defines a central pin hole 1924 and includes bottom

release ring segments

1930 and 1932 and top

release ring segments

1940 and 1942. The locking spring assembly 1920 is sized to be rotatably received within a spine attachment aperture 1254 in the mounting base 1252. In one example, upper and lower release stops 1256 and 1258 each project inwardly within spine attachment hole 1254. The articulation locking arrangement 1910 further includes a release pin assembly 1950 that includes an upper release arm 1952 and a lower release arm 1954. Release pin assembly 1950 is attached to a distal articulation link 1960 that is secured to the distal end of distal articulation link 1710' by link pin 1962. The distal articulation link 1710 'may be coupled to the articulation system described herein for axially moving the distal articulation link 1710' in distal and proximal directions depending on the desired articulation direction. The bottom (not shown) of release pin assembly 1950 is configured to be pivotally and slidably supported within a lower arcuate release pin slot 1260 formed in end effector mounting assembly 1250. A second upper release arm slot 1270 is also formed in the end effector mounting assembly and is configured to movably receive upper release arm 1952 and lower release arm 1954. As can be seen in fig. 67, the upper balance formation 1272 protrudes into the second upper release arm slot 1270 and is configured to be operably connected with the upper release arm 1952. Likewise, a lower balance formation 1274 protrudes into the second upper release arm slot 1270 and is configured to be operably connected with the lower release arm 1954.

In the illustrated example, the articulation pin 1542 is rotatably received within a center pin hole 1924 in the locking spring assembly 1920. Lock spring assembly 1920 is received within spine attachment hole 1254 in end effector mounting assembly 1250 such that upper release stop 1256 is received within upper lock space 1941, which is formed between top

release ring segments

1940 and 1942, and lower release stop 1258 is located within lower lock space 1931, which is formed between bottom

release ring segments

1930 and 1932. FIG. 67 shows the surgical end effector 1100 in an unarticulated position. As seen in fig. 67, upper release stop 1256 is in abutting engagement with top release ring segment 1940. Lower release stop 1258 may also be in abutting engagement with bottom release ring segment 1932. Such a configuration maintains the locking spring assembly 1920 in frictional engagement with the articulation pin 1542 to maintain the surgical end effector 1100 in the unarticulated position.

Fig. 68 is a top view of the articulation lock arrangement 1910 at the beginning of articulation of the surgical end effector to the right (arrow RD) about the articulation axis. As can be seen in fig. 68, the rightward articulation process is initiated by axially advancing the distal articulation link 1710' in the distal direction DD. Distal advancement of distal articulation link 1710' causes distal articulation link 1960 to move release pin assembly 1950 distally such that upper release arm 1952 is brought into abutting engagement with upper counter formation 1272 on end effector mounting assembly 1250. Such contact between the upper balance formation 1272 and the upper release arm 1952 causes the upper release arm 1952 to contact the top release ring segment 1942 and apply a rightward articulation force RAF thereto. Such movement causes top release ring segment 1942 to move CCW counter-clockwise, opening or expanding lock spring assembly 1920 out of frictional engagement with articulation pin 1542. Fig. 69 is a bottom view of the articulation locking arrangement 1910 as shown in fig. 68. As seen in fig. 69, lower release stop 1258 is in abutting engagement with bottom release ring segment 1930, which prevents bottom release ring segment 1930 from moving. Thus, locking spring assembly 1920 expands to release articulation pin 1542. Further distal advancement of the distal articulation link 1710' causes the release pin assembly 1950 to apply an articulation motion to the surgical end effector mounting assembly 1250 in the right direction RD while also disengaging the locking spring assembly 1920 from locking engagement with the articulation pin 1542. See fig. 70. To articulate the surgical end effector 1100 in the leftward direction, the distal articulation link 1710' is moved in a proximal direction, which causes the release pin assembly to expand the locking spring assembly 1920 and move the surgical end effector mounting assembly 1250 in an opposite, but similar manner in the leftward direction. Thus, as can be appreciated from the foregoing description, the locking spring assembly basically comprises a spring assembly that is expandable from a first locked or retaining configuration wherein the locking spring assembly 1920 is frictionally retained in engagement with the articulation pin 1542 and a second unlocked position wherein the locking spring assembly 1920 and the surgical end effector mounting assembly 1250 together are free to pivot about the articulation pin 1542 due to articulation motions applied thereto.

Fig. 71-77 illustrate an alternative articulation locking arrangement 2010 for locking the surgical end effector 1100 in an articulated position about an articulation axis B-B relative to the shaft axis SA. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500'. Spine assembly 1500' may be attached to base 1800 (fig. 4) in the manner described above. The distal portion 1540 of the spine assembly 1500' is formed with a downwardly projecting articulation pin 1542 that defines an articulation axis B-B. Articulation pin 1542 is configured to be rotatably or pivotally received within spine attachment hole 1254 provided in mounting base 1252 'of end effector mounting assembly 1250'. The end effector mounting assembly 1250 'is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 (fig. 6) that extends through a transverse mounting hole 1251 in the mounting assembly 1250' to be received within a channel mounting hole 1106 (fig. 6) provided in the proximal end 1103 of the elongate channel 1102.

Referring to fig. 71 and 73, in one example, the articulation locking arrangement 2010 includes a ball lock assembly 2020 that includes a spherical retainer base 2022 having a central pivot hole 2024 therein that is configured to receive an articulation pin 1542 therethrough. The spherical retainer base 2022 is attached to the articulation lock link 1960 by an articulation pin 2023 that extends through a pin hole 2025 in the spherical retainer base 2022 into an articulation slot 1264 in the mounting base 1252 'of the surgical end effector mounting assembly 1250'. The articulation lock link 1960 is secured to the distal end of the distal articulation link 1710' by a link pin 1962. The distal articulation link 1710 'may be coupled to the articulation system described herein for axially moving the distal articulation link 1710' in distal and proximal directions depending on the desired articulation direction. The spherical retainer base 2022 further includes two upstanding

spherical stop members

2026 and 2028 for retaining the two locking

balls

2030 and 2032 between a distal locking surface 1263 formed on a locking bracket 1262 on the surgical end effector mounting assembly 1250 'and a proximal locking surface 1541 formed on the distal end portion 1540 of the spine assembly 1500'. The ball retainer base 2022 also includes two centering

springs

2034 and 2036, which support locking

balls

2030, 2032, respectively.

FIG. 73 shows the surgical end effector 1100 in an unarticulated position. As can be seen in fig. 73, the locking

balls

2030, 2032 are captured in locking engagement between a distal locking surface 1263 on the locking bracket 1262 and a proximal locking surface 1541 on the distal end portion 1540 of the spine assembly 1500' to maintain the surgical end effector 1100 in the unarticulated position. Fig. 74 shows a locking plane LP that extends through the point of contact between the locking ball 2030 and the distal locking surface 1263 and the proximal locking surface 1541 on the locking bracket 1262. Fig. 75 is a top view of the articulation locking arrangement 2010 at the beginning of articulation of the surgical end effector to the right (arrow RD) about the articulation axis. As can be seen in fig. 75, a rightward articulation process is initiated by axially advancing the distal articulation link 1710' in the distal direction DD. Distal advancement of the distal articulation link 1710' causes the articulation lock link 1960 to move the articulation pin 2023 distally within the articulation slot 1264 in the mounting base 1252' of the end effector mounting assembly 1250' while also applying the release load RL to the spherical retainer bottom 2022. Movement of the ball retainer base 2022 in the right direction RD causes the ball stop 2026 to move the locking ball 2032 out of locking engagement with the distal locking surface 1263 on the locking bracket 1262. Although ball stop 2026 has been moved out of engagement with locking ball 2030, locking ball 2030 initially remains temporarily engaged with distal locking surface 1263 and proximal locking surface 1541 on locking bracket 1262. Further distal advancement of the distal articulation link 1710 'causes the articulation pin 2023 to apply an articulation motion to the surgical end effector mounting assembly 1250' in the right direction RD while also moving the spherical retainer base 2022 in the right direction RD. The articulation angle AA represents the amount of articulation experienced by the surgical end effector 1100. As the ball retainer base 2022 moves in the right direction RD, the locking balls 2030 also move out of locking engagement with the distal locking surface 1263 and the proximal locking surface 1541. The ball stop 2028 also keeps the locking ball 2032 out of locking engagement with the distal and

proximal locking surfaces

1263, 1541 during articulation. Once the surgical end effector 1100 has been articulated to the desired position, distal advancement of the distal articulation link 1710' is stopped. Thereafter, the centering

springs

2034 and 2036 urge the

lock balls

2030 and 2032 into locking engagement with the distal and

proximal lock surfaces

1263 and 1541 to maintain the surgical end effector 1100 in the articulated position. As can be seen in fig. 76, when in the locked articulation position, the action of the centering spring that biases the locking

balls

2030, 2032 into retaining engagement with the distal locking surface 1263 and the proximal locking surface 1541 also causes the articulation pin 2023 to move to an intermediate position within the articulation slot 1264. To articulate the surgical end effector 1100 in the leftward direction, the distal articulation link 1710' is moved in the proximal direction, which causes the ball lock assembly 2020 and the surgical end effector 1100 to pivot in the leftward direction and operate in a similar manner.

Fig. 78-82 illustrate an alternative articulation locking arrangement 2110 for locking the surgical end effector 1100 in an articulated position about an articulation axis B-B relative to the shaft axis SA. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500". The spine assembly 1500 "may be attached to the base 1800 (fig. 4) in the manner described above. Distal portion 1540' of spine assembly 1500 "includes a pivot hole 1543 that defines an articulation axis B-B. The end effector mounting assembly 1250 "is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 (fig. 80-82) that extends through a transverse mounting hole 1251 in the mounting assembly 1250" to be received within a channel mounting hole 1106 (fig. 6) provided in the proximal end 1103 of the elongate channel 1102. In the illustrated example, the surgical end effector mounting assembly 1250 "includes a tapered mounting post 1253 that extends upwardly from the mounting base 1252 to be received within a pivot hole 1543 in the spine assembly 1500". In one arrangement, the tapered mounting post 1253 tapers away from the mounting base 1252. In other words, the cross-sectional area of the end portion 1255 of the tapered mounting post 1253 is less than the cross-sectional area of the portion of the tapered mounting post 1253 adjacent the mounting base 1252.

The articulation locking arrangement 2110 includes at least one locking member or locking slide that is movably supported between the mounting post 1253 and an inner wall 1545 of the pivot hole 1543. In the arrangement shown, the mounting post 1253 has a triangular cross-sectional shape that defines three

post sides

1280, 1282, 1284. Thus, three lockout members or lockout slides 2112, 2114, 2116 are employed (in the illustrated example), with lockout slide 2112 disposed adjacent column wall 1282, lockout slide 2114 disposed adjacent column wall 1284, and lockout slide 2116 adjacent column wall 1280. Mounting posts having other shapes and other numbers of locking slides may also be used. Each

lock slide

2112, 2114, 2116 is received on a wave washer 2120 that is mounted on a mounting base 1252 of the end effector mounting assembly 1250". For example, the illustrated arrangement includes a proximal closure member 2410 that can be axially advanced and retracted relative to a proximal closure member 1410 in the various manners described herein. The proximal closure member 2410 is pivotally coupled to a distal closure member 2430, which is similar in structure and operation to the distal closure member 1430. As can be seen in fig. 80-82, the distal closure member 2430 is coupled to the proximal closure member 2410 by an upper double pivot connection 1220 and a lower double pivot connection 1222'. In one embodiment, the lower double pivot link 1222' is formed with a tapered ramp 1226 on its upper surface 1224. See fig. 78. The illustrated arrangement employs two

articulation links

1710R and 1710L to apply leftward and rightward articulation motions to the surgical end effector 1100. See fig. 79. To articulate the surgical end effector 1100 to the right, the articulation link 1710R is axially retracted in the proximal direction PD and the articulation link 1710L is axially advanced in the distal direction DD. Conversely, to articulate the surgical end effector 1100 in the leftward direction, the articulation link 1710L is axially retracted in the proximal direction PD and the articulation link 1710R is axially advanced in the distal direction DD. Articulation control motions may be generated and applied to the articulation links 1710R, 1710L by various known articulation system arrangements and other articulation system arrangements disclosed herein. The articulation link 1710R has a slotted end 1711R that is received on a right articulation pin 1266R that is attached to the end effector mounting assembly 1250". Likewise, articulation link 1710L has a slotted end 1711L that is received on a left articulation pin 1266L that is attached to the end effector mounting assembly 1250".

Turning now to fig. 80, in the arrangement shown, the wave washer 2120 biases the mounting base 1252 of the end effector mounting assembly 1250 "downward (arrow D) when the closure system is in the unactuated state. In fig. 80, the proximal closure member 2410 is in a proximal position. Likewise, lower double pivot link 1222' is also in a proximal position, which allows mounting base 1252 to be driven downward. Because the mounting base 1252 is in its lowermost or unlocked position, the tapered mounting post 1253 has released the locking

sliders

2112, 2114, 2116 from remaining engaged with the distal end portion 1540' of the spine assembly 1500 "(a first unlocked position). Thus, when in this position, the surgical end effector 1100 may be articulated about the articulation axis B-B by the articulation links 1710R, 1710L. Once the surgical end effector 1100 has been articulated to the desired position, the articulation locking arrangement 2110 can be reactivated by distally advancing the proximal closure member 2410.

Fig. 81 shows the start of the locking process. As can be seen in this figure, the proximal closure member 2410 and the lower double pivot link 1222' have been initially moved in the distal direction DD. As the lower dual pivot link 1222' moves distally, the ramp 1226 thereon drives the mounting base 1252 of the end effector mounting assembly 1250 "upward to collapse the wave washer 2120. As mounting base 1252 moves upward (arrow U), tapered mounting post 1253 pushes locking

slides

2112, 2114, 2116 from the first unlocked position into remaining locked engagement with distal end portion 1540' of spine assembly 1500 "(second locked position) to lock surgical end effector 1100 in the articulated position. This locking of the surgical end effector 1100 occurs prior to full closure of the jaws of the surgical end effector. FIG. 82 illustrates the position of the proximal closure member 2410, lower double pivot link 1222', and articulation lock arrangement 2110 when the closure system components have been moved to the fully closed position (at which time the end effector has been fully closed). Thus, with a small amount of actuation of the closure system, the articulation locking arrangement 2110 may be actuated or moved between the locked and unlocked states. Other arrangements are contemplated in which the mounting post is attached to the distal end of the spine assembly and the pivot hole is provided in the proximal portion of the surgical end effector.

Fig. 83 and 84 illustrate an alternative articulation locking arrangement 2110' for locking the surgical end effector 1100 in an articulated position about an articulation axis B-B relative to the shaft axis SA. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500". The spine assembly 1500 "may be attached to the base 1800 (fig. 4) in the manner described above. Distal portion 1540' of spine assembly 1500 "includes a pivot hole 1543 that defines an articulation axis B-B. The end effector mounting assembly 1250 "is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 (fig. 6) that extends through a transverse mounting hole 1251 in the mounting assembly 1250" to be received within a channel mounting hole 1106 (fig. 6) provided in the proximal end 1103 of the elongate channel 1102. Surgical end effector mounting assembly 1250 "includes a mounting post 1253' that extends upwardly from mounting base 1252 to be received within a pivot hole 1543 in spine assembly 1500". In this embodiment, the mounting posts 1253' may not be tapered.

This embodiment also includes a plurality of locking sliders 2112', 2114', 2116', each made of an electroactive polymer material (EAP). For example, such materials may expand upon electrical stimulation. For example, current may be applied to one or more of the locking sliders 2112', 2114', 2116' by conductors (not shown) extending from the housing or handle arrangement, robotic control system, or the like. Thus, once the surgical end effector 1100 has been articulated to a desired position, one or more of the lockout sliders 2112', 2114', 2116' are expanded by application of an electrical current thereto. In other arrangements, one or more of the locking sliders 2112', 2114', 2116' may be configured to be pneumatically or hydraulically expandable. In other arrangements, the locking sliders 2112', 2114', 2116' may not be expandable. In such an arrangement, the mounting post 1253 may be fabricated from an EAP and may be selectively expanded by applying an electrical current thereto. In other arrangements, the mounting post 1253 may be selectively pneumatically or hydraulically expandable.

Fig. 85-89 illustrate an alternative articulation locking arrangement 2210 for locking the surgical end effector 1100 in an articulated position about an articulation axis B-B relative to the shaft axis SA. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500'. Spine assembly 1500' may be attached to base 1800 (fig. 4) in the manner described above. The distal portion 1540 of the upper portion 1539 of the spine assembly 1500' is formed with a downwardly projecting articulation pin 1542 that defines an articulation axis B-B. Articulation pin 1542 is configured to be rotatably or pivotally received within spine attachment hole 1254 provided in mounting base 1252 of end effector mounting assembly 1250 ″. The end effector mounting assembly 1250 "is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 (fig. 6) that extends through a transverse mounting hole 1251 in the mounting assembly 1250" to be received within a channel mounting hole 1106 (fig. 6) provided in the proximal end 1103 of the elongate channel 1102.

Referring to fig. 85, the arrangement shown employs two articulation links 1710R 'and 1710L' to apply leftward and rightward articulation motions to the surgical end effector 1100. However, in other examples, only one articulation link may be employed. In the arrangement shown, to articulate the surgical end effector 1100 to the right, the articulation link 1710R 'is axially retracted in the proximal direction PD and the articulation link 1710L' is axially advanced in the distal direction DD. Conversely, to articulate the surgical end effector 1100 in the leftward direction, the articulation link 1710L 'is axially retracted in the proximal direction PD and the articulation link 1710R' is axially advanced in the distal direction DD. The articulation link 1710R' has a slotted end 1711R that is received on a right articulation pin 1266R that is attached to the end effector mounting assembly 1250". Likewise, articulation link 1710L' has a slotted end 1711L that is received on left articulation pin 1266L that is attached to end effector mounting assembly 1250".

Still referring to fig. 85, the articulation locking arrangement 2210 in the illustrated embodiment includes a locking assembly 2220 that includes a distal end 2222 having a right locking member or prong 2224 and a left locking member or prong 2228 protruding therefrom. The right locking member 2224 includes a right locking rack 2226 that is laterally adjacent to and in face-to-face relationship with a corresponding right articulation rack 1720 formed on a downwardly extending portion of the right articulation link 1710R'. Similarly, the left locking member 2228 includes a left locking rack 2230 that is laterally adjacent to and in facing relationship with a corresponding left articulation rack 1723 formed on a downwardly extending portion 1722 of the left articulation link 1710L'. In the unactuated state, the right and left locking

members

2224, 2228 are centrally located between, and not engaged with, the right and left articulation links 1710R ', 1710L'. As can also be seen in fig. 85, a locking assembly 2220 is supported between the lower distal spine portion 1550 and the upper spine portion 1539. The lower distal spine portion 1550 includes an upwardly extending distal support pin 1554 that extends through a mounting hole 2223 in the distal end 2222 of the lock assembly 2220 to be received in a distal boss 1544 formed on the underside of the upper spine portion 1539. See fig. 86. The lower distal spine portion 1550 further includes an upwardly extending proximal support pin 1556 that extends through the locking opening 2225 between the right and left locking

members

2224, 2228 to be received in a proximal boss 1546 formed on the underside of the upper spine portion 1539.

In the illustrated arrangement, the articulation locking arrangement 2210 also includes an axially movable locking bar assembly 2240 that is operatively connected with an articulation transmission 2250 that is operatively supported within the shaft assembly 1400'. The locking bar assembly 2240 includes a locking wedge 2244 formed on a distal end 2242 thereof. The articulation transmission 2250 is configured to operably engage a distal firing bar 1620 that is operably supported in the shaft assembly 1400'. In this context, the distal firing bar 1620 may comprise a firing actuator.

Turning now to fig. 85-87, in the arrangement shown, one form of articulation transmission 2250 includes a firing rack 1624 formed on a portion of the distal firing bar 1620 and configured to operably engage a shifter drive rack 2254 formed on a shifter 2252. Proximal end 2253 of shifter 2252 is configured to be operatively connected to a locking lever coupler 2246 formed on locking lever assembly 2240. As can also be seen in fig. 85-87, shifter 2252 also includes a shifter driven rack 2256 in meshing engagement with an articulation pinion 2262 attached to an articulation sprocket gear 2260. An articulation sprocket gear 2260 is rotatably supported within the shaft assembly 1400 'and is in meshing engagement with a right articulation drive rack 1724 formed on or attached to the right distal articulation link 1710R' and with a left articulation drive rack 1726 'formed on or otherwise attached to the left distal articulation link 1710L'.

The operation of the articulation transmission 2250 and the articulation lock arrangement 2210 will be described with reference to fig. 87-89. FIG. 87 shows the surgical end effector 1100 in an unarticulated position. The locking bar assembly 2240 is in its distal most "unlocked position" when the locking wedge 2244 is received in the locking opening 2225 between the right and left locking

members

2224 and 2228. The right and left locking

members

2224, 2228 are in their unactuated states and are not engaged with the right and left articulation links 1710R ', 1710L'. Thus, the right locking rack 2226 on the right locking member 2224 is disengaged from engagement with the right articulation rack 1720 on the right distal articulation link 1710R ', and the left locking rack 2230 is disengaged from meshing engagement with the left articulation rack 1723 on the left distal articulation link 1710L'. Thus, the articulation locking arrangement 2210 is in an "unlocked" configuration. However, friction between the various components may prevent the surgical end effector 1100 from tipping or rotating about the articulation axis B-B.

Fig. 88 shows the beginning of the articulation process. As seen in fig. 88, proximal end 2253 of shifter 2252 is operatively engaged with locking lever coupler 2246 with locking lever assembly 2240 in the unlocked orientation. When the shifter 2252 is engaged with the locking lever assembly 2240 in this manner, the shifter drive rack 2254 is in meshing engagement with the firing rack 1624 on the distal firing bar 1620. The articulation process is then initiated by axially moving the distal firing bar 1620. In the example shown in fig. 88, the end effector 1100 is articulated about the articulation axis in the rightward direction RD by axially moving the distal firing bar 1620 in the proximal direction PD. Axial actuation of the distal firing bar 1620 in the proximal and distal directions has been discussed in detail herein. Because the lock link coupler 2246 maintains the shifter drive rack 2254 in meshing engagement with the firing rack 1624 on the distal firing bar 1620, the shifter 2252 moves proximally with the distal firing bar 1620. With the meshing engagement of shifter driven rack 2256 with articulation pinion 2262, movement of shifter 2252 in the proximal direction PD causes articulation pinion 2262 and articulation sprocket gear 2260 to rotate in a clockwise direction through an articulation actuation angle AAA. As the articulation sprocket gear 2260 rotates, the right distal articulation link 1710R 'is driven in the proximal direction PD and the left distal articulation link 1710L' is driven in the distal direction DD, which ultimately results in the surgical end effector pivoting about the articulation axis in the rightward direction RD. Once the surgical end effector 1100 has been articulated to the desired position, the user may lock the end effector 1100 in the articulated position by axially advancing the locking rod assembly 2240 in the proximal direction PD to move the locking wedge 2244 proximally into driving contact with the two actuation stops 2227, 2229 formed on the right and left locking

members

2224, 2228, respectively, to laterally outwardly bias the right and left locking

members

2224, 2228 into locking engagement with the left and right articulation racks 1720, 1723, respectively. Such proximal movement of the locking lever assembly 2240 also serves to disengage the locking lever coupler 2246 from the shifter 2252, as shown in fig. 89.

As seen in fig. 89, when the shifter 2252 has been disengaged from the locking lever assembly 2240, the shifter drive rack 2254 is no longer in meshing engagement with the firing rack 1624 on the distal firing bar 1620, and the shifter driven rack 2256 is no longer in meshing engagement with the articulation pinion 2262. Thus, the distal firing bar 1620 may now be advanced distally to apply a firing motion to the surgical end effector and then retracted in a proximal direction to the starting position shown in FIG. 87. Once the distal firing bar 1620 has been returned to the starting position, the user may then advance the lock bar assembly 2240 distally to cause the lock bar coupler 2246 to become operably engaged with the proximal end 2253 of the shifter 2252 and move the lock wedge 2244 back to its starting or unlocked position, at which time the right and

left lock members

2224 and 2228 may spring back or otherwise return to their unlocked positions. The user can then apply an axial motion to the distal firing bar 1620 in the appropriate axial direction to return the surgical end effector 1100 to its unarticulated position.

Fig. 90-95 illustrate an alternative articulation locking arrangement 2310 for locking the surgical end effector 1100 in an articulated position about an articulation axis B-B relative to the shaft axis SA. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500'. Spine assembly 1500' may be attached to base 1800 (fig. 4) in the manner described above. The distal portion 1540 of the upper spine portion 1539 of the spine assembly 1500' is formed with a downwardly projecting articulation pin 1542 that defines an articulation axis B-B. Articulation pin 1542 is configured to be rotatably or pivotally received within spine attachment hole 1254 provided in mounting base 1252 of end effector mounting assembly 1250 ″. The end effector mounting assembly 1250 "is attached to the proximal end 1103 of the elongate channel 1102 by a pogo pin connector 1235 (fig. 6) that extends through a transverse mounting hole 1251 in the mounting assembly 1250" to be received within a channel mounting hole 1106 (fig. 6) provided in the proximal end 1103 of the elongate channel 1102.

Referring to fig. 90, the arrangement shown employs two articulation links 1710R "and 1710L" to apply leftward and rightward articulation motions to the surgical end effector 1100. To articulate the surgical end effector 1100 to the right, the articulation link 1710R "is axially retracted in the proximal direction PD and the articulation link 1710L" is axially advanced in the distal direction DD. Conversely, to articulate the surgical end effector 1100 in the leftward direction, the articulation link 1710L "is axially retracted in the proximal direction PD and the articulation link 1710R" is axially advanced in the distal direction DD. The right distal articulation link 1710R "has a slotted end 1711R that is received on the right articulation pin 1266R attached to the end effector mounting assembly 1250". Likewise, the left distal articulation link 1710L "has a slotted end 1711L that is received on a left articulation pin 1266L that is attached to the end effector mounting assembly 1250".

Still referring to fig. 90, a right brake pad 2312 is formed on the right distal articulation link 1710R "and a left brake pad 2320 is formed on the left distal articulation link 1710L". As can also be seen in fig. 90, right brake pad 2312 and left brake pad 2320 are supported between a lower distal spine portion 1552' and an upper spine portion 1539. The lower distal spine part 1552' includes an upwardly extending distal support pin 1554 configured to be received in a distal boss (not shown) formed on the underside of the upper spine part 1539. In the arrangement shown, the articulation locking arrangement 2310 also includes an axially movable and lockable locking rod assembly 2340 that is operably engageable with an articulation transmission of the type described herein, or otherwise engaged with a locking rod control arrangement (not shown) that is configured to exert axially controlled motions in the distal direction DD and the proximal direction PD. The locking bar assembly 2340 includes a locking clip 2344 formed on a distal end 2342 thereof. The locking clamp 2344 extends through the right brake slot 2314 in the right brake pad 2312 and the left brake slot 2322 in the left brake pad 2320, and through an axial slot 2352 disposed through the wedge plate 2350 to engage the cleat 2360.

The operation of the articulation locking arrangement 2310 will be described with reference to fig. 91-95. FIG. 91 illustrates the surgical end effector 1100 in an unarticulated position. The locking rod assembly 2340 is in the unlocked position with the clamp portion 2344 not applying any clamping force to the right brake pad 2312 and the left brake pad 2320. Thus, when articulation motions are applied thereto, the right and left distal articulation links 1710R ", 1710L" are free to move axially. Friction between the various components may prevent the surgical end effector 1100 from tipping or rotating about the articulation axis B-B. Fig. 92 illustrates articulation of the surgical end effector 1100 in the leftward direction LD by moving the right distal articulation link 1710R "axially in the distal direction DD and the left distal articulation link 1710L" in the proximal direction PD. Fig. 93 illustrates the articulation locking arrangement 2310 in an unlocked configuration. Fig. 94 and 95 show the articulation locking arrangement 2310 in a locked configuration. The articulation locking arrangement 2310 is locked by applying an actuating motion to the locking bar assembly 2340 in a proximal direction. Such action causes its gripping portion to grip the left brake pad 2312 and the right brake pad 2320 so as to remain gripped between the wedge plate 2350 and the lower distal spine portion 1552'. Such an arrangement serves to apply a clamping force CF between the splint 2360 and the lower distal spine portion 1552' thereby preventing any further axial movement of the right and left distal articulation links 1710R ", 1710L".

Fig. 96 and 97 illustrate an example of an articulation travel multiplier transmission arrangement 2410 that may be used with the various articulation link arrangements disclosed herein. Turning first to fig. 97, a cross-sectional view of a portion of shaft assembly 1400 "is shown, including a proximal closure member 1410, and upper intermediate spine segment 1510" and distal spine extension 1562". The intermediate spine segment 1510 "and the distal spine extension 1562" serve to operably support the distal firing bar 1620 and the proximal firing shaft segment 1602 in the various manners disclosed herein. This embodiment includes an intermediate articulation link segment 1706 and a distal articulation link segment 1707, which may be connected to the end effector mounting assembly in any of the various ways disclosed herein. The intermediate articulation link 1706 may be operably connected to the articulation lock 1210 in various ways disclosed herein. As can be seen in fig. 96, the intermediate articulation link segment 1706 includes an intermediate or first rack 1708 formed thereon and the distal articulation link segment 1707 includes a second or distal rack 1709. The

racks

1708 and 1709 are in meshing engagement with at least one and preferably at least two multiplier pinion sets 2412 rotatably supported between the upper central spine portion 1510 "and the distal spine extension 1562". See fig. 97. For example, in the arrangement shown, each multiplier gear set 2412 includes a smaller drive gear 2414 supported in meshing engagement with a first rack 1708, and a larger multiplier gear 2416 supported in meshing engagement with a distal rack 1709.

Fig. 98A-98C illustrate operation of the articulation stroke multiplier transmission arrangement 2410. Fig. 98A illustrates the position of the intermediate articulation link segment 1706 and the distal articulation link segment 1707 when in the intermediate or non-articulated position. FIG. 98B illustrates the intermediate articulation link segment 1706 having been advanced axially a distance D in the distal direction from the intermediate position in FIG. 98A _1R Followed by the position of the intermediate articulation link segment 1706 and the distal articulation link segment 1707. As can also be seen in FIG. 98B, the distal articulation link 1707 moves an axial distance D _2R . In the illustrated example, D _2R >D _1R . FIG. 98C illustrates the intermediate articulation link segment 1706 having been axially advanced in the proximal direction PD a distance D from the intermediate position illustrated in FIG. 98A _1L Followed by the position of the intermediate articulation link segment 1706 and the distal articulation link segment 1707. As can also be seen in fig. 98C, the distal articulation link 1707 moves an axial distance D _2L . In the illustrated example, D _2L >D _1L . Thus, such an arrangement enables additional axial articulation travel and for articulation of the end effector through a greater range of articulation about the articulation axis.

99A-99B illustrate an example of an articulation travel multiplier transmission 2510 that may be used with the various articulation link arrangements disclosed herein. The articulation stroke multiplier 2510 is operably engaged with a proximal articulation driver 1700", which may be identical to the proximal articulation driver 1700, except for the differences noted. In particular, the proximal articulation driver 1700 "includes a drive rack 1701 formed on a distal end thereof. The drive rack is configured to meshingly engage a gear segment 2522 formed on a wobble gear 2520 that is pivotally pinned to a corresponding portion of the spine assembly. In the arrangement shown, the wobble gear 2520 is pivotable about a wobble gear axis transverse to the axial direction along which the proximal articulation driver 1700 "is configured to travel. The swing gear 2520 also includes a transfer slot 2524 configured to receive a transfer pin 1713 attached to a proximal end 1716 of the intermediate articulation link segment 1706 ". As can be seen in fig. 99A-99B, the distal end of the intermediate articulation link segment 1706 "is configured to be operably connected with the articulation lock 1210 in the various manners disclosed herein.

Fig. 99A shows the articulation stroke multiplier transmission 2510 in an intermediate position, in which no articulation motion is applied to the proximal articulation driver 1700 ". FIG. 99B shows the proximal articulation driver 1700 "having been axially advanced in the distal direction DD by a first axial distance D ₁ And then the position of the articulation travel multiplier gear 2510. Such movement of the proximal articulation driver 1700 "in the distal direction causes the oscillation gear 2520 to pivot about the oscillation gear axis in the clockwise direction CW. Such movement of the swing gear 2520 drives the intermediate articulation link segment 1706 "to travel a second axial distance D in the proximal direction ₂ . In such an example, D ₂ >D ₁ . Fig. 99C-99D show a similar arrangement, except that a transfer slot 2524 is provided in the proximal end 1716 of the intermediate articulation link segment 1706 "and a transfer pin 1713 is provided in the swing gear 2520.

Examples

Example 1-a surgical tool assembly comprising a surgical end effector movably coupled to a shaft assembly by an articulation joint. The articulation joint is configured to selectively facilitate selective articulation of the surgical end effector relative to the shaft assembly about an articulation axis. The articulation axis is transverse to a shaft axis defined by the shaft assembly. The shaft assembly includes a proximal end, a distal end operably connected to the articulation joint, and an elongated recess in the shaft assembly. The elongated notch is located on one lateral side of the shaft axis and is located near the distal end.

Example 2-the surgical tool assembly of example 1, wherein the articulation joint is configured to limit articulation of the surgical end effector about the articulation axis to one lateral side of the shaft axis.

Example 3-the surgical tool assembly of examples 1 or 2, wherein the shaft assembly comprises a spine assembly and a proximal closure member. The spine assembly includes a distal spine end operably coupled to an articulation joint. A proximal closure member is supported on the spine assembly for selective axial travel relative to the spine assembly. The elongated notch further includes an elongated ridge notch in the distal ridge end on one lateral side of the shaft axis and an elongated closure member notch in the proximal closure member on one lateral side of the shaft axis and corresponding to the elongated ridge notch.

Example 4-the surgical tool assembly of example 3, wherein the surgical end effector comprises a first jaw operably coupled to the articulation joint, and a second jaw supported for selective movable travel relative to the first jaw in response to a closing motion applied thereto.

Example 5-the surgical tool assembly of example 4, wherein the shaft assembly further comprises a distal closure member movably coupled to the proximal closure member for selective axial travel therewith, the distal closure member being operably connected with the second jaw to apply a closing motion thereto.

Example 6-the surgical tool assembly of examples 1 or 2, wherein the surgical tool assembly further comprises means for preventing the distal end of the shaft assembly from buckling when an axial actuation motion is applied to the proximal end of the shaft assembly.

Example 7-the surgical tool assembly of examples 3, 4, or 5, wherein the surgical tool assembly further comprises means for preventing buckling of the distal end of the shaft assembly when an axial actuation motion is applied to the proximal end of the shaft assembly.

Example 8-the surgical tool assembly of example 7, wherein the means for preventing buckling comprises at least one alignment member protruding from the proximal closure member and extending into a corresponding axial slot in the spine assembly.

Example 9-the surgical tool assembly of example 8, wherein the at least one alignment member comprises at least one first alignment member protruding from the proximal closure member at a first location and extending into a corresponding first axial slot in the spine assembly for axial travel therein and at least one second alignment member protruding from the proximal closure member at a second location diametrically opposite the first location. The second alignment member extends into a corresponding second axial slot in the spine assembly.

Example 10-the surgical tool assembly of examples 8 or 9, wherein at least one of the at least one alignment member has an L-shaped cross-sectional shape.

Example 11-a surgical tool assembly comprising a surgical end effector movably coupled to a shaft assembly by an articulation joint. The articulation joint is configured to facilitate selective articulation of the surgical end effector relative to the shaft assembly about an articulation axis. The articulation axis is transverse to a shaft axis defined by the shaft assembly. The shaft assembly includes a proximal portion including an uninterrupted proximal outer perimeter and a distal portion extending from the proximal portion and operably coupled to the articulation joint. The distal portion includes a distal outer periphery including a discontinuous distal portion on one lateral side of the shaft axis.

Example 12-the surgical tool assembly of example 11, wherein the articulation joint is configured to limit articulation of the surgical end effector about the articulation axis to one lateral side of the shaft axis.

Example 13-the surgical tool assembly of examples 11 or 12, wherein the shaft assembly comprises a spine assembly including a distal spine end operably coupled to the articulation joint and a proximal closure member supported on the spine assembly for selective axial travel relative thereto. The discontinuous distal portion includes an elongated closure member notch in the proximal closure member on one lateral side of the shaft axis.

Example 14-the surgical tool assembly of example 13, wherein the surgical tool assembly further comprises an elongated closure member notch.

Example 15-the surgical tool assembly of examples 13 or 14, wherein the surgical tool assembly further comprises means for preventing buckling of the distal end of the shaft assembly when the axial actuation motion is applied to the proximal portion of the shaft assembly.

Example 16-the surgical tool assembly of example 15, wherein the means for preventing buckling comprises at least one alignment member protruding from the proximal closure member and extending into a corresponding axial slot in the spine assembly.

Example 17-the surgical tool assembly of example 16, wherein the at least one alignment member comprises at least one first alignment member protruding from the proximal closure member at a first location and extending into a corresponding first axial slot in the spine assembly for axial travel therein and at least one second alignment member protruding from the proximal closure member at a second location diametrically opposite the first location. The second alignment member extends into a corresponding second axial slot in the spine assembly.

Example 18-the surgical tool assembly of examples 16 or 17, wherein at least one of the at least one alignment member has an L-shaped cross-sectional shape.

Example 19-the surgical tool assembly of examples 11, 12, 13, 14, 15, 16, 17, or 18, wherein the distal portion comprises a distal axial length. The proximal portion includes a proximal axial length, and the proximal axial length is greater than the distal axial length.

Example 20-a surgical tool assembly comprising a surgical end effector movably coupled to a shaft assembly by an articulation joint. The articulation joint is configured to facilitate selective articulation of the surgical end effector relative to the shaft assembly about an articulation axis. The articulation axis is transverse to a shaft axis defined by the shaft assembly. The shaft assembly includes a proximal end, a distal end operably coupled to the articulation joint, an elongate recess, and an axially displaceable firing member axially aligned with the shaft axis. The elongate recess is on one lateral side of the shaft axis of the shaft assembly and is located near the distal end.

Example 21-a surgical tool assembly comprising a shaft assembly, a surgical end effector, and a protective cap member. The shaft assembly includes an axially movable closure member and an axially movable firing member that is selectively axially movable between an unfired position and a fired position. The surgical end effector includes a first jaw and a second jaw, the second jaw including a mounting portion including a pair of mounting walls. The mounting wall is configured to movably engage a portion of the first jaw to movably support the second jaw on the first jaw. The mounting portion defines a camming region configured to be engaged by an axially movable closure member to move the second jaw from an open position to a closed position relative to the first jaw. The mounting walls define an open-topped parking region therebetween for receiving the firing member therein when the firing member is in an unfired position. A protective cap member is attached to the mounting wall and covers at least a portion of the open-top parking area.

Example 22-the surgical tool assembly of example 21, wherein each mounting wall is configured to pivotally engage a corresponding portion of the first jaw to facilitate pivotal travel of the second jaw relative to the first jaw about the pivot axis.

Example 23-the surgical tool assembly of example 22, wherein each mounting wall projects proximally from the camming region. The protective cap includes a transition portion configured to cover at least a portion of the open-top parking region proximate the cam region and form a pre-close cam surface proximate the cam region, and at least one attachment portion extending from the transition portion to couple the protective cap to the at least one mounting wall.

Example 24-the surgical tool assembly of example 23, wherein the at least one attachment member comprises a first leg extending downward from the transition portion and configured to retainingly engage a corresponding one of the mounting walls and a second leg extending downward from the transition portion and configured to retainingly engage a corresponding other one of the mounting walls.

Example 25-the surgical tool assembly of example 24, wherein the first leg and the second leg are removably attached to the mounting wall.

Example 26-the surgical tool assembly of example 25, wherein the first leg comprises a first attachment opening configured to retentively receive a first attachment ear formed on a corresponding one of the mounting walls therein. The second leg includes a second attachment opening configured to retentively receive therein a second attachment ear formed on a corresponding other one of the mounting walls.

Example 27-the surgical tool assembly of examples 23, 24, 25, or 26, wherein the closure member comprises a distal camming surface configured to cammingly engage a pre-closure camming surface on the protective cap and a camming region on the mounting portion to move the second jaw from the open position to the closed position.

Example 28-the surgical tool assembly of examples 22, 23, 24, 25, 26, or 27, wherein the surgical tool assembly further comprises a means for biasing the second jaw to an open position.

Example 29-the surgical tool assembly of example 28, wherein the surgical tool assembly further comprises means for preventing the second jaw from opening beyond a maximum open position.

Example 30-the surgical tool assembly of examples 22, 23, 24, 25, 26, 27, 28, or 29, wherein the second jaw is configured to selectively pivot about a pivot axis relative to the first jaw, and wherein at least a portion of the open-top parking region is proximate the pivot line.

Example 31-the surgical tool assembly of examples 22, 23, 24, 25, 26, 27, 28, 29, or 30, wherein the second jaw comprises a pair of ears pivotally supported in the mounting wall.

Example 32-the surgical tool assembly of example 31, wherein the pair of trunnions comprise a first ear and a second ear, the first ear configured to be pivotally supported in a first lateral pivot hole in a first one of the mounting walls, the second ear configured to be pivotally supported in a second lateral pivot hole in a second one of the mounting walls. The first and second ears define a pivot axis about which the second jaw is pivotable.

Example 33-the surgical tool assembly of example 32, wherein the surgical tool assembly further comprises a first mounting slot in a first one of the mounting walls and a second mounting slot in a second one of the mounting walls. A first mounting slot extends from the first top edge of the first one of the mounting walls to the first lateral pivot hole transverse to the first lateral pivot hole. A second mounting slot extends from a second top edge of the second one of the mounting walls to the second lateral pivot hole transverse to the second lateral pivot hole.

Example 34-a surgical tool assembly comprising a shaft assembly, a surgical end effector, and a protective cap member. The shaft assembly includes an axially movable closure member and an axially movable firing member that is selectively axially movable between an unfired position and a fired position. The surgical end effector includes an elongate channel configured to operably support a surgical staple cartridge therein and an anvil including an anvil mounting portion. The anvil mounting portion includes a pair of anvil mounting walls pivotally supported on the elongate channel for selective pivotal travel relative thereto about a pivot axis. The anvil mounting portion defines a cam region configured to be engaged by an axially movable closure member to move the anvil relative to the elongate channel from an open position to a closed position. The anvil mounting walls define an open-topped parking region therebetween for receiving the firing member therein when the firing member is in the unfired position. A protective cap member is attached to the anvil mounting wall and covers at least a portion of the open-top parking region.

Example 35-the surgical tool assembly of example 34, wherein at least a portion of the open-top parking zone is proximate the pivot axis.

Example 36-the surgical tool assembly of examples 34 or 35, wherein the firing member comprises a vertically extending firing body comprising a tissue cutting edge, a top anvil engagement tab, and a bottom channel engagement tab. A top anvil engagement tab extends laterally from the top end of the firing body and is configured to engage the anvil as the firing member is axially advanced from the unfired position to the fired position. A bottom channel engagement tab extends laterally from a bottom portion of the firing body and is configured to engage the channel as the firing member is axially advanced from an unfired position to a fired position to maintain an underside of the anvil at a desired distance from a cartridge deck of a surgical cartridge supported in the elongate channel.

Example 37-the surgical tool assembly of examples 34, 35, or 36, wherein each mounting wall projects proximally from the camming region. The protective cap includes a transition portion configured to cover at least a portion of the open-top parking region proximate the cam region and form a pre-close cam surface proximate the cam region, and at least one attachment portion extending from the transition portion to couple the protective cap to the at least one anvil mounting wall.

Example 38-the surgical tool assembly of example 37, wherein the at least one attachment portion comprises a first leg extending downward from the transition portion and configured to retainingly engage a corresponding one of the anvil mounting walls and a second leg extending downward from the transition portion and configured to retainingly engage a corresponding other one of the anvil mounting walls.

Example 39-the surgical tool assembly of examples 34, 35, 36, 37, or 38, wherein the surgical tool assembly further comprises means for biasing the anvil to the open position when the closure member is in the starting position.

Example 40-a surgical tool assembly comprising a shaft assembly and a surgical end effector. The shaft assembly includes an axially movable closure member and an axially movable firing member that is selectively axially movable between an unfired position and a fired position. The surgical end effector includes a first jaw and a second jaw, the second jaw including a mounting portion. The mounting portion includes a pair of mounting walls configured to movably engage a portion of the first jaw to movably support the second jaw on the first jaw. The mounting portion defines a camming region configured to be engaged by an axially movable closure member to move the second jaw from an open position to a closed position relative to the first jaw. The mounting walls define an open-top parking region therebetween for receiving the firing member therein when the firing member is in the unfired position. The surgical tool assembly also includes means for at least partially covering at least a portion of the open-top parking region and defining a pre-close cam surface proximate the cam region.

Example 41-a surgical tool assembly comprising a first jaw, a second jaw, and a shaft assembly. The second jaw is movably supported on the first jaw for selective movement relative to the first jaw between an open position and a closed position about a fixed pivot axis. The shaft assembly is configured to apply an initial closing motion to the camming surface on the second jaw in a first closing direction normal to the camming surface as the closure member is advanced axially over the camming surface, and to apply an additional closing motion to the camming surface in a second closing direction parallel to the shaft axis.

Example 42-the surgical tool assembly of example 41, wherein the cam surface is formed on the second jaw mounting portion, and wherein the second jaw further comprises first and second mounting walls each pivotally attached to the first jaw for selective pivotal travel about a pivot axis.

Example 43-the surgical tool assembly of examples 41 or 42, wherein the axially moveable closure member comprises a distal closure tube comprising a distal end surface and a distal camming surface configured to cammingly engage a camming surface on the second jaw.

Example 44-the surgical tool assembly of example 43, wherein the distal end surface is configured to apply an initial closing motion to the camming surface, and the distal camming surface is configured to apply an additional closing motion to the camming surface.

Example 45-the surgical tool assembly of example 44, wherein the distal end surface comprises a portion of the cross-sectional thickness of the closure tube, and wherein the camming surface extends from the distal end surface and comprises another portion of the cross-sectional thickness of the closure tube.

Example 46-the surgical tool assembly of example 45, wherein the closure tube comprises an outer surface, an inner surface, and a distal end defining a distal surface. The distal camming surface extends from the distal surface to the inner surface at an obtuse angle relative to the distal surface.

Example 47-the surgical tool assembly of example 42, wherein the shaft assembly further comprises an axially movable firing member that is selectively axially movable between a starting position and an ending position between the first mounting wall and the second mounting wall.

Example 48-the surgical tool assembly of example 47, wherein at least a portion of the firing member is proximal to the cam surface when the firing member is in the starting position.

Example 49-a surgical tool assembly comprising an end effector and a shaft assembly. The end effector includes an elongate channel configured to operably support a surgical staple cartridge therein and an anvil. The anvil includes an anvil mounting portion movably supported on the elongate channel for selective movement relative to the elongate channel about a fixed pivot axis between an open position and a closed position. The shaft assembly defines a shaft axis and includes an axially movable closure member configured to apply an initial closure motion to a camming surface on the anvil mounting portion in a first closure direction normal to the camming surface and to apply an additional closure motion to the camming surface in a second closure direction parallel to the shaft axis as the closure member is advanced axially over the camming surface.

Example 50-the surgical tool assembly of example 49, wherein the anvil further comprises first and second anvil mounting walls each pivotally attached to the elongate channel for selective pivotal travel about a pivot axis.

Example 51-the surgical tool assembly of examples 49 or 50, wherein the axially moveable closure member comprises a distal closure tube comprising a distal end surface and a distal camming surface configured to cammingly engage a camming surface on the anvil mounting portion.

Example 52-the surgical tool assembly of example 51, wherein the distal end surface is configured to apply an initial closing motion to the camming surface, and the distal camming surface is configured to apply an additional closing motion to the camming surface.

Example 53-the surgical tool assembly of example 52, wherein the distal end surface comprises a portion of the cross-sectional thickness of the closure tube, and wherein the camming surface extends from the distal end surface and comprises another portion of the cross-sectional thickness of the closure tube.

Example 54-the surgical tool assembly of example 50, wherein the shaft assembly further comprises an axially movable firing member configured to be selectively axially moved between a starting position and an ending position between the first anvil mounting wall and the second anvil mounting wall.

Example 55-the surgical tool assembly of example 54, wherein at least a portion of the firing member is proximate the cam surface when the firing member is in the starting position.

Example 56-a surgical tool assembly comprising an end effector and a shaft assembly defining a shaft axis and comprising an axially movable closure member. The end effector includes: an elongate channel configured to operably support a surgical staple cartridge therein; and an anvil movably including an anvil mounting portion supported on the elongate channel for selective movement relative to the elongate channel between open and closed positions. The surgical tool assembly further includes a first closure device on the closure member for applying an initial closure motion to the camming surface on the anvil mounting portion in a first closure direction normal to the camming surface, and a second closure device on the closure member for applying an additional closure motion to the camming surface in a second closure direction parallel to the shaft axis as the closure member is advanced axially over the camming surface.

Example 57-the surgical tool assembly of example 56, wherein the first closure device comprises a distal camming surface on a portion of the distal end of the closure member, and wherein the second closure device comprises a distal camming surface on another portion of the distal end and extending from the distal camming surface at an obtuse angle relative thereto.

Example 58-the surgical tool assembly of examples 56 or 57, wherein the camming surface is formed on the anvil mounting portion, and wherein the anvil further comprises first and second mounting walls that are each pivotally attached to the elongate channel for selective pivotal travel about a pivot axis.

Example 59-the surgical tool assembly of example 58, wherein the shaft assembly further comprises an axially movable firing member that is selectively axially movable between a starting position and an ending position between the first mounting wall and the second mounting wall.

Example 60-the surgical tool assembly of example 59, wherein at least a portion of the firing member is proximal to the cam surface when the firing member is in the starting position.

Example 61-a surgical tool assembly comprising a surgical end effector and a closure member that is axially movable in response to closing and opening motions applied thereto. The surgical end effector includes a first jaw and a second jaw, the second jaw including a second jaw body portion and a second jaw mounting portion. The second jaw mounting portion is movably coupled to the first jaw for selective movement between an open position and a closed position relative to the first jaw. The closure member includes at least one opening cam formed thereon and configured to movably engage a corresponding cam surface formed on the second jaw body portion such that upon application of an opening motion to the closure member, the at least one opening cam movably engages the corresponding cam surface to move the second jaw to the open position. Upon application of a closing motion to the closure member, the closure member engages the second jaw to move the second jaw to one of the closed positions.

Example 62-the surgical tool assembly of example 61, wherein the at least one opening cam comprises a first hook portion extending distally from the distal end of the closure member and configured to cammingly engage a first one of the cam surfaces formed on the second jaw body portion, and a second hook portion extending distally from the distal end of the closure member and configured to cammingly engage a second one of the cam surfaces formed on the second jaw body portion.

Example 63-the surgical tool assembly of examples 61 or 62, wherein the cam surface comprises a downwardly extending ramp surface formed on the second jaw body portion.

Example 64-the surgical tool assembly of example 63, wherein each of the at least one opening cam comprises a cam drive end formed thereon, the cam drive ends configured to cammingly engage a corresponding ramp surface upon application of an opening motion to the closure member.

Example 65-the surgical tool assembly of example 64, wherein each ramp surface comprises a ramp surface end, and wherein each camming end is configured to engage the ramp surface end of the corresponding ramp surface to maintain the second jaw in a fully open position relative to the first jaw.

Example 66-the surgical tool assembly of examples 61, 62, 63, 64, or 65, wherein the surgical tool assembly further comprises an auxiliary jaw opening device for applying an additional opening action to the second jaw.

Example 67-the surgical tool assembly of example 66, wherein the auxiliary jaw opening device comprises at least one auxiliary jaw opening member on the closure member configured to engage a corresponding jaw opening feature on the second jaw to apply an additional opening motion to the second jaw when the opening motion is applied to the closure member.

Example 68-the surgical tool assembly of example 67, wherein the auxiliary jaw opening features comprise at least one first jaw opening tab integrally formed in the closure member and configured to contact a corresponding one of the corresponding jaw opening features and at least one second jaw opening tab integrally formed in the closure member and configured to contact another corresponding one of the corresponding jaw opening features.

Example 69-the surgical tool assembly of examples 66, 67, or 68, wherein the auxiliary jaw opening device comprises at least one biasing member configured to apply an additional opening motion to the second jaw.

Example 70-the surgical tool assembly of examples 62, 63, 64, 65, 66, 67, 68, or 69, wherein the first and second hook portions each comprise a compliant portion thereon.

Example 71-the surgical tool assembly of example 70, wherein the compliant portion comprises a compliant material attached to each of the first and second hook portions.

Example 72-the surgical tool assembly of examples 70 or 71, wherein the at least one biasing member comprises a spring corresponding to and attached to each of the first and second hook portions.

Example 73-a surgical tool assembly comprising a surgical end effector and a closure member that is axially movable in response to closing and opening motions applied thereto. The surgical end effector comprises: an elongate channel configured to operably support a surgical staple cartridge therein; and an anvil including an anvil body and an anvil mounting portion pivotally supported on the elongate channel for selective movement relative thereto between open and closed positions. The closure member includes at least one opening cam formed thereon, wherein the at least one opening cam is configured to movably engage a corresponding cam surface formed on the anvil body portion such that upon application of an opening motion to the closure member, the at least one opening cam movably engages the corresponding cam surface to move the anvil to the open position and upon application of a closing motion to the closure member, the closure member engages the anvil to move the anvil to one of the closed positions.

Example 74-the surgical tool assembly of example 73, wherein the surgical tool assembly further comprises at least one tissue stop formed on the anvil body, and wherein the at least one cam surface is proximal to the at least one tissue stop.

Example 75-the surgical tool assembly of examples 73 or 74, wherein the at least one opening cam comprises a first hook portion extending distally from the distal end of the closure member and configured to cammingly engage a first one of the cam surfaces formed on the anvil body, and a second hook portion extending distally from the distal end of the closure member and configured to cammingly engage a second one of the cam surfaces formed on the anvil body.

Example 76-the surgical tool assembly of example 75, wherein the first and second hook portions each comprise a compliant portion thereon.

Example 77-the surgical tool assembly of examples 73 or 74, wherein the first and second hook portions each comprise a compliant portion thereon.

Example 78-the surgical tool assembly of examples 73, 74, 75, 76, or 77, wherein the surgical tool assembly further comprises an auxiliary anvil opening device for applying an additional opening motion to the second jaw.

Example 79-the surgical tool assembly of example 78, wherein the anvil is pivotally coupled to the elongate channel to selectively pivotally travel about a pivot axis between the open position and the closed position. The auxiliary anvil opening device is located proximal to the pivot axis.

Example 80-a surgical tool assembly comprising a surgical end effector and a closure member. The surgical end effector includes an elongate channel configured to operably support a surgical staple cartridge therein and an anvil including an anvil body and an anvil mounting portion. The anvil mounting portion is pivotally supported on the elongate channel for movement relative thereto between an open position and a closed position. The closure member is axially movable between a fully actuated position corresponding to a fully closed position of the closed positions and an unactuated position corresponding to the open position. The closure member includes a closure system configured to sequentially apply an initial opening motion to the anvil and then an additional secondary motion to the anvil as the closure member is moved from the fully actuated position to the unactuated position.

Example 81-a surgical end effector comprising: a first jaw configured to operably support a surgical staple cartridge therein; a second jaw movably supported relative to the first jaw to selectively move between an open position and a closed position; a firing member; and a firing member lockout system. The firing member is supported for axial movement within the first jaw along the shaft axis between a starting position and an ending position upon application of firing and retraction motions thereto. A firing member lockout system is movable by the second jaw between an unactuated position and a locked position wherein upon initial distal advancement of the firing member from the starting position, the firing member lockingly engages the firing member lockout system to prevent further distal advancement of firing unless an unfired surgical staple cartridge including a cam assembly in an unfired position is supported within the first jaw.

Example 82-the surgical end effector of example 81, wherein the firing member lockout system comprises a locking member mounted to the first jaw.

Example 83-the surgical end effector of example 82, wherein the locking member further comprises a spring tab configured to support the locking member on the first jaw and bias the locking member to the unlocked position.

Example 84-the surgical end effector of examples 82 or 83, wherein the lockout member comprises at least one laterally movable lockout portion configured to lockingly engage a portion of the firing member upon initial distal advancement of the firing member when the second jaw is in the closed position unless an unfired surgical staple cartridge is supported within the first jaw.

Example 85-the surgical end effector of example 84, wherein the firing member comprises a firing member body comprising a locking protrusion corresponding to each of the laterally movable locking portions, each locking protrusion oriented for locking engagement with the corresponding laterally movable locking portion upon initial distal advancement of the firing member when the second jaw is in the closed position unless an unfired surgical staple cartridge is supported within the first jaw.

Example 86-the surgical end effector of example 85, wherein the cam assembly comprises an unlocking feature corresponding to each laterally movable locking portion to bias each of the corresponding laterally movable locking portions out of locking engagement with the corresponding locking protrusion when the unfired surgical staple cartridge is supported in the first jaw and its cam assembly is in the unfired position.

Example 87-the surgical end effector of examples 85 or 86, wherein each laterally movable locking portion comprises a locking window configured to lockingly receive a portion of a corresponding locking protrusion when the laterally movable locking portion is lockingly engaged with the corresponding locking protrusion.

Example 88-the surgical end effector of examples 81, 82, 83, 84, 85, 86, or 87, wherein the firing member lockout system comprises at least one locking member movably coupled to the second jaw to travel along a corresponding locking axis that is transverse to the shaft axis when the anvil is in the closed position.

Example 89-the surgical end effector of examples 81, 82, 83, 84, 85, 86, 87, or 88, wherein the firing member lockout system comprises a locking member movably supported for travel between an unlocked position and a locked position, wherein upon initial distal advancement of the firing member, at least a portion of the locking member is configured to snaggly engage a corresponding portion of the firing member to prevent advancement of the firing member from the starting position to the ending position.

Example 90-a surgical end effector, comprising: an elongate channel configured to operably support a surgical staple cartridge therein; an anvil supported relative to the elongate channel such that the anvil is selectively movable relative to the elongate channel between an open position and a closed position; a firing member; and a firing member lockout system. The firing member is supported for axial movement within the elongate channel along the shaft axis between a starting position and an ending position upon application of firing and retraction motions thereto. The firing member lockout system is movable by the anvil between an unactuated position and a locked position wherein, upon initial distal advancement of the firing member from the starting position, the firing member lockingly engages the firing member lockout system to prevent further distal advancement of firing unless an unfired surgical staple cartridge including a cam assembly in an unfired position is supported within the elongate channel. The firing member lockout system is configured to move from an unactuated position to a locked position when the anvil is moved to the closed position.

Example 91-the surgical end effector of example 90, wherein the firing member lockout system comprises a locking member. The locking member includes: a pair of laterally movable locking portions; a mounting portion configured to support the locking member on the surgical end effector and bias the locking member to an unactuated position; and at least one anvil tab on the locking member for contacting a corresponding portion of the anvil when the anvil is moved to the closed position.

Example 92-the surgical end effector of example 91, wherein each laterally movable locking portion comprises a locking window configured to retentively engage a corresponding portion of the firing member when the locking member is in a locked position unless an unfired surgical staple cartridge is supported within the elongate channel.

Example 93-the surgical end effector of example 92, wherein each corresponding portion of the firing member comprises a laterally projecting lock-out ear corresponding to each lock-out window of the corresponding laterally movable lock-out portion and dimensioned to be retainingly received therein, in locking engagement therewith, when the lock-out member is in the locked-out position unless an unfired surgical staple cartridge comprising the cam assembly in the unfired position is supported within the elongate channel.

Example 94-the surgical end effector of example 93, wherein the cam assembly comprises an unlocking feature corresponding to each laterally movable locking portion to bias each of the corresponding laterally movable locking portions out of locking engagement with the corresponding locking ear when the unfired surgical staple cartridge is supported in the elongate channel and its cam assembly is in the unfired position.

Example 95-the surgical end effector of examples 90, 91, 92, 93, or 94, wherein the firing member lockout system comprises at least one locking member, and wherein the anvil comprises an anvil body and an anvil mounting portion comprising a pair of spaced apart anvil mounting walls each pivotally supported on the elongate channel, and wherein each anvil mounting wall movably supports a corresponding one of the locking members therein.

Example 96-the surgical end effector of examples 90, 91, 92, 93, 94, or 95, wherein the firing member lockout system comprises at least one locking member movably coupled to the anvil to travel along a corresponding locking axis that is transverse to the shaft axis when the anvil is in the closed position.

Example 97-the surgical end effector of examples 90, 91, 92, 93, 94, 95, or 96, wherein the surgical end effector further comprises a tissue cutting surface on the firing member.

Example 98-a surgical instrument, comprising: an elongate shaft defining a shaft axis; an elongate channel operably coupled to the elongate shaft and configured to operably support a surgical staple cartridge therein; and an anvil supported relative to the elongate channel such that the anvil is selectively movable relative to the elongate channel between an open position and a closed position. The surgical instrument further includes a firing member supported for axial travel within the elongate channel between a starting position and an ending position upon application of firing and retraction motions thereto, and means for preventing movement of the firing member from the starting position to the ending position unless the anvil is in the closed position and an unfired surgical staple cartridge including a cam assembly in the unfired position is supported within the elongate channel.

Example 99-the surgical instrument of example 98, wherein the anvil comprises an anvil body and a pair of anvil mounting walls extending from a portion of the anvil body. Each anvil mounting wall is pivotally coupled to the elongate channel such that the anvil is selectively movable between an open position and a closed position relative to the elongate channel upon application of closing and opening motions thereto by the closure portion of the elongate shaft assembly.

Example 100-the surgical instrument of examples 98 or 99, wherein the means for preventing comprises a locking member movably supported for travel between an unlocked position and a locked position, at least a portion of which is configured to hookingly engage a corresponding portion of the firing member to prevent advancement of the firing member from the starting position to the ending position, and means for biasing the firing member to the unlocked position.

Example 101-a surgical instrument comprising a surgical end effector, an elongate shaft defining a shaft axis, a closure member, and an articulation joint. The surgical end effector includes a first jaw and a second jaw movably supported on the first jaw for selective travel relative to the first jaw between an open position and a closed position. A closure member is movably supported on the elongate shaft and is configured to be selectively movable in a closure direction from an open position to a closed position and in an opening direction from the closed position to the open position. An articulation joint couples the surgical end effector to the elongate shaft such that the surgical end effector is selectively articulatable relative to the elongate shaft about an articulation axis that is transverse to the shaft axis. The articulation joint includes an articulation locking arrangement configured to be moved from a locked configuration in which the surgical end effector is prevented from articulating about an articulation axis and an unlocked configuration in which the surgical end effector is articulatable about the articulation axis. The articulation locking arrangement moves from the locked configuration to the unlocked configuration when the closure member is moved from the open position in the closing direction. The surgical instrument further comprises means for applying an articulation motion to the surgical end effector when the articulation locking arrangement is in the unlocked configuration.

Example 102-the surgical instrument of example 101, wherein the articulation locking arrangement comprises at least one locking member movable between a first position corresponding to the unlocked configuration and a second position in which the at least one locking member is frictionally engaged with the mounting portion of the surgical end effector and the distal end portion of the elongate shaft. The at least one locking member is operatively connected with the closure member such that initial movement of the closure member in a closing direction causes the at least one locking member to move from a first position to a second position.

Example 103-the surgical instrument of example 102, wherein the mounting portion of the surgical end effector comprises an upright mounting post comprising a plurality of post sides, and wherein the at least one locking member comprises a locking member corresponding to each post side.

Example 104-the surgical instrument of example 103, wherein the distal end portion of the elongate shaft comprises a pivot hole defining an articulation axis, and wherein the upright mounting posts extend into the pivot hole such that each locking member is movably supported within the pivot hole between a corresponding post side and an inner wall of the pivot hole.

Example 105-the surgical instrument of example 104, wherein the upstanding mounting posts are configured to move the plurality of locking members into frictional engagement with the inner wall of the pivot aperture and the corresponding post sides when the closure member is moved in the closing direction.

Example 106-the surgical instrument of example 105, wherein the closure member comprises a proximal closure member coupled to a source of closing and opening motions to move the proximal closure member in a closing direction and an opening direction; a distal closure member pivotally coupled to the proximal closure member by a linkage arrangement, wherein a portion of the linkage arrangement is configured to connect with the upright mounting posts such that upon initial movement of the closure member in a closing direction, the upright mounting posts move the plurality of locking members into frictional engagement with the inner wall of the pivot aperture and the corresponding post sidewalls.

Example 107-the surgical instrument of example 106, wherein the linkage arrangement comprises an upper double pivot connection pivotally coupled to and extending between the proximal and distal closure members and a lower double pivot connection pivotally coupled to and extending between the proximal and distal closure members. The lower double pivot link is configured to be operably connected with the upright mounting post to apply a locking action to the upright mounting post upon initial movement of the lower double pivot link in a closing direction.

Example 108-the surgical instrument of example 107, wherein the upright mounting post comprises a first end attached to the mounting base adjacent the lower double pivot connection, the upright post tapering to a free end, wherein a cross-sectional area of the free end is less than another cross-sectional area of the first end of the post.

Example 109-the surgical instrument of examples 101, 102, 103, 104, 105, 106, 107, or 108, wherein the first jaw comprises an elongate channel configured to operably support a surgical staple cartridge therein, and wherein the second jaw comprises an anvil.

Example 110-the surgical instrument of examples 101, 102, 103, 104, 105, 106, 107, 108, or 109, wherein the means for applying articulation motions to the surgical end effector comprises means for applying a first articulation motion to the surgical end effector to articulate the surgical end effector about an articulation axis in a first articulation direction and means for applying a second articulation motion to the surgical end effector to articulate the surgical end effector about an articulation axis in a second articulation direction.

Example 111-a surgical instrument, comprising: an elongate shaft including a distal end portion and defining a shaft axis; a surgical end effector; an articulation locking arrangement; and an articulation member. The surgical end effector includes an end effector mounting portion, wherein one of the distal end portion of the elongate shaft and the end effector mounting portion includes a pivot aperture and the other of the distal end portion of the elongate shaft and the end effector mounting portion includes a pivot aperture defining an articulation pin pivotally received within the pivot aperture and defining an articulation axis transverse to the shaft axis about which the surgical end effector is articulatable relative to the elongate shaft upon application of articulation motions to the surgical end effector. An articulation lock arrangement is supported within the pivot bore between the articulation pin and an inner wall of the pivot bore. The articulation locking arrangement is movable from a first locked configuration in which the articulation locking arrangement frictionally engages the articulation pin and an inner wall of the pivot bore to prevent relative pivotal travel of the articulation pin and the distal end portion of the elongate shaft, and an unlocked configuration in which the articulation pin and the distal end portion are pivotable relative to each other. The articulation member is coupled to the surgical end effector such that actuation of the articulation member causes the articulation member to apply an articulation motion to the surgical end effector. The articulation member is connected with the articulation locking arrangement such that initial actuation of the articulation member causes the articulation locking arrangement to move from the locked configuration to the unlocked configuration, and upon deactivation of the articulation member, the articulation locking arrangement moves from the unlocked configuration to the locked configuration.

Example 112-the surgical instrument of example 111, wherein the articulation locking arrangement comprises a torsion spring supported between the articulation pin and an inner wall of the pivot bore.

Example 113-the surgical instrument of example 112, wherein the torsion spring is rotatable from a first position in which the torsion spring frictionally engages the articulation pin and an inner wall of the pivot bore to prevent relative pivotal travel of the distal end portion of the elongate shaft and the surgical end effector, and further rotatable from a position in which the torsion spring does not prevent such relative pivotal travel.

Example 114-the surgical instrument of examples 111, 112, or 113, wherein the articulation locking arrangement comprises at least one locking ball movably supported between the articulation pin and an inner wall of the pivot bore between a first position in which each locking ball frictionally engages the articulation pin and the inner wall of the pivot bore to prevent relative pivotal travel of the elongate shaft and the surgical end effector and a position in which each locking ball does not prevent relative pivotal travel.

Example 115-the surgical instrument of examples 111, 112, 113, or 114, wherein the surgical end effector comprises a first jaw and a second jaw, the second jaw supported for movable travel relative to the first jaw.

Example 116-the surgical instrument of example 115, wherein the first jaw comprises an elongate channel configured to operably support a surgical staple cartridge therein, and wherein the second jaw comprises an anvil.

Example 117-the surgical instrument of examples 111, 112, 113, 114, 115, or 116, wherein the articulation member comprises an axially movable articulation member pivotally connected to the surgical end effector such that axial movement thereof in a first axial direction causes the surgical end effector to articulate about an articulation axis in a first articulation direction, and movement of the axially movable articulation component in a second axial direction causes the surgical end effector to articulate about an articulation axis in a second articulation direction.

Example 118-a surgical instrument comprising a surgical end effector, an elongate shaft defining a shaft axis, a closure device, and an articulation joint. The surgical end effector includes a first jaw movably coupled to the elongate shaft for selective articulation about an articulation axis that is transverse to the shaft axis and a second jaw movably supported on the first jaw for selective travel between open and closed positions relative to the first jaw. A closure device selectively moves the second jaw from the open position to the closed position, the closure device further configured to selectively move the second jaw from the closed position to the open position. An articulation joint couples the surgical end effector to the elongate shaft such that the surgical end effector is selectively articulatable relative to the elongate shaft about an articulation axis that is transverse to the shaft axis. The articulation joint includes an articulation locking arrangement configured to be moved from a locked configuration in which the surgical end effector is prevented from articulating about an articulation axis and an unlocked configuration in which the surgical end effector is articulatable about the articulation axis. The articulation locking arrangement moves from the locked configuration to the unlocked configuration when the closure device moves the second jaw from the open position toward the closed position. The surgical instrument further comprises means for applying an articulation motion to the surgical end effector when the articulation locking arrangement is in the unlocked configuration.

Example 119-the surgical instrument of example 118, wherein the first jaw comprises an elongate channel configured to operably support a surgical staple cartridge therein, and wherein the second jaw comprises an anvil.

Example 120-the surgical instrument of examples 119 or 120, wherein the articulation locking arrangement comprises at least one locking member movable between a first position corresponding to the unlocked configuration and a second position in which the at least one locking member is frictionally engaged with the mounting portion of the first jaw and the distal end portion of the elongate shaft. The at least one locking member is operatively connected with the closure member such that initial movement of the closure member in a closing direction causes the at least one locking member to move from a first position to a second position.

Example 121-a surgical instrument comprising an elongate shaft defining a shaft axis, a surgical end effector, at least one articulation link, and an articulation locking arrangement. A surgical end effector is coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis that is transverse to the shaft axis. At least one articulation link is operably connected with the articulation motion source and is coupled to the surgical end effector to apply articulation motions thereto. The articulation locking arrangement includes an articulation locking member corresponding to each articulation link, each articulation locking member being configured to be laterally movable into locking engagement with the corresponding articulation link from an unlocked position laterally adjacent the corresponding articulation link. The surgical instrument further includes an actuation device operably connected with each articulation locking member to selectively move each articulation locking member laterally from an unlocked position into locking engagement with the corresponding articulation link.

Example 122-the surgical instrument of example 121, wherein each of the at least one articulation links comprises an articulation rack, and wherein the articulation locking member corresponding thereto comprises a locking rack corresponding to each articulation rack, the locking racks being oriented in laterally facing relationship with respect to each articulation rack to meshingly engage the articulation racks when the corresponding articulation locking member is laterally advanced toward the articulation link.

Example 123-the surgical instrument of examples 121 or 122, wherein the at least one articulation link comprises an axially moveable right articulation link and an axially moveable left articulation link, the right articulation link comprising a right articulation rack thereon and the left articulation link comprising a left articulation rack thereon. The articulation locking member includes a right articulation locking member including a right locking rack in laterally facing relationship with the right articulation rack for meshing engagement with the right articulation rack as the right articulation locking member is laterally advanced toward the right articulation link, and a left articulation locking member including a left locking rack in laterally facing relationship with the left articulation rack for meshing engagement with the left articulation rack as the left articulation locking member is laterally advanced toward the left articulation link.

Example 124-the surgical instrument of example 123, wherein the actuation device comprises a locking actuator movably positioned relative to the right and left articulation locking members such that axial movement of the locking actuator in a first axial direction causes the right articulation locking member to move laterally toward the right articulation link to lockingly engage the right locking rack with the right articulation rack and the left articulation locking member to move laterally toward the left articulation link to lockingly engage the left locking rack with the left articulation rack.

Example 125-the surgical instrument of examples 121, 122, 123, or 124, wherein the articulation motion source comprises an axially movable firing actuator configured to selectively apply a firing motion to a corresponding portion of the surgical end effector, and an articulation transmission operably connected to the axially movable firing actuator and the at least one articulation link such that actuation of the axially movable firing actuator in a first axial firing direction moves the at least one articulation link in a first axial articulation direction and movement of the axially movable firing actuator in a second axial retraction direction moves the at least one articulation link in a second axial articulation direction.

Example 126-the surgical instrument of examples 123 or 124, wherein the articulation motion source comprises an axially movable firing actuator configured to selectively apply a firing motion to a corresponding portion of the surgical end effector and an articulation transmission operably connected to the left articulation link, the right articulation link, and the axially movable firing member such that actuation of the axially movable firing actuator in a first axial firing direction moves the right articulation link in a first axial direction and the left articulation link in a second axial direction and movement of the axially movable firing actuator in a second axial direction moves the right articulation link in a second axial direction and the left articulation link in the first axial direction.

Example 127-the surgical instrument of example 126, wherein the articulation locking arrangement further comprises a locking actuator movably positioned relative to the right and left articulation locking members such that axial movement of the locking actuator in the first axial direction causes the right articulation locking member to move laterally toward the right articulation link to lockingly engage the right locking rack with the right articulation rack and the left articulation locking member to move laterally toward the left articulation link to lockingly engage the left locking rack with the left articulation rack.

Example 128-the surgical instrument of example 127, wherein the articulation transmission comprises a gear assembly in meshing engagement with the left and right articulation links and a shifter configured for selective meshing engagement with the gear assembly and the axially movable firing actuator. The shifter is configured for selective operative engagement with the locking actuator such that when the shifter is operatively engaged with the locking actuator, the shifter is moved into meshing engagement with the axially movable firing actuator and the gear assembly, and movement of the shifter out of operative engagement with the locking actuator also moves the shifter out of meshing engagement with the gear assembly and the axially movable firing actuator.

Example 129-the surgical instrument of example 125, wherein the corresponding portion of the surgical end effector comprises a firing member attached to an axially movable firing actuator. The firing member is supported for axial travel through the surgical end effector between a starting position and an ending position in the surgical end effector.

Example 130-a surgical instrument comprising an elongate shaft defining a shaft axis, a surgical end effector, a firing actuator, at least one articulation link configured for selective operable engagement with the firing actuator, and an articulation locking arrangement. A surgical end effector is coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis that is transverse to the shaft axis. A firing actuator is selectively axially movable in a first axial direction and a second axial direction to apply a firing motion to a firing member operably supported in the surgical end effector. Axial movement of the firing actuator is transferred to each of the at least one articulation link. The articulation locking arrangement is configured to be laterally movable between a locked configuration in which each of the at least one articulation links is immovably locked in position and an unlocked configuration in which each of the at least one articulation links is movable in response to movement of the firing actuator. An articulation locking arrangement is coupled to the firing actuator such that the firing actuator is operably engaged with each of the at least one articulation link when the articulation locking arrangement is in the unlocked configuration and each of the at least one articulation link is prevented from being operably engaged with the firing actuator when the articulation locking arrangement is in the locked configuration.

Example 131-the surgical instrument of example 130, wherein the articulation locking arrangement comprises an articulation locking member corresponding to each articulation link. Each articulation locking member is configured to be laterally movable into locking engagement with a corresponding articulation link from an unlocked position laterally adjacent the corresponding articulation link.

Example 132-the surgical instrument of example 131, wherein each of the at least one articulation links comprises an articulation rack, and wherein each corresponding articulation locking member comprises a locking rack oriented in laterally facing relationship with respect to the articulation rack of the corresponding articulation link to meshingly engage the articulation rack when the articulation locking member is laterally advanced toward the corresponding articulation link.

Example 133-the surgical instrument of example 132, wherein the at least one articulation link comprises an axially moveable right articulation link and an axially moveable left articulation link, the right articulation link comprising a right articulation rack thereon and the left articulation link comprising a left articulation rack thereon. The articulation locking member includes a right articulation locking member including a right locking rack in a laterally facing relationship with the right articulation rack for meshing engagement with the right articulation rack when the right articulation locking member is laterally advanced toward the right articulation link, and a left articulation locking member including a left locking rack in a laterally facing relationship with the left articulation rack for meshing engagement with the left articulation rack when the left articulation locking member is laterally advanced toward the left articulation link.

Example 134-the surgical instrument of examples 130, 131, 132, or 133, wherein the surgical end effector comprises a firing member coupled to a firing actuator and supported for axial travel through the surgical end effector.

Example 135-the surgical instrument of example 134, wherein the surgical end effector comprises an elongate channel configured to operably support a surgical staple cartridge therein and an anvil movably supported on the elongate channel for selective movement between an open position and a closed position. The elongate channel is coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis. The firing member includes a tissue cutting feature.

Example 136-the surgical instrument of example 133, wherein the surgical instrument further comprises an articulation transmission operably connected to the left articulation link, the right articulation link, and the axially movable firing actuator such that actuation of the axially movable firing actuator in a first axial firing direction moves the right articulation link in a first axial direction and the left articulation link in a second axial direction, and movement of the axially movable firing actuator in the second axial direction moves the right articulation link in a second axial direction and the left articulation link in the first axial direction.

Example 137-the surgical instrument of examples 133 or 136, wherein the articulation locking arrangement further comprises a locking actuator movably positioned relative to the right and left articulation locking members such that axial movement of the locking actuator in the first axial direction causes the right articulation locking member to move laterally toward the right articulation link to lockingly engage the right locking rack with the right articulation rack and the left articulation locking member to move laterally toward the left articulation link to lockingly engage the left locking rack with the left articulation rack.

Example 138-the surgical instrument of example 136, wherein the articulation transmission comprises a gear assembly in meshing engagement with the left and right articulation links and a shifter configured for selective meshing engagement with the gear assembly and the axially movable firing actuator. The shifter is configured for selective operative engagement with the locking actuator such that when the shifter is operatively engaged with the locking actuator, the shifter is moved into meshing engagement with the axially movable firing actuator and gear assembly. When the shifter is disengaged from operative engagement with the locking actuator, the shifter is moved out of meshing engagement with the gear assembly and the axially movable firing actuator.

Example 139-a surgical instrument, comprising: an elongate shaft defining a shaft axis; a surgical end effector coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis that is transverse to the shaft axis; means for generating an axial firing motion; and an articulation device. The articulation device is coupled to the means for producing an axial firing motion and is configured to apply an articulation motion to the surgical end effector in response to the axial firing motion produced by the means for producing an axial firing motion. The surgical instrument further comprises means for selectively locking and unlocking the articulation means in the non-movable configuration that operably couples the articulation means with the means for generating an axial firing motion such that the means for generating an axial firing motion is configured to apply an axial firing motion to the articulation means.

Example 140-the surgical instrument of example 139, wherein the surgical end effector comprises an elongate channel configured to operably support a surgical staple cartridge therein and an anvil movably supported on the elongate channel for selective movement between an open position and a closed position. The elongate channel is coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis. The firing member includes a tissue cutting feature.

Example 141-a surgical tool assembly, comprising: an elongate shaft defining a shaft axis; a surgical end effector coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis that is transverse to the shaft axis; a first articulation link; a second articulation link; and an articulation travel multiplier. The first articulation link is operably connected to the articulation motion source to selectively axially move the first articulation link a first axial distance in a first articulation direction. The second articulation link is operably connected to the surgical end effector to apply an articulation motion to the surgical end effector. The articulation travel multiplier is operably connected with the first articulation link and the second articulation link such that when the first articulation link is moved axially a first axial distance in a first axial direction, the articulation travel multiplier moves the second articulation link another first axial distance in the first axial direction that is greater than the first axial distance.

Example 142-the surgical tool assembly of example 141, wherein the articulation motion source is configured to additionally move the first articulation link axially a second axial distance in the second axial direction, and wherein the articulation stroke multiplier moves the second articulation link another second axial distance in the second axial direction that is greater than the second axial distance when the first articulation link is moved the second axial distance in the second axial direction.

Example 143-the surgical tool assembly of examples 141 or 142, wherein the first articulation link comprises a first articulation rack, wherein the second articulation link comprises a second articulation rack, and wherein the articulation stroke multiplier comprises at least one gear set in meshing engagement with the first articulation rack and the second articulation rack.

Example 144-the surgical tool assembly of example 143, wherein each of the at least one gear sets comprises a first gear rotatably supported in meshing engagement with the first articulation rack and a first gear rotatably supported in meshing engagement with the first articulation rack.

Example 145-the surgical tool assembly of examples 141, 142, 143, or 144, wherein the second articulation link is operably connected to an articulation lock assembly that is operably coupled to the surgical end effector.

Example 146-the surgical tool assembly of examples 141, 142, 143, 144, or 145, wherein the first articulation link comprises a first articulation rack, and wherein the articulation stroke multiplier comprises a wobble gear in meshing engagement with the first articulation rack and slidably coupled to the second articulation link.

Example 147-the surgical tool assembly of examples 141, 142, 143, 144, 145, or 146, wherein the wobble gear is supported for rotational travel about a wobble gear mounting axis that is transverse to the first and second articulation links.

Example 148-the surgical tool assembly of examples 146 or 147, wherein the second articulation link comprises a slotted distal end that slidably engages a portion of the wobble gear therein.

Example 149-the surgical tool assembly of examples 146, 147, or 148, wherein the wobble gear has a slot therein configured to slidably engage a distal end portion of the second articulation link.

Example 150-a surgical tool assembly comprising an elongate shaft defining a shaft axis, a surgical end effector, a first articulation link, a second articulation link, and an articulation stroke multiplier. The surgical end effector includes an elongate channel configured to operably support a surgical staple cartridge therein and coupled to the elongate shaft for selective articulation relative thereto about an articulation axis that is transverse to the shaft axis, and an anvil movably supported on the elongate channel. The first articulation link is operably connected to the articulation motion source to selectively axially displace the first articulation link a first axial distance in a first articulation direction. The second articulation link is operably connected to the surgical end effector to apply an articulation motion to the surgical end effector. The articulation travel multiplier is operably connected with the first articulation link and the second articulation link such that when the first articulation link is moved axially a first axial distance in a first axial direction, the articulation travel multiplier moves the second articulation link another first axial distance in the first axial direction that is greater than the first axial distance.

Example 151-the surgical tool assembly of example 150, wherein the articulation motion source comprises a firing member assembly operably connected to a firing member supported for axial travel within the elongate channel and a clutch assembly operably connected to the first articulation link and the firing member assembly and selectively configurable between a firing mode in which axial movement of the firing member assembly is applied to the firing member and an articulation mode in which axial movement of the firing member assembly is applied to the first articulation link.

Example 152-the surgical tool assembly of example 151, wherein the firing member assembly is configured to additionally move the first articulation link axially a second axial distance in the second axial direction when the clutch assembly is in the articulation mode, and wherein the articulation stroke multiplier moves the second articulation link another second axial distance in the second axial direction that is greater than the second axial distance when the first articulation link is moved the second axial distance in the second axial direction.

Example 153-the surgical tool assembly of examples 151 or 152, wherein the first articulation link comprises a first articulation rack, wherein the second articulation link comprises a second articulation rack, and wherein the articulation stroke multiplier comprises at least one gear set in meshing engagement with the first articulation rack and the second articulation rack.

Example 154-the surgical tool assembly of example 153, wherein each of the at least one gear sets comprises a first gear rotatably supported in meshing engagement with the first articulation rack and a second gear attached to the first gear for rotation therewith. The second gear has a diameter greater than a diameter of the first gear and is in meshing engagement with the second articulation rack.

Example 155-the surgical tool assembly of examples 151, 152, 153, or 154, wherein the second articulation link is operably connected to an articulation lock assembly that is operably coupled to the surgical end effector.

Example 156-the surgical tool assembly of examples 151, 152, 153, 154, or 155, wherein the first articulation link comprises a first articulation rack, and wherein the articulation stroke multiplier comprises a wobble gear in meshing engagement with the first articulation rack and slidably coupled to the second articulation link.

Example 157-the surgical tool assembly of example 156, wherein the wobble gear is supported for rotational travel about a wobble gear mounting axis that is transverse to the first and second articulation links.

Example 158-the surgical tool assembly of examples 156 or 157, wherein the second articulation link comprises a slotted distal end that slidably engages a portion of the wobble gear therein.

Example 159-the surgical tool assembly of examples 156, 157, or 158, wherein the wobble gear has a slot therein configured to slidably engage a distal end portion of the second articulation link.

Example 160-a surgical tool assembly comprising an elongate shaft defining a shaft axis, a surgical end effector, a first articulation link, a second articulation link, and an articulation stroke multiplier device. A surgical end effector is coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis that is transverse to the shaft axis. The first articulation link is operably connected to the articulation motion source to selectively axially move the first articulation link a first axial distance in a first articulation direction. The second articulation link is operably connected to the surgical end effector to apply an articulation motion to the surgical end effector. An articulation travel multiplier is operably coupled with the first articulation link and the second articulation link to move the second articulation a second axial distance in response to movement of the first articulation link over a first axial distance that is less than the second axial distance.

Example 161-a surgical tool assembly comprising an elongate shaft assembly defining a shaft axis, a surgical end effector, and a distal articulation member. The surgical end effector is movably coupled to the elongate shaft assembly by a distal support link pivotally coupled to the surgical end effector to define an articulation axis that is transverse to the shaft axis. The distal support link is pivotally and axially movably coupled to the elongate shaft assembly to facilitate selective articulation of the surgical end effector relative to the elongate shaft assembly about an articulation axis between a first unarticulated position and an articulated position, wherein the surgical end effector is aligned with the elongate shaft and the articulated position is on one side of the shaft axis. The distal articulation member is operably connected with the articulation motion source and is pivotally coupled to the surgical end effector to apply articulation motions thereto.

Example 162-the surgical tool assembly of example 161, wherein the distal articulation member is configured to move axially on one side of the shaft axis in response to an articulation motion applied thereto, and wherein the distal support link is configured to move axially along the shaft axis relative to the elongate shaft assembly.

Example 163-the surgical tool assembly of examples 161 or 162, wherein the distal support link comprises a distal end pivotally coupled to the surgical end effector for pivotal travel about the articulation axis and a proximal end comprising a proximal axial slot configured to receive therein a corresponding articulation pin attached to the distal end of the elongate shaft assembly.

Example 164-the surgical tool assembly of examples 161, 162, or 163, wherein the surgical tool assembly further comprises a proximal articulation member operably connected to the articulation motion source and an articulation lock assembly operably coupled to proximal ends of the proximal and distal articulation members to selectively lock the distal articulation member in an axial position.

Example 165-the surgical tool assembly of example 164, wherein the proximal end of the distal articulation member is pivotally coupled to the articulation lock assembly.

Example 166-the surgical tool assembly of examples 161, 162, 163, 164, or 165, wherein the distal support link is pivotally and axially movably coupled to a distal spine member of the elongate shaft assembly.

Example 167-the surgical tool assembly of examples 161, 162, 163, 164, 165, or 166, wherein the surgical end effector comprises an elongate channel configured to operably support a surgical staple cartridge therein, and an anvil movably supported on the elongate channel for selective movement relative to the elongate channel between open and closed positions.

Example 168-the surgical tool assembly of example 167, wherein the elongate channel is pivotally coupled to the distal support link by an end effector mounting assembly coupled to the elongate channel.

Example 169-the surgical tool assembly of examples 161, 162, 163, 164, 165, 166, 167, or 168, wherein the distal articulation member is configured to move axially in a first axial direction and a second axial direction such that when the distal articulation member is moved in the first axial direction, the surgical end effector articulates in the first articulation direction from the first unarticulated position to any of the articulated positions, and when the distal articulation member is moved axially in the second axial direction, the surgical end effector moves in the second articulation direction from any of the articulated positions to the first unarticulated position.

Example 170-the surgical tool assembly of example 169, wherein the surgical tool assembly further comprises means for preventing the surgical end effector from moving in the second articulation direction beyond the first non-articulation position when the distal articulation member is moved in the second axial direction.

Example 171-a surgical tool assembly comprising an elongate shaft assembly defining a shaft axis, a surgical end effector, a distal support link, and a distal articulation member. The surgical end effector includes an elongate channel configured to operably support a surgical staple cartridge therein and an anvil supported for movable travel relative to the surgical staple cartridge. The distal support link is pivotally connected to the elongate channel to define an articulation axis transverse to the shaft axis about which the elongate channel is articulatable relative to the elongate shaft assembly. A distal support link is attached to a distal end of the elongate shaft assembly for axial and pivotal travel along a shaft axis relative to the elongate shaft assembly. A distal articulation member is supported for axial travel on one side of the shaft axis, the distal articulation member being pivotally coupled to the elongate channel and operably connected with the articulation motion source.

Example 172-the surgical tool assembly of example 171, wherein the proximal end of the distal support link comprises a proximal axial slot configured to receive therein a corresponding articulation pin attached to the distal end of the elongate shaft assembly.

Example 173-the surgical tool assembly of examples 171 or 172, wherein the surgical tool assembly further comprises a proximal articulation member operably connected to the articulation motion source and an articulation lock assembly operably coupled to proximal ends of the proximal and distal articulation members to selectively lock the distal articulation member in the axial position.

Example 174-the surgical tool assembly of example 173, wherein the proximal end of the distal articulation member is pivotally coupled to the articulation lock assembly.

Example 175-the surgical tool assembly of examples 171, 172, 173, or 174, wherein the distal support link is pivotally and axially movably coupled to a distal spine member of the elongate shaft assembly.

Example 176-the surgical tool assembly of examples 171, 172, 173, 174, or 175, wherein the distal articulation member is configured to move in a first axial direction and a second axial direction such that when the distal articulation member is moved in the first axial direction, the surgical end effector articulates in the first articulation direction from the first unarticulated position to any of the articulated positions, and when the distal articulation member is moved in the second axial direction, the surgical end effector moves in the second articulation direction from any of the articulated positions to the first unarticulated position.

Example 177-the surgical tool assembly of example 176, wherein the surgical tool assembly further comprises means for preventing the surgical end effector from moving in the second articulation direction beyond the first non-articulation position when the distal articulation member is moved in the second axial direction.

Example 178-a surgical tool assembly, comprising: an elongated shaft assembly defining a shaft axis; means for coupling a surgical end effector to a distal end of the elongate shaft assembly such that the surgical end effector is selectively articulatable about an articulation axis that is transverse to the shaft axis between a non-articulated position and an articulated position, wherein the surgical end effector is aligned with the elongate shaft along the shaft axis, the articulated position being on one side of the shaft axis; and means for applying articulation motions to the surgical end effector. The means for coupling is coupled to the elongate shaft assembly for axial travel and pivoting relative to the elongate shaft assembly.

Example 179-the surgical tool assembly of example 178, wherein the means for applying is pivotally coupled to the surgical end effector at a position laterally offset from the shaft axis.

Example 180-the surgical tool assembly of examples 178 or 179, wherein the means for applying further comprises means for selectively locking the surgical end effector in any one of the articulated positions.

Example 181-a surgical staple cartridge configured to be supported within a jaw of a surgical end effector, wherein at least one jaw of the surgical end effector is movable between an open position and a closed position relative to a second jaw of the surgical end effector. The surgical end effector includes a lock member that moves from an unlocked configuration to a locked configuration when the at least one jaw is moved to the closed position to prevent axial travel of the firing member through the surgical end effector. The surgical end effector includes a cartridge body sized for disposition within the surgical end effector and a cam assembly, the cartridge body operably supporting a plurality of surgical staples disposed in a staple line therein. A cam assembly is movable between a starting position and an ending position within the cartridge body, the cam assembly defining a central axis and a plurality of cam features thereon, wherein each cam feature corresponds to at least one of the staple lines. The cam assembly further includes at least one unlocking feature thereon that is laterally offset from the central axis and configured to lockingly engage a corresponding portion of the locking member when the cartridge body is disposed within the surgical end effector and the cam assembly is in the locked position, thereby preventing the locking member from reaching the locked configuration when the at least one jaw is moved to the closed position.

Example 182-the surgical staple cartridge of example 181, wherein the at least one unlocking feature comprises a first unlocking ramp formed on the proximal end of the cam assembly laterally offset to a position on one side of the central axis and a second unlocking ramp formed on the proximal end of the cam assembly at another laterally offset position on an opposite side of the central axis.

Example 183-the surgical staple cartridge of examples 181 or 182, wherein each unlocking feature is configured to bias the locking member into the unlocked configuration.

Example 184-the surgical staple cartridge of example 182, wherein the proximal end of the cam assembly defines a central contact region between the first unlocking ramp and the second unlocking ramp configured to be engaged by the firing member as the firing member is axially advanced through the surgical end effector.

Example 185-a surgical end effector comprising a first jaw, an anvil, a firing member, a lockout member, and a surgical staple cartridge. The anvil is supported relative to the first jaw for selective movement relative to the first jaw between an open position and a closed position. The firing member is supported for axial movement between a starting position and an ending position within the end effector upon application of firing motions and retraction motions thereto. The locking member is movable between a locked configuration in which the firing member is prevented from axially traveling through the surgical end effector, and an unlocked configuration in which the firing member is axially advanceable through the surgical end effector. A surgical staple cartridge includes a cartridge body and a cam assembly. The cartridge body is dimensioned to be disposed within the first jaw, and the cartridge body operably supports a plurality of surgical staples disposed in a staple line therein. A cam assembly is movable between a starting position and an ending position within the cartridge body, the cam assembly defining a central axis and including a plurality of cam features thereon, wherein each cam feature corresponds to at least one of the staple lines. The cam assembly further includes at least one unlocking feature thereon that is laterally offset from the central axis and configured to releasably engage a corresponding portion of the locking member when the cartridge body is seated within the first jaw and the cam assembly is in the locked position, thereby preventing the locking member from reaching the locked configuration when the anvil is moved to the closed position.

Example 186-the surgical end effector of example 185, wherein the at least one unlocking feature comprises a first unlocking ramp formed on the proximal end of the cam assembly that is laterally offset to a position on one side of the central axis and a second unlocking ramp formed on the proximal end of the cam assembly that is another laterally offset position on an opposite side of the central axis.

Example 187-the surgical end effector of examples 185 or 186, wherein the anvil is configured to move the locking member in a first direction into locking engagement with the firing member when the anvil is moved to the closed position, and wherein each unlocking feature is configured to bias the corresponding portion of the locking member in a second direction opposite the first direction.

Example 188-example 186 the surgical end effector wherein the proximal end of the cam assembly defines a central contact region between the first unlocking ramp and the second unlocking ramp that is configured to be engaged by the firing member as the firing member is axially advanced through the surgical end effector.

Example 189-the surgical end effector of examples 181, 182, 183, or 184, wherein the surgical staple cartridge comprises an elongate slot configured to slidably receive the firing member therein as the firing member moves between the starting and ending positions, and wherein the locking member is configured to axially align the firing member with the elongate slot.

Example 190-the surgical end effector of examples 185, 186, 187, or 188, wherein the firing member comprises two sides, and wherein the lockout member is configured to retentively engage each side of the firing member when the lockout member is in the lockout configuration.

Example 191-example 190, wherein the locking member comprises a spring arm corresponding to each side of the firing member, and a locking notch in each spring arm configured to releasably engage a corresponding locking ear on each side of the firing member.

Example 192-the surgical end effector of examples 185, 186, 187, 188, 190, or 191, wherein the surgical end effector further comprises a tissue cutting surface on the firing member.

Example 193-the surgical end effector of examples 185, 186, 187, 188, 190, 191, or 192, wherein the anvil comprises: an anvil body; an axial slot in the anvil body that allows a portion of the firing member to pass axially therethrough; and an axial channel within the anvil body on each side of the axial slot.

Example 194-the surgical end effector of example 193, wherein the firing member comprises a foot configured to slidably pass within a corresponding channel within the first jaw, and an anvil engagement feature extending laterally from a top of the firing member body and configured to pass through a corresponding one of the axial channels within the anvil body, and wherein the first and second engagement features are located between the foot and the anvil engagement feature.

Example 195-a surgical staple cartridge configured to be supported within jaws of a surgical end effector that define a shaft axis, wherein at least one jaw of the surgical end effector is movable between an open position and a closed position relative to a second jaw of the surgical end effector. The surgical end effector includes a locking member movable between a locked configuration in which the firing member is prevented from axially traveling through the surgical end effector and an unlocked configuration in which the firing member is axially advanceable through the surgical end effector. The surgical staple cartridge comprises a cartridge body sized for disposition within one jaw of the surgical end effector, the cartridge body operably supporting a plurality of surgical staples disposed in a row of staples therein; and the nail cam transmission device is used for transmitting the nails out of the cam in the cabin body when the cam transmission device axially moves from the initial position to the final position in the cabin body. The staple cam gear is configured to, when the cartridge body is disposed within the jaws of the surgical end effector and the staple cam gear is in the starting position, releasably engage at least one corresponding portion of the locking member that is laterally offset from the axis, thereby preventing the locking member from reaching the locked configuration when the at least one jaw is moved to the closed position.

Example 196-a method comprising obtaining a first staple cartridge having a first row of staples and obtaining a second staple cartridge having a second row of staples, wherein the first row of staples and the second row of staples comprise the same length. The method further comprises inserting a first staple cartridge into a channel comprising a keyed profile and inserting a second staple cartridge into the channel, wherein full insertion of the first staple cartridge into the channel is prevented by interference between the keyed profile and the channel, wherein full insertion of the second staple cartridge into the channel is permitted by the keyed profile.

Example 197-the method of example 196, wherein inserting the second staple cartridge into the channel further comprises aligning a key feature on the second staple cartridge with a keyed profile on the channel.

Example 198-the method of examples 196 or 197, wherein the method further comprises spacing a bottom surface of the first staple cartridge from the channel when the first staple cartridge is inserted into the channel.

The method of example 199-example 198, wherein the method further comprises positioning a bottom surface of the second staple cartridge against the channel when the second staple cartridge is inserted into the channel.

Example 200-the method of examples 196, 197, 198, or 199, wherein the method further comprises causing a proximal portion of the first staple cartridge to inhibit clamping of the anvil against a distal portion of the first staple cartridge when the first staple cartridge is inserted into the channel.

Example 201-the method of examples 196, 197, 198, 199, or 200, wherein the method further comprises blocking a firing stroke of a firing lockout of the first staple cartridge when the first staple cartridge is inserted into the channel.

Example 202-a method comprising obtaining a first staple cartridge comprising a first number of staples, and obtaining a second staple cartridge comprising the first number of staples. The method further comprises inserting the first staple cartridge into a channel comprising a keyed profile, wherein full insertion of the first staple cartridge into the channel is prevented by the keyed profile, and inserting the first staple cartridge into the channel comprising the keyed profile, wherein full insertion of the first staple cartridge into the channel is prevented by the keyed profile.

Example 203-the method of example 202, wherein inserting the second staple cartridge into the channel further comprises aligning a key feature on the second staple cartridge with a keyed profile on the channel.

Example 204-the method of examples 202 or 203, wherein the method further comprises spacing a bottom surface of the first staple cartridge from the channel when the first staple cartridge is inserted into the channel.

Example 205-the method of example 204, wherein the method further comprises spacing a bottom surface of the first staple cartridge from the channel when the first staple cartridge is inserted into the channel.

Example 206-the method of examples 202, 203, 204, or 205, wherein the method further comprises causing the first staple cartridge to resist clamping of the anvil against the first staple cartridge when the first staple cartridge is inserted into the channel.

Example 207-the method of examples 202, 203, 204, 205, or 206, wherein the method further comprises blocking a firing stroke of the firing lockout of the first staple cartridge when the first staple cartridge is inserted into the channel.

Embodiment 208-a method, comprising: obtaining a channel; obtaining a compatible staple cartridge comprising a proximal alignment tab and a distal alignment tab; and aligning the proximal alignment tab with a corresponding proximal alignment feature in the channel. The method further includes aligning the distal alignment tab with a corresponding distal alignment feature in the channel, and inserting a compatible staple cartridge into the channel such that the proximal alignment tab interlocks with the corresponding proximal alignment feature and the distal alignment tab interlocks with the corresponding distal alignment feature.

Example 209-the method of example 208, wherein the method further comprises positioning a bottom surface of the compatible staple cartridge against the channel when the compatible staple cartridge is inserted into the channel.

Example 210-the method of examples 208 or 209, wherein the method further comprises blocking a firing stroke of the compatible staple cartridge from firing until the compatible staple cartridge is inserted into the channel.

Example 211-the method of examples 208, 209, or 210, wherein the method further comprises attempting to insert an incompatible staple cartridge into the channel, wherein the incompatible staple cartridge further comprises an interference feature relative to a corresponding proximal alignment feature on the channel.

Example 212-the method of example 211, wherein the method further comprises spacing a bottom surface of the incompatible staple cartridge from the channel when the incompatible staple cartridge is inserted into the channel.

Example 213-the method of example 212, wherein the method further comprises causing a proximal portion of the incompatible staple cartridge to prevent the anvil from clamping against a distal portion of the incompatible staple cartridge when the incompatible staple cartridge is inserted into the channel.

Example 214-the method of examples 211, 212, or 213, wherein the method further comprises causing the lockout to prevent at least one surgical function when an incompatible staple cartridge is positioned in the channel.

Example 215-the method of examples 208, 209, 210, 211, 212, 213, or 214, wherein the channel comprises a jaw of an end effector, and the method further comprises matching a sorting indicator on the end effector to a sorting indicator on a compatible staple cartridge.

Example 216-a system comprising a replaceable staple cartridge and a channel configured to receive the replaceable staple cartridge. The replaceable staple cartridge includes a plurality of staples, a downwardly projecting first tab, and a downwardly projecting second tab. The channel includes a first receptacle positioned and sized to receive the downwardly projecting first tab and a second receptacle positioned and sized to receive the downwardly projecting second tab.

Example 217-the system of example 216, wherein the replaceable staple cartridge further comprises a cartridge body and a flat bottom positioned around a portion of the cartridge body, wherein the flat bottom further comprises a base, and wherein the downwardly projecting first tab and the downwardly projecting second tab project from the base.

Example 218-the system of example 217, wherein the first downward projecting tab and the second downward projecting tab are comprised of metal.

Example 219-the system of examples 216, 217, or 218, wherein the replaceable staple cartridge further comprises a laterally extending first ear and a laterally extending second ear.

Example 220-the system of example 219, wherein the replaceable staple cartridge further comprises a first sidewall comprising a first cutout, wherein the first cutout is positioned and dimensioned to receive the laterally extending first ear, and a second sidewall comprising a second cutout, wherein the second cutout is positioned and dimensioned to receive the laterally extending second ear.

Example 221-the system of example 220, wherein the replaceable staple cartridge further comprises a molded cartridge body, and wherein the laterally extending first ears and the laterally extending second ears are molded features of the molded cartridge body.

Example 222-the system of example 221, wherein the cartridge body is comprised of a plastic material.

Example 223-the system of examples 219, 220, 221, or 222, wherein the laterally extending first ear and the laterally extending second ear are distal to the downwardly projecting first tab and the downwardly projecting second tab.

Example 224 a system comprising a replaceable staple cartridge and a channel configured to receive the replaceable staple cartridge. The replaceable staple cartridge includes a plurality of staples, and an outer surface including a plurality of ribs. The channel includes a plurality of slots, wherein each slot is configured to receive one of the ribs.

Example 225-the system of example 224, wherein the plurality of ribs comprises a first rib and a second rib.

Example 226-the system of example 225, wherein the plurality of slots comprises a first slot and a second slot, and wherein the channel further comprises a first sidewall and a second sidewall, the first sidewall comprising the first slot and the second sidewall comprising the second slot.

Example 227-the system of examples 224, 225, or 226, wherein the replaceable staple cartridge further comprises a molded cartridge body, and wherein the ribs are molded features of the molded cartridge body.

Example 228-the system of examples 224, 225, 226, or 227, wherein the replaceable staple cartridge further comprises a laterally extending first ear and a laterally extending second ear.

Embodiment 229-the system of embodiments 224, 225, 226, 227, or 228, wherein the channel further comprises a first sidewall comprising a first cutout, wherein the first cutout is positioned and dimensioned to receive the laterally extending first ear, and a second sidewall comprising a second cutout, wherein the second cutout is positioned and dimensioned to receive the laterally extending second ear.

The system of example 230-229, wherein the replaceable staple cartridge further comprises a molded cartridge body, and wherein the laterally extending first ears and the laterally extending second ears are molded in the molded cartridge body.

Example 231-the system of example 230, wherein the molded cartridge body is comprised of a plastic material.

Example 232-the system of example 231, wherein the laterally extending first ear and the laterally extending second ear are distal to the rib.

Example 233-a system comprising a compatible staple cartridge comprising a plurality of staples and a channel. The system also includes means for allowing full insertion of a compatible staple cartridge and for preventing full insertion of an incompatible staple cartridge into the channel, wherein the incompatible staple cartridge and the compatible staple cartridge comprise the same length and the same width.

Example 234-the system of example 233, wherein the device comprises a proximal alignment key and a distal alignment key.

Example 235-the system of examples 233 or 234, wherein the system further comprises a second channel, and wherein the incompatible staple cartridge is compatible with the second channel.

Example 236 a system comprising a replaceable staple cartridge and a channel configured to receive the replaceable staple cartridge. The replaceable staple cartridge includes a plurality of staples, a laterally projecting proximal ear and a laterally projecting distal ear. The channel includes a sidewall including a proximal receptacle positioned and dimensioned to receive the laterally projecting proximal ear and a distal receptacle positioned and dimensioned to receive the laterally projecting distal ear.

The system of example 237-example 236, wherein the channel further comprises an obstruction, and wherein the replaceable staple cartridge further comprises a complementary anti-obstruction positioned and sized to overcome the obstruction.

Example 238-the system of example 237, wherein the system further comprises a second replaceable staple cartridge comprising a non-complementary anti-snag positioned and sized to interfere with the snag.

Example 239-the system of examples 236, 237, or 238, wherein the proximal receptacle defines a cut-out in the sidewall, and wherein the cut-out comprises a recess and a protrusion.

Example 240-the system of example 239, wherein the protrusion is located within the recess.

Example 241-the system of examples 236, 237, 238, 239, or 240, wherein the system further comprises a second replaceable staple cartridge comprising a second plurality of staples, a laterally projecting second proximal ear, and a laterally projecting second distal ear.

Example 242-the system of example 241, wherein the laterally projecting second distal ear is spaced apart from the laterally projecting second proximal ear by a distance, and wherein the distance is different than a first distance between the laterally projecting distal ear and a proximal laterally projecting ear of the replaceable staple cartridge.

Example 243-the system of examples 241 or 242, wherein the laterally projecting second distal ear mates with the laterally projecting distal ear, and wherein the laterally projecting second proximal ear is different than the proximal laterally projecting ear.

Example 244-the system of examples 241, 242, or 243, wherein the second replaceable staple cartridge further comprises a deck, wherein the channel further comprises a bottom surface, and wherein the deck is oriented to be inclined relative to the bottom surface when the second replaceable staple cartridge is in the channel.

Example 245-the system of examples 241, 242, 243, or 244, wherein the replaceable staple cartridge and the second replaceable staple cartridge comprise the same width and the same length.

Example 246-the system of examples 241, 242, 243, 244, or 245, wherein the plurality of staples and the second plurality of staples comprise the same number of staples.

Example 247-the system of examples 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, or 246, wherein the laterally projecting distal ear comprises a different geometry than the proximal laterally projecting ear.

Example 248-the system of example 247, wherein the proximal laterally projecting ears comprise wedges.

Example 249-the system of examples 247 or 248, wherein the proximal laterally projecting ear comprises a cutout that mates with the protrusion in the proximal receptacle.

Example 250-the system of examples 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, or 249, wherein the proximal laterally-projecting ear protrudes from a first side of the replaceable staple cartridge, and wherein the laterally-projecting distal ear protrudes from a second side of the replaceable staple cartridge.

Example 251-the system of examples 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, or 250, wherein the replaceable staple cartridge further comprises a deck, wherein the channel further comprises a bottom surface, and wherein the deck is parallel to the bottom surface when the replaceable staple cartridge is positioned in the channel.

Embodiment 252-a system, comprising: a passageway comprising an obstruction; a compatible staple cartridge including a complementary anti-snag, the complementary anti-snag being positioned and sized to complement the snag when the compatible staple cartridge is received in the channel; and an incompatible staple cartridge including a non-complementary anti-snag, the non-complementary anti-snag positioned and dimensioned to interfere with the snag when the incompatible staple cartridge is received in the channel.

Example 253-the system of example 252, wherein the compatible staple cartridge and the incompatible staple cartridge comprise rows of staples of the same length.

Example 254-the system of examples 252 or 253, wherein the compatible staple cartridge and the incompatible staple cartridge comprise the same number of staples.

Example 255-the system of examples 252, 253, or 254, wherein the obstruction further comprises a cutout comprising a recess and a protrusion.

Embodiment 256-a system, comprising: a compatible staple cartridge comprising a first number of staples; an incompatible staple cartridge comprising a first number of staples; and a channel comprising means for allowing full insertion of a compatible staple cartridge and for preventing full insertion of an incompatible staple cartridge into the channel.

Example 257-a system comprising an end effector configured to receive a compatible replaceable staple cartridge, wherein the end effector comprises a first outer surface, and wherein a class identifier of the end effector is inscribed on the first outer surface, and the compatible replaceable staple cartridge comprises a second outer surface, wherein the class identifier of the compatible replaceable staple cartridge is inscribed on the second outer surface, and wherein the class identifier of the compatible replaceable staple cartridge corresponds to the class identifier of the end effector.

Example 258-the system of example 257, wherein the system further comprises an incompatible replaceable staple cartridge, wherein the incompatible replaceable staple cartridge comprises a third outer surface, wherein the class identifier of the incompatible replaceable staple cartridge is located on the third outer surface, and wherein the class identifier of the compatible replaceable staple cartridge is different from the class identifier of the end effector.

Example 259-the system of examples 257 or 258, wherein the end effector further comprises a distal portion, and wherein the signature of the end effector is located on the distal portion.

Example 260-the system of example 259, wherein the end effector further comprises an anvil, and wherein the signature of the end effector is located at a distal end of the anvil.

Example 261-the system of examples 257, 258, 259, or 260, wherein the end effector further comprises an anvil comprising a pair of tissue stops, and wherein a secondary classification marker of the end effector is located on each tissue stop.

Example 262-the system of examples 257, 258, 259, 260, or 261, wherein the compatible replaceable staple cartridge further comprises a wedge-shaped distal nose, and wherein the staging mark of the compatible replaceable staple cartridge is located on the wedge-shaped distal nose.

Example 263-the system of examples 257, 258, 259, 260, 261, or 262, wherein the class identifier of the end effector and the class identifier of the compatible replaceable staple cartridge comprise the same alphanumeric characters.

The system of example 264-example 263, wherein the same alphanumeric character indicates a length of a resulting staple line fired from a compatible replaceable staple cartridge.

Example 265-the system of example 264, wherein the same alphanumeric character indicates a type of end effector.

Example 266-the system of examples 257, 258, 259, 260, 261, 262, 263, 264, or 265, wherein the class identifier of the end effector and the class identifier of the compatible replaceable staple cartridge comprise the same shape.

Example 267-the system of examples 257, 258, 259, 260, 261, 262, 263, 264, 265, or 266, wherein the class identifier of the end effector and the class identifier of the compatible replaceable staple cartridge comprise the same color.

Example 268-the system of examples 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, or 267, wherein the system further comprises a lockout configured to prevent at least one surgical function unless a compatible replaceable staple cartridge is located in the end effector.

Example 269-a system comprising an end effector configured to receive a compatible replaceable staple cartridge, wherein the end effector comprises a first distal end comprising a staple cartridge compatibility indicator and the compatible replaceable staple cartridge comprises a plurality of staples, wherein the compatible replaceable staple cartridge comprises a second distal end comprising an end effector compatibility indicator.

Example 270-the system of example 269, wherein the cartridge compatibility indicator is embossed on an outer surface of the end effector.

Example 271-the system of example 270, wherein the end effector compatibility indicator is imprinted on an exterior surface of a compatible replaceable staple cartridge.

Example 272-the system of examples 269, 270, or 271, wherein the cartridge compatibility indicator longitudinally overlaps the end effector compatibility indicator when a compatible replaceable cartridge is positioned in the end effector.

Example 273-a system comprising an end effector configured to receive a compatible, replaceable staple cartridge, wherein the end effector comprises a first exterior surface comprising a first code, and the compatible, replaceable staple cartridge comprises a plurality of staples and a second exterior surface, wherein the second exterior surface comprises a second code, and wherein the second code matches the first code.

Embodiment 274-the system of embodiment 273, wherein the first code is imprinted on the first exterior surface, and wherein the second code is imprinted on the second exterior surface.

Example 275-the system of examples 273 or 274, wherein the first code and the second code indicate lengths of compatible replaceable staple cartridges.

Embodiment 276-the system of embodiments 273, 274, or 275, wherein the first code and the second code comprise at least one number and at least one letter.

Many of the surgical instrument systems described herein are actuated by an electric motor; the surgical instrument systems described herein may be actuated in any suitable manner. In various examples, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger. In certain examples, the motors disclosed herein may comprise a portion or portions of a robotic control system. Further, any of the end effectors and/or tool assemblies disclosed herein may be utilized with a robotic surgical instrument system. U.S. patent application Ser. No. 13/118,241 (now U.S. patent application publication 2012/0298719), entitled "SURGICAL INSTRUMENTS WITH robot arms", discloses several examples of robotic SURGICAL instrument systems in more detail.

The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. For example, various embodiments are contemplated in which fasteners other than staples, such as clamps or tacks, are deployed. Moreover, various embodiments are also contemplated that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. In addition, for example, an end effector according to certain embodiments may apply vibrational energy to seal tissue.

The entire disclosures of the following patents are hereby incorporated by reference:

U.S. patent 5,403,312, entitled "ELECTROSURURGICAL HEMOSTATIC DEVICE", published on April 4.1995;

-us patent 7,000,818 published in february 21 2006 under the name "SURGICAL station filling INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS";

-us patent 7,422,139 published on 9.2008 of september under the name "MOTOR-drive minor curing AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK";

-us patent 7,464,849, entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", published 16 december 2008;

-us patent 7,670,334, entitled "SURGICAL INSTRUMENT HAVATING AN ARTICULATING END EFFECTOR", published on March 2, 2010;

us patent 7,753,245 entitled "SURGICAL STAPLING INSTRUMENTS" published on July 13, 2010;

us patent 8,393,514 published on march 12 of 2013 under the name "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE";

U.S. patent application Ser. No. 11/343,803 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now us patent 7,845,537;

U.S. patent application Ser. No. 12/031,573 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT HAVARING RF ELECTRODES" filed on February 14 of 2008;

U.S. patent application Ser. No. 12/031,873 filed 15 February 2008 entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT" (now U.S. Pat. No. 7,980,443);

U.S. patent application Ser. No. 12/235,782 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now U.S. patent 8,210,411;

U.S. patent application Ser. No. 12/249,117 entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" filed 24 December 2009; now us patent 8,220,688;

U.S. patent application Ser. No. 12/893,461 entitled "STAPLE CARTRIDGE" filed 29 of September 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647 entitled "SURGICAL STAPLING INSTRUMENT" filed on February 28 of 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DESYMENT ARRANGEMENTS", now U.S. patent 9,072,535;

-U.S. patent application serial No. 13/524,049 entitled "article short filing A FIRING DRIVE" filed on june 15 2012; now us patent 9,101,358;

U.S. patent application Ser. No. 13/800,025, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed on March 13 2013, now U.S. patent application publication 2014/0263551;

U.S. patent application Ser. No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed on March 13 2013, now U.S. patent application publication 2014/0263552;

-U.S. patent application publication 2007/0175955 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM" filed 31.2006; and

U.S. patent application publication 2010/0264194, now U.S. patent 8,308,040, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on April 22, 2010.

While various devices have been described herein in connection with certain embodiments, many modifications and variations to these embodiments may be implemented. The particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, without limitation, a particular feature, structure, or characteristic shown or described in connection with one embodiment may be combined, in whole or in part, with a feature, structure, or characteristic of one or more other embodiments. In addition, where materials for certain components are disclosed, other materials may also be used. Further, according to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component, to perform a given function or functions. The foregoing detailed description is intended to embrace all such modifications and variations.

The device disclosed herein may be designed to be disposed of after a single use, or it may be designed to be used multiple times. In either case, however, the device may be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of removing the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. In particular, the repair facility and/or surgical team may remove the device and, after cleaning and/or replacing certain components of the device, may reassemble the device for subsequent use. Those skilled in the art will appreciate that the conditioning apparatus may be removed, cleaned/replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting prosthetic devices are within the scope of the present application.

The devices disclosed herein may be processed as the procedure progresses. First, new or used instruments may be obtained and cleaned as needed. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays, and/or high energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in a sterile container. Sealing the container may keep the instrument sterile until the container is opened in a medical facility. The device may also be sterilized using any other technique known in the art, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/or steam.

While this invention has been described as having an exemplary design, the present invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. Thus, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

Claims

1. A surgical instrument, the surgical instrument comprising:

an elongate shaft defining a shaft axis;

a surgical end effector coupled to the elongate shaft for selective articulation relative to the elongate shaft about an articulation axis that is transverse to the shaft axis;

At least one articulation link operably connected with an articulation motion source and coupled to the surgical end effector to apply the articulation motion to the surgical end effector;

an articulation locking arrangement comprising an articulation locking member corresponding to each of the articulation links, each of the articulation locking members being configured to be laterally movable into locking engagement with the corresponding articulation link from an unlocked position laterally adjacent the corresponding articulation link; and

an actuation device operably connected with each of the articulation locking members and configured to selectively bias each of the articulation locking members laterally outward, away from a shaft axis, from the unlocked position into locking engagement with the corresponding articulation link, wherein each of the at least one articulation links includes an articulation rack, and wherein the articulation locking member corresponding to the at least one articulation link includes a locking rack oriented in a laterally facing relationship with respect to each of the articulation racks to engage in meshing engagement with the articulation rack as the corresponding articulation locking member is laterally advanced toward the articulation link.

2. The surgical instrument of claim 1, wherein the at least one articulation link comprises:

a right axially moveable articulation link comprising a right articulation rack thereon; and

an axially moveable left articulation link comprising a left articulation rack thereon, and wherein the articulation locking member comprises:

a right articulation locking member including a right locking rack in a laterally facing relationship with the right articulation rack for meshing engagement with the right articulation rack as the right articulation locking member is laterally advanced toward the right articulation link; and

a left articulation locking member including a left locking rack in a laterally facing relationship with the left articulation rack for meshing engagement with the left articulation rack as the left articulation locking member is laterally advanced toward the left articulation link.

3. The surgical instrument of claim 2 wherein said actuation means comprises a locking actuator movably positioned relative to said right and left articulation locking members such that axial movement of said locking actuator in a first axial direction moves said right articulation locking member laterally toward said right articulation link to bring said right locking rack into locking engagement with said right articulation rack and said left articulation locking member laterally toward said left articulation link to bring said left locking rack into locking engagement with said left articulation rack.

4. The surgical instrument of any of claims 1-3, wherein the articulation motion source comprises:

an axially movable firing actuator configured to selectively apply a firing motion to a corresponding portion of the surgical end effector; and

an articulation transmission operably connected with the axially movable firing actuator and the at least one articulation link such that actuation of the axially movable firing actuator in a first axial firing direction moves the at least one articulation link in a first axial articulation direction and movement of the axially movable firing actuator in a second axial retraction direction moves the at least one articulation link in a second axial articulation direction.

5. The surgical instrument of claim 2, wherein the articulation motion source comprises: an axially movable firing actuator configured to selectively apply a firing motion to a corresponding portion of the surgical end effector; and

an articulation transmission operably connected with the right and left articulation links and the axially movable firing member such that actuation of the axially movable firing actuator in a first axial firing direction moves the right articulation link in a first axial direction and the left articulation link in a second axial direction, and movement of the axially movable firing actuator in the second axial direction moves the right articulation link in the second axial direction and the left articulation link in the first axial firing direction.

6. The surgical instrument of claim 5, wherein said articulation locking arrangement further comprises a locking actuator movably positioned relative to said right and left articulation locking members such that axial movement of said locking actuator in said first axial direction moves said right articulation locking member laterally toward said right articulation link to bring said right locking rack into locking engagement with said right articulation rack and said left articulation locking member laterally toward said left articulation link to bring said left locking rack into locking engagement with said left articulation rack.

7. The surgical instrument of claim 6, wherein the articulation transmission comprises:

a gear assembly in meshing engagement with the right articulation link and the left articulation link; and

a shifter configured for selective meshing engagement with the gear assembly and the axially movable firing actuator, the shifter configured for selective operative engagement with the locking actuator such that when the shifter is in operative engagement with the locking actuator, the shifter is moved into meshing engagement with the axially movable firing actuator and the gear assembly, and movement of the shifter out of operative engagement with the locking actuator also moves the shifter out of meshing engagement with the gear assembly and the axially movable firing actuator.

8. The surgical instrument of claim 4, wherein said corresponding portion of said surgical end effector comprises a firing member attached to said axially movable firing actuator, said firing member being supported for axial travel therethrough between a starting position and an ending position therein.