JP2020525221A - Surgical instrument including articulation system ratio - Google Patents

Abstract

A shaft that includes a proximal axis, a distal end, a longitudinal axis that extends between the proximal and distal ends, and an outer housing that has a shaft radius defined with respect to the longitudinal axis. The shaft assembly provided is disclosed. The shaft assembly further comprises an end effector comprising an end effector frame rotatably connected to the shaft about a fixed joint motion axis arranged laterally offset with respect to the longitudinal axis. The shaft assembly further comprises a joint drive that is connected to the end effector frame at the mounting position, a lateral moment arm is defined between the mounting position and the fixed joint motion axis, and the lateral moment arm is the longitudinal axis. The shaft assembly is configured to minimize the ratio of the shaft radius to the lateral moment arm.

Description

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

Various features of the embodiments described herein, as well as their advantages, can be understood by the following description in conjunction with the accompanying drawings.
1 is a side view of a surgical system including a handle assembly and a plurality of replaceable surgical tool assemblies that can be used with the handle assembly. 2 is an exploded view of one of the handle assembly and replaceable surgical tool assembly shown in FIG. 1. FIG. 2 is a perspective view of one of the replaceable surgical tool assemblies of FIG. 1. FIG. FIG. 4 is an exploded view of the replaceable surgical tool assembly of FIG. 3. FIG. 5 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3 and 4. FIG. 6 is another exploded view of the distal portion of the replaceable surgical tool assembly of FIGS. 3-5. FIG. 7 is an exploded view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-6. FIG. 8 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-7. FIG. 9 is another exploded view of a portion of the replaceable surgical tool assembly of FIGS. 3-8. FIG. 10 is a perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-9. FIG. 11 is another perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-10. FIG. 12 is a cross-sectional perspective view of a proximal portion of the replaceable surgical tool assembly of FIGS. 3-11. FIG. 13 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-12. FIG. 14 is another cross-sectional perspective view of the proximal portion of the replaceable surgical tool assembly of FIGS. 3-13. FIG. 15 is a cross-sectional perspective view of the distal portion of the replaceable surgical tool assembly of FIGS. 3-14. FIG. 6 is a partial plan view of an end effector of a surgical instrument according to at least one embodiment. FIG. 17 is a partial plan view of the end effector of FIG. 16, showing the end effector articulated in a first direction. FIG. 17 is a partial plan view of the end effector of FIG. 16, showing the end effector articulated in a second direction. FIG. 6 is a partial plan view of an end effector of a surgical instrument according to at least one embodiment. FIG. 18 is a partial plan view of the end effector of FIG. 17, showing the end effector articulated in a first direction. FIG. 18 is a partial plan view of the end effector of FIG. 17, showing the end effector articulated in a second direction. FIG. 17 is a partial plan view of the end effector of FIG. 16. FIG. 18 is a partial plan view of the end effector of FIG. 17. FIG. 17 is a partial plan view of the end effector of FIG. 16 in an articulated position. FIG. 18 is a partial plan view of the end effector of FIG. 17 in an articulated position. 17 is a schematic diagram showing a joint range of the end effector of FIG. 16. FIG. FIG. 18 is a schematic diagram showing a joint range of the end effector of FIG. 17. FIG. 18 is a partial perspective view of the end effector of FIG. 17 shown with some components removed. FIG. 18 is a partial plan view of the end effector of FIG. 17 shown with some components removed. FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, non-articulated configuration. FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, full right articulation configuration. FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an open, full left articulation configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in a closed, non-articulated configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in a fully closed right articulation configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in a fully closed left articulation configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in an unarticulated configuration. FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an articulating configuration. FIG. 18 is a partial plan view of the end effector of FIG. 17 shown in an unarticulated configuration. FIG. FIG. 18 is a partial plan view of the end effector of FIG. 17 illustrated in a full right articulation configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in a full left articulation configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in an unarticulated configuration. FIG. FIG. 18 is a partial plan view of the end effector of FIG. 17 illustrated in a full left articulation configuration. 18 is a partial plan view of the end effector of FIG. 17 shown in a full left articulation configuration. FIG. 6 is a partial perspective view of an end effector according to at least one embodiment. FIG. 33 is a partial plan view of the end effector of FIG. 32. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an unarticulated configuration. FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an articulating configuration. FIG. 33 is a cross-sectional view of the end effector of FIG. 32 shown in an articulating configuration. FIG. 6 is a partial perspective view of an end effector according to at least one embodiment. FIG. 36 is a partial perspective view of the end effector of FIG. 35 shown with some components removed. FIG. 36 is a partial plan view of the end effector of FIG. 35 shown with some components removed. FIG. 36 is a partial elevational view of the end effector of FIG. 35 shown with some components removed. FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in an unarticulated configuration. FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in an unarticulated configuration. FIG. 36 is a cross-sectional view of the end effector of FIG. 35 shown in an unarticulated configuration. FIG. 6 is a partial cross-sectional view of an end effector with an articulation system that includes an articulation lock, according to at least one embodiment. FIG. 41 is a partially exploded view of the end effector of FIG. 40. It is sectional drawing of the end effector of FIG. FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in the engaged state. FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in the unlocked state. FIG. 41 is a partial cross-sectional view of the end effector of FIG. 40 showing the joint lock in a locked state. FIG. 6 is a partial cross-sectional view of an end effector including a slidable lock plate, according to at least one embodiment. FIG. 8 is a partial cross-sectional view of another end effector including a slidable lock plate, according to at least one embodiment. FIG. 48 is a partial cross-sectional view of the end effector of FIG. 47 showing the lock plate self-adjustability. FIG. 48 is a partial cross-sectional view of the end effector of FIG. 47 in a locked state. FIG. 6 is a partial cross-sectional view of an end effector including another slidable lock plate, according to at least one embodiment. FIG. 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in a locked condition. FIG. 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in another locked state. FIG. 6 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, with some components shown removed. FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 articulated in a first direction. FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 articulated in a second direction. FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in an unlocked state. FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in a partially locked state. FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in a locked state. 54 is a chart showing graduated locking of the end effector of FIG. 53. FIG. 6 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, with some components shown removed. FIG. 59 is a partial cross-sectional view of the end effector of FIG. 58 shown in a partially locked condition. FIG. 59 is a partial cross-sectional view of the end effector of FIG. 58 in a locked state. FIG. 6 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, with some components shown removed. FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock being moved toward the joint system. FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock engaged with the joint system. FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock in a locked state. FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing the joint lock in a locked state. FIG. 6 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, with some components shown removed. FIG. 66 is a partial cross-sectional view of the end effector of FIG. 66 showing the joint lock engaged with the joint system. FIG. 66 is a partial cross-sectional view of the end effector of FIG. 66 showing the joint lock in a locked state. FIG. 6 is a partial cross-sectional view of an end effector including an articulation lock and articulation system according to at least one embodiment, with some components shown removed. FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing the joint lock being moved toward the joint system. FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing the joint lock in a locked state. FIG. 6 is a partial perspective view of an end effector articulation drive system according to at least one embodiment. FIG. 73 is a plan view of the end effector articulation drive system of FIG. 72. 73 is an elevation view of the end effector articulation drive system of FIG. 72. FIG. FIG. 6 is a partial perspective view of an end effector articulation drive system according to at least one embodiment. FIG. 76 is a plan view of the end effector articulation drive system of FIG. 75. FIG. 76 is an elevation view of the end effector articulation drive system of FIG. 75. FIG. 76 is a detailed view of the end effector articulation drive system of FIG. 75. FIG. 76 is another detailed view of the end effector articulation drive system of FIG. 75. FIG. 6 is a perspective view of a surgical instrument according to at least one embodiment that includes a shaft and an end effector. FIG. 81 is a perspective view of the surgical instrument of FIG. 80 showing the end effector articulated with respect to the shaft. FIG. 81 is a perspective view of the end effector of FIG. 80 in an open configuration. FIG. 6 is a partial elevational view of a firing member, according to at least one embodiment. FIG. 84 is a partial cross-sectional plan view of the firing member of FIG. 83. FIG. 6 is a partial cross-sectional view of the distal end of a staple cartridge with a shortened nose, according to at least one embodiment. FIG. 6 is a partial cross-sectional view of the distal end of a staple cartridge with an elongated nose, according to at least one embodiment. 86 is a top view of various internal components of the staple cartridge of FIG. 85, showing a triple staple driver spanning three longitudinal rows of staple cavities located on top of a portion of the wedge sled. FIG. 88 is a cross-sectional view of the triple staple driver of FIG. 87 showing the centerline of the triple staple driver with respect to the sled. FIG. 86 is a partial plan view of the staple cartridge of FIG. 85, showing one side of the staple cartridge deck in cross-section, showing the position of the sled of FIG. 88 within the recess defined in the shortened nose of the cartridge after completion of the firing stroke. .. 90 is a partial cross-sectional view of the staple cartridge of FIG. 85 taken along line 90-90 of FIG. 89, showing the position of the sled after completion of the firing stroke. FIG. 87 compares the usability of the end effector with the staple cartridge of FIGS. 85 and 86 during intrapelvic surgery. FIG. 86 is a partial perspective view of an end effector with the staple cartridge of FIG. 85 and a shortened opposing anvil with a protective tip, according to at least one embodiment. FIG. 93 is a side view of the end effector of FIG. 92. FIG. 93 is a partial plan view of one embodiment of the anvil shown in FIG. 92 including a protective tip in an assembled configuration. 95 is a partial cross-sectional view of the anvil shown in FIG. 94 taken along line 95-95 of FIG. 94 and shown in a partially disassembled configuration, exemplary for removably attaching a protective tip to the anvil. The different attachment means are shown. 96 is a partial cross-sectional view of the anvil shown in FIG. 95 taken along line 96-96 of FIG. 95, shown in a partially disassembled configuration, of the anvil for connecting to the corresponding shape of the protective tip. 3 shows the shape of a mounting feature. FIG. 93 is a partial cross-sectional view of an additional embodiment of the anvil shown in FIG. 92 in a partially disassembled configuration, showing the protective tip positioned within the temporary holder. 97 is a partial cross-sectional view of the anvil shown in FIG. 97 taken along line 98-98 of FIG. 97 in a partially exploded configuration, showing the shape of the anvil tip attachment feature. FIG. 98 is a cross-sectional view of the anvil shown in FIG. 97 taken along line 99-99 of FIG. 97, in the assembled configuration with the temporary holder still attached. FIG. 6 is a cross-sectional view of the trocar seal system before the end effector is inserted. FIG. 100 is a cross-sectional view of the trocar seal system of FIG. 100 showing the end effector shown in FIG. 100 inserted. 100 is a cross-sectional view of the trocar seal system of FIG. 100, showing insertion of the end effector shown in FIG. 100. FIG. 86 is a cross-sectional view of the trocar seal system of FIG. 100, showing the end effector including the shortened staple cartridge of FIG. 85 and a shortened anvil with an inserted protective tip. 87 is a cross-sectional view of the trocar seal system of FIG. 100 prior to the end effector including the elongated cartridge of FIG. 86 and a shortened anvil with an inserted sharp tip. 104 is a cross-sectional view of the trocar seal system of FIG. 100, showing the end effector shown in FIG. 104 inserted. 104 is a cross-sectional view of the trocar seal system of FIG. 100, showing the end effector shown in FIG. 104 inserted.

Corresponding reference characters indicate corresponding parts throughout the several views. The illustrations provided herein are illustrative of the various embodiments of the invention in one form, and such illustrations should not be construed as limiting the scope of the invention in any way. Absent.

Applicant's applicants own the following US patent applications filed on the same date as this application, the entire contents of each of which are incorporated herein by reference.
-U.S. Patent Application No. _________, title of the invention "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT", Attorney Docket END8207USNP/17098,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO", Attorney Docket No. END8210USNP/17099,
-U.S. Patent Application No. _________, title of the invention "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS", Attorney Docket END8218USNP/170101,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", Attorney Docket No. END8217USNP/070102,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSEURE SYSTEM", Attorney Docket END8211USNP/170103,
-U.S. Patent Application No. _________, title of invention "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT", Attorney Docket END8215USNP/170107,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTABLE COUPLERS", Attorney Docket No. END8201USNP/170104,
-U.S. Patent Application No. ______, title of the invention "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES", Agent serial number END8206USNP/170105,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSE PROFILE", Attorney Docket No. END8212USNP/170106,
-U.S. Patent Application No. ___________, title of the invention "METHOD FOR ARTICULTING A SURGICAL INSTRUMENT", Attorney Docket END8200USNP/170089M,
-U.S. Patent Application No. __________, title of invention "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONTINUENON, No. 14 person, number 82,"
- US Patent Application No. _______ issue, entitled "SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING", Attorney Docket No. END8202USNP / 170091,
-U.S. Patent Application No. _____________, Title of Invention "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT US PIT ROI TITLE, PIT WHITE, CROSSURE MEMORY PIT WHITE, CROSSURE MEMORY PIT WHITE, CROSSURE MEMORY PIT, WHITE CONTACT, WHITE JOIN, WHITE JOIN, WHITE JOIN, WHICH
-U.S. Patent Application No. _________, title of the invention "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS", Attorney Docket No. END8203USNP/170093,
-U.S. Patent Application No. __________, title of the invention "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGENEMENT IN CLOSE PROPIN NUMBER, NUMBER PROJECT OF NUMBER 17", PRIVITY MANUAL, IDENTITY MANUAL, IDENTITY MANUAL, IDENTITY MANUAL, IDENTIFICATION NUMBER, PRISON NUMBER
-US Patent Application No. __________, Title of Invention "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RENGING UNIQUE ENGAGEMENT NUMBER, 16 WITLE ENGAGEN NUMBERS,"
-U.S. Patent Application No. _________, title of the invention "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", Attorney Docket END8208USNP/1700096,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSE MEMBER", Attorney Docket No. END8209USNP/170097,
-U.S. Patent Application No. __________, title of the invention "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT", Attorney Docket END8233USNP/170084,
-U.S. design patent application No. _________, title of invention "STAPLE FORMING ANVIL", agent reference number END8236USDP/170109D,
-U.S. design patent application No. _____, invention title "SURGICAL INSTRUMENT SHAFT", agent reference number END8239USDP/170108D, and-US design patent application No. _____, invention title "SURGICAL FASTENER CARTRIDGE", agent USDP number END8. /170110D.

The applicant of the present application owns the following U.S. patent applications, filed June 27, 2017, each of which is hereby incorporated by reference in its entirety. That is,
-U.S. Patent Application No. __________, title of the invention "SURGICAL ANVIL MANUFACTURING METHODS", Attorney Docket END8165USNP/170079M,
-U.S. Patent Application No. _________, title of the invention "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket END8168USNP/170080,
-U.S. Patent Application No. _________, title of the invention "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket No. END8170USNP/170081,
-U.S. Patent Application No. _________, title of invention "SURGICAL ANVIL ARRANGEMENTS", Attorney Docket END8164USNP/170082,
-U.S. Patent Application No. _________, title of the invention "SURGICAL FIRING MEMBER ARRANGEMENTS", Attorney Docket No. END8169USNP/170083,
-U.S. Patent Application No. _________, title of the invention "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket No. END8167USNP/170085,
-U.S. Patent Application No. _________, title of the invention "STAPLE FORMING POCKET ARRANGEMENTS", Attorney Docket END8232USNP/170086,
-U.S. patent application No. ________, invention title "SURGICAL END EFFECTORS AND ANVILS", attorney docket number END8166USNP/170087, and-US patent application No. ___________, title "ARTICULATION SYSTEMS INSTRUMENTS FORS INSTRUMENTS FORS" Number END8171USNP/170088.

The applicant of the present application owns the following U.S. patent applications filed on December 21, 2016, the entire contents of each of which are incorporated herein by reference:
-U.S. Patent Application No. 15/386,185, title of invention "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF",
-U.S. Patent Application No. 15/386,230, titled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS",
-US Patent Application No. 15/386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS",
-US Patent Application No. 15/386,209, title of invention "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF",
-US Patent Application No. 15/386,198, Title of Invention "LOCKOUT ARRANGENEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES,"
-US Patent Application No. 15/386,240, title of the invention "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR".
-U.S. Patent Application No. 15/385,939, title "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN",
-U.S. Patent Application No. 15/385,941, Title of the Invention "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING, CLOSE WIRE CLOSED FUNCTIONS, PRODUCTS, FRONT, PRODUCTS, AND WORKS, FLOWS, PRODUCTS, AND WORKS, PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, PRODUCTS, PRODUCTS, AND PRODUCTS, PRODUCTS, AND PRODUCTS.
-U.S. Patent Application No. 15/385,943, title "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
-U.S. Patent Application No. 15/385,950, title of the invention "SURGICAL TOOL ASSEMBLIES WITH CLOSE STROKE REDUCTION FEATURES",
-US Patent Application No. 15/385,945, Title of Invention "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN",
-US Patent Application No. 15/385,946, title of the invention "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
-US Patent Application No. 15/385,951, title of the invention "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE",
-US Patent Application No. 15/385,953, title "METHODS OF STAPLING TISSUE",
-US Patent Application No. 15/385,954, titled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS,"
-US Patent Application No. 15/385,955, title of the invention "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGENEMENTS",
-U.S. Patent Application No. 15/385,948, title of the invention "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
-US Patent Application No. 15/385,956, title of the invention "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES",
-U.S. Patent Application No. 15/385,958, Title of Invention "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGENEMENTS FOR PREVENTING FIRING ACTION SYSTEM UNLESS AN UNSPONT STAPLE PTRACE LIST.
-US Patent Application No. 15/385,947, title "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN",
-US Patent Application No. 15/385,896, title "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT",
-U.S. Patent Application No. 15/385,898, title "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMMODATE DIFFERENT TYPES OF STAPLES",
-U.S. Patent Application No. 15/385,899, titled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL",
-US Patent Application No. 15/385,901, Title of Invention "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN",
-US Patent Application No. 15/385,902, title of invention "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER",
-US Patent Application No. 15/385,904, title "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCKOUT",
-US Patent Application No. 15/385,905, title "FIRING ASSEMBLY COMPRISING A LOCKOUT",
-US Patent Application No. 15/385,907, title of invention "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT",
-U.S. Patent Application No. 15/385,908, title "FIRING ASSEMBLY COMPRISING A FUSE",
-U.S. Patent Application No. 15/385,909, titled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE",
-US Patent Application No. 15/385,920, title "STAPLE FORMING POCKET ARRANGEMENTS",
-US Patent Application No. 15/385,913, title "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS",
-US Patent Application No. 15/385,914, Title of Invention "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT".
-U.S. Patent Application No. 15/385,893, title "BILTERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS",
-U.S. Patent Application No. 15/385,929, Title of the Invention "CLOSE MEMBERS WIT CAM SUR FACE ARRANGENEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSEURE AND FIRSING, SYSMING".
-U.S. Patent Application No. 15/385,911, title of the invention "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSED AND FIRING SYSTEMS",
-US Patent Application No. 15/385,927, title of invention "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES",
-US Patent Application No. 15/385,917, title "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS",
-US Patent Application No. 15/385,900, title of invention "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS",
-U.S. Patent Application No. 15/385,931, title "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLES/FASTENERS",
-U.S. Patent Application No. 15/385,915, title "FIRING MEMBER PIN ANGLE",
-US Patent Application No. 15/385,897, titled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES,"
-U.S. Patent Application No. 15/385,922, titled "SURGICAL INSTRUMENT WITH MULTIPLELE FAILURE RESPONSE MODES,"
-U.S. Patent Application No. 15/385,924, entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS",
-US Patent Application No. 15/385,912, Title of Invention "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLUSURES AND
-US Patent Application No. 15/385,910, entitled "ANVIL HAVIGING A KNIFIE SLOT WIDTH",
-US Patent Application No. 15/385,906, title "FIRING MEMBER PIN CONFIGURATIONS",
-U.S. Patent Application No. 15/386,188, title of the invention "STEPPED STAPLE CARTRIDGE WITH ASYMMETRIC STAPLES",
-U.S. Patent Application No. 15/386,192, title of invention "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES",
-US Patent Application No. 15/386,206, title of invention "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES",
-U.S. Patent Application No. 15/386,226, title "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS",
-U.S. Patent Application No. 15/386,222, title of invention "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPEN FEATURES",
-U.S. Patent Application No. 15/386,236, titled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STARPULING INSTRUMENTS",
-US Patent Application No. 15/385,887, title "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVE, TO A SURGICAL ROBOT",
-U.S. Patent Application No. 15/385,889, titled "SHAFT ASSEMBLY COMPRISING A MANUALALLY-OPERABLE RETRACTION SYSTEM SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENTS SYSTEM".
-U.S. Patent Application No. 15/385,890, titled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS",
-U.S. Patent Application No. 15/385,891, titled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS".
-U.S. Patent Application No. 15/385,892, Title of Invention "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTORS OF OTHERS"
-U.S. Patent Application No. 15/385,894, entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT,"
-U.S. Patent Application No. 15/385,895, entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS,"
-US Patent Application No. 15/385,916, title "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15/385,918, title "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15/385,919, title of invention "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15/385,921, Title of Invention "SURGICAL STAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIRMED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES,"
-U.S. Patent Application No. 15/385,923, title "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15/385,925, Title of Invention "JAW ACTUATED LOCK ARRANGENEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN FFEED CONTINUES UNIQUE UNIQUE INDUCTIONS UNDER EFFECTOR UNTRUE UNFRONTED UNTRUES UNIQUE
-US Patent Application No. 15/385,926, Title of Invention "AXIALLY MOVABLE CLOSE SYSTEM SYSTEM ARRANGEMENTS FOR APPLYING CLOSE PRODUCTS MOTIONS TO JAWS OF SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 15/385,928, entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAWS AND ACTUALSHAFT OF A SURGICAL INSTRUMENT".
-U.S. Patent Application No. 15/385,930, title of the invention "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPEN FEATURES FOR OPENING AND CLOSED END EFJECTOR JAWS",
-US Patent Application No. 15/385,932, title of invention "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT",
-US Patent Application No. 15/385,933, title of invention "ARTICULATABLE SURGICAL INSTRUMENT WIT INDEPENDENT PIVOTABLE LINKAGE AGENT DISTAL OF AN ARTICULATION LOCK",
-U.S. Patent Application No. 15/385,934, Title of Invention "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN AN ARTICULATED POSITION IN RESPONSE TO ACTUTION OF OYS OWRES,"
-US Patent Application No. 15/385,935, Title of the Invention "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEGENTS FOR LOCKING AN END EFFECTOR OF A SUNRICAL INSTRUCTION, 15th, 38th, 15th, 38th, 15th, 38th, 15th, 38th, 15th, 38th, 15th, 38th, 15th, 38th, 15th, 38th, 19th, 19th, 19th, 19th, 15th, 18th, 19th, 15th, 18th, 19th, 15th, 38th, 15th, 38th, 15th, 38th, 15th, 18th, 19th, 15th, 19th, 19th, 19th, 19th, 19th, and 15th of July, 2003-U.S.A. "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

The applicant of the present application owns the following US patent applications filed on June 24, 2016, the entire contents of each of which are incorporated herein by reference.
-US Patent Application No. 15/191,775, titled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES",
-US Patent Application No. 15/191,807, title of invention "STAPLING SYSTEM FOR USE WIT WIRE STAPLES AND STAMPED STAPLES",
-US Patent Application No. 15/191,834, title of invention "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME",
-US Patent Application No. 15/191,788, title "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES", and-US Patent Application No. 15/191,818, title "STAPLE CARTRIDGE COMPRISING OFFSET LONGESTU PLATING.

The applicant of the present application owns the following US patent applications filed on June 24, 2016, the entire contents of each of which are incorporated herein by reference.
-US Design Patent Application No. 29/569,218, title of invention "SURGICAL FASTENER",
-US Design Patent Application No. 29/569,227, title of invention "SURGICAL FASTENER",
-US design patent application No. 29/569,259, title of the invention "SURGICAL FASTENER CARTRIDGE", and-US design patent application No. 29/569,264, title of the invention "SURGICAL FASTENER CARTRIDGE".

The applicant of the present application owns the following patent applications filed on April 1, 2016, which are hereby incorporated by reference in their entirety.
-US Patent Application No. 15/089,325, titled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM",
-US Patent Application No. 15/089,321, title of the invention "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY",
-US Patent Application No. 15/089,326, title of invention "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD",
-US Patent Application No. 15/089,263, title "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGUREABLE GRIP PORTION",
-U.S. Patent Application No. 15/089,262, titled "ROTARY POWERED SURGICAL INSTRUMENT WHITE MANUALALLY ACTUATABLE BAILOUT SYSTEM",
-US Patent Application No. 15/089,277, title of the invention "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER",
-US Patent Application No. 15/089,296, title of the invention "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THHAT IS SELECTIVELY ROTABLE ABOUT A SHAT A HAT"
-US Patent Application No. 15/089,258, title "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION",
-US Patent Application No. 15/089,278, title of invention "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE",
-U.S. Patent Application No. 15/089,284, titled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT",
-US Patent Application No. 15/089,295, title of invention "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT",
-US Patent Application No. 15/089,300, title of invention "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT",
-US Patent Application No. 15/089,196, title of invention "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSE LOCKOUT",
-US Patent Application No. 15/089,203, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT",
-US Patent Application No. 15/089,210, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A SPORT CARTRIDGE LOCKOUT",
-US Patent Application No. 15/089,324, title of invention "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM",
-US Patent Application No. 15/089,335, title of the invention "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS",
-US Patent Application No. 15/089,339, title of the invention "SURGICAL STAPLING INSTRUMENT",
-US Patent Application No. 15/089,253, title of invention "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS",
-U.S. Patent Application No. 15/089,304, title of invention "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET",
-US Patent Application No. 15/089,331, title of the invention "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS",
-US Patent Application No. 15/089,336, title "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES",
-US Patent Application No. 15/089,312, title of invention "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT",
-US Patent Application No. 15/089,309, title "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM", and-US Patent Application No. 15/089,349, title "CIRCULAR STAPLING LOCONSYS RECORDING SYSTEM.

Applicant of the present application also owns the following identified US patent applications filed on Dec. 31, 2015, the entire contents of each of which are incorporated herein by reference.
-U.S. Patent Application No. 14/984,488, title "MECHANIMS FOR COMPENSATION FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 14/984,525, title of the invention "MECHANIMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS", and-US Patent Application No. 14/984,552, title of the invention "SURGUR SURGUAL INSTRUMENT" AND MOTOR CONTROL CIRCUITS".

Applicant of the present application also owns the following identified US patent applications filed on February 9, 2016, the entire contents of each of which are incorporated herein by reference.
-US Patent Application No. 15/019,220, title of the invention "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR",
-US Patent Application No. 15/019,228, title "SURGICAL INSTRUMENTS WITH MULTIPLELE LINK ARTICULATION ARRANGENEMENTS",
-US Patent Application No. 15/019,196, title of invention "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTED SECONDARY CONSTRAINT",
-U.S. Patent Application No. 15/019,206, title of the invention "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATED TO AN ELONGATE SHAFATT ASSEMBLY",
-US Patent Application No. 15/019,215, title of invention "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGENEMENTS",
-US Patent Application No. 15/019,227, title of invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS",
-US Patent Application No. 15/019,235, title of invention "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS",
-US patent application No. 15/019,230, title of the invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGENEMENTS", and-US patent application No. 15/019,245, title of the invention "SURTURE STURU START UNIQUE" REDUTION ARRANGEMENTS."

Applicant of the present application also owns the following identified US patent applications filed on February 12, 2016, the entire contents of each of which are incorporated herein by reference.
-U.S. Patent Application No. 15/043,254, title of the invention "MECHANISMS FOR COMPENSATING FOR DRIVERTRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 15/043,259, title "MECHANIMS FOR COMPENSATION FOR DRIVERTRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS",
-US patent application No. 15/043,275, title of the invention "MECHANIMS FOR COMPENSATION FOR DRIVERTRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS", and-U.S. patent application No. 15/043,289, title of "INFORMATION FORMORFIN FORMESFRONS FAILURE IN POWERED SURGICAL INSTRUMENTS".

The applicant of the present application owns the following patent applications filed on June 18, 2015, which are hereby incorporated by reference in their entirety.
-US Patent Application No. 14/742,925, title of invention "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS", now US Patent Application Publication No. 2016/0367256,
-US Patent Application No. 14/742,941, title of the invention "SURGICAL END EFFECTORS WITH DUAL CAM ACTUALATED JAW CLOSED FEATURES", now US Patent Application Publication No. 2016/0367248,
-U.S. Patent Application No. 14/742,914, title of the invention "MOVABLE FIRING BEAM SUPPORT ARRANGENEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/0367255,
-US Patent Application No. 14/742,900, title of the invention "ARTICULATURE SURGICAL INSTRUMENTS WIT COMPOSITE FIRING BEAM STRUCTURES WITTER CENTER FIRPING MERCHOR PURPOST NUMBER 4", 16th POS PORT MERPORS OUR PART.
-U.S. Patent Application No. 14/742,885, title "DUAL ARTICULATION DRIVE SYSTEM SYSTEM ARRANGENEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/03672462, and-US Patent Application No. 2016/0367246, No., title of invention "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/0367245,

The applicant of the present application owns the following patent applications filed on Mar. 6, 2015, which are hereby incorporated by reference in their entirety.
-U.S. Patent Application No. 14/640,746, title of the invention "POWERED SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2016/0256184,
-US Patent Application No. 14/640,795, title of invention "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/02561185;
-US Patent Application No. 14/640,832, title of the invention "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSERATES FOR MULTIPLE TISSUE TYPES", now US Patent Application Publication No. 2016/0256154.
-US Patent Application No. 14/640,935, title of the invention "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION", now US Patent Application Publication No. 2016/0256071.
-U.S. Patent Application No. 14/640,831, title "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2016/0256153.
-US Patent Application No. 14/640,859, title of invention "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES," No. 18/US Patent Publication No. 20/US Patent Application No. 02/20
-US Patent Application No. 14/640,817, title of the invention "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/0256186,
-U.S. Patent Application No. 14/640,844, title of the invention "CONTROL TECHNIQUES AND SUB-PROCESS CONTRAINED WITHIN MODULAR SHAFATT WITH CONTROL CONTROL No. 56/15, US 15/02, present 15 USLE", present 15 USLE.
-U.S. Patent Application No. 14/640,837, title of the invention "SMART SENSORS WITH LOCAL SIGNAL PROCESSING", now US Patent Application Publication No. 2016/0256163,
-US Patent Application No. 14/640,765, title of the invention "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLE/FASTENER", now US Patent Application Publication No. 2016/0256160.
-US Patent Application No. 14/640,799, Title of Invention "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", now US Patent Application Publication No. 2016/0256162, and-US Patent Application No. 14/640, No. 780, title of the invention “SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING”, now US Patent Application Publication No. 2016/0256161.

The applicant of the present application owns the following patent applications filed on February 27, 2015, which are hereby incorporated by reference in their entirety.
-U.S. Patent Application No. 14/633,576, title of the invention "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION", now US Patent Application Publication No. 2016/0249919;
-U.S. Patent Application No. 14/633,546, title of the invention "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETER A PERFORMANCE PARAMETER OF THE SURGICAL APPRATUS NO.
-US Patent Application No. 14/633,560, title of invention "SURGICAL CHARGING SYSTEM THE HAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES", now US Patent Application Publication No. 2016/0249910,
-U.S. Patent Application No. 14/633,566, title "CHARGING SYSTEM THEN ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY", now US Patent Application Publication No. 2016/0249918,
-US Patent Application No. 14/633,555, title of the invention "SYSTEM FOR MONITORING WHETER A SURGICAL INSTRUMENTS NEEDS TO BE SERVICED", now US Patent Application Publication No. 2016/0249916,
-U.S. Patent Application No. 14/633,542, title of the invention "REINFORMED BATTERY FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2016/0249908,
-U.S. Patent Application No. 14/633,548, title of the invention "POWER ADAPTER FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2016/0249909,
-U.S. Patent Application No. 14/633,526, title of the invention "ADAPTABLE SURGICAL INSTRUMENT HANDLE", now U.S. Patent Application Publication No. 2016/0249945,
-U.S. Patent Application No. 14/633,541, title of the invention "MODULAR STAPLING ASSEMBLY", now U.S. Patent Application Publication No. 2016/0249927,
-US Patent Application No. 14/633,562, title of the invention "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER", now US Patent Application Publication No. 2016/0249917.

The applicant of the present application owns the following patent applications filed on December 18, 2014, which are hereby incorporated by reference in their entirety.
-US patent application No. 14/574,478, title of invention "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFFECTOR AND MEANS FOR ADJUSTING No. 97/NO.
-U.S. Patent Application No. 14/574,483, title of the invention "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS", now US Patent Application Publication No. 2016/0174969;
-US Patent Application No. 14/575,139, title of invention "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/0174978,
-U.S. Patent Application No. 14/575,148, title "LOCKING ARRANGENEMENTS FOR DETACHABLE SHAFFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS", now US Patent Application Publication No. 2016/0174976.
-US Patent Application No. 14/575,130, title of the invention "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NO-MOVABLE No. 97/NO. ,
-US Patent Application No. 14/575,143, title of the invention "SURGICAL INSTRUMENTS WITH IMPROVED CLOSEURE ARRANGEMENTS", now US Patent Application Publication No. 2016/0174983,
-U.S. Patent Application No. 14/575,117, title of the invention "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS", now US Patent Application No. 75/2017, No. 7/2016/2016/16.
-U.S. Patent Application No. 14/575,154, Title of the Invention SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS", now U.S. Patent Application Publication No. 3/74, 2016/01.
-U.S. Patent Application No. 14/574,493, title of the invention "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", now U.S. Patent Application Publication No. 2016/0174970, and-US Patent Application No. 14/574,500. , "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM", now US Patent Application Publication No. 2016/0174971.

The applicant of the present application owns the following patent applications filed on Mar. 1, 2013, which are hereby incorporated by reference in their entirety.
-US Patent Application No. 13/782,295, title of the invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION", now US Patent Application Publication No. 2014/0246471.
-US Patent Application No. 13/782,323, title of invention "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246472,
-US Patent Application No. 13/782,338, title of the invention "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0249557,
-US Patent Application No. 13/782,499, title of invention "ELECTROMECHANICAL SURGICAL DEVICE WITH WITH SIGNAL RELAY ARRANGEMENT", now US Patent No. 9,358,003,
-U.S. Patent Application No. 13/782,460, title of invention "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS", now U.S. Patent No. 9,554,794,
-U.S. Patent Application No. 13/782,358, title of the invention "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS", now U.S. Patent No. 9,326,767,
-U.S. Patent Application No. 13/782,481, title of the invention "SENSOR STRAIGHTTENED END EFFECTOR DURING REMOVE THROUGH TROCAR", now U.S. Patent No. 9,468,438,
-U.S. Patent Application No. 13/782,518, title of invention "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now US Patent Application Publication No. 2014/0246475,
-US Patent Application No. 13/782,375, title of invention "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLELE DEGREES OF FREEDOM", now US Patent No. 9,398,911,
-U.S. Patent Application No. 13/782,536, title "SURGICAL INSTRUMENT SOFT STOP", now U.S. Patent No. 9,307,986,

The applicant of the present application also owns the following patent applications filed on Mar. 14, 2013, which are hereby incorporated by reference in their entirety.
-U.S. Patent Application No. 13/803,097, title of invention "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now U.S. Patent Application Publication No. 2014/0263542,
-U.S. Patent Application No. 13/803,193, title of the invention "CONTROL ARRANGENEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now U.S. Patent No. 9,332,987,
-U.S. patent application Ser. No. 13/803,053, title of the invention "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", now U.S. patent application publication No. 2014/0263564.
-U.S. patent application Ser. No. 13/803,086, title of invention "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now U.S. Patent Application Publication No. 2014/0263541,
-U.S. Patent Application No. 13/803,210, title of the invention "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263538,
-U.S. Patent Application No. 13/803,148, title of the invention "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0263554,
-U.S. patent application No. 13/803,066, title of the invention "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent number 9,629,623, and-U.S. patent application number 13/803,117. , The title of the invention "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", currently US Pat. No. 9,351,726,
-U.S. Patent Application No. 13/803,130, title of the invention "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. Patent No. 9,351,727, and-U.S. Patent Application No. 13/803,159. , "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0277017.

The applicant of the present application also owns the following patent applications filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
-U.S. Patent Application No. 14/200,111, title of the invention "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. Patent No. 9,629,629,

The applicant of the present application also owns the following patent applications filed on Mar. 26, 2014, which are hereby incorporated by reference in their entirety.
-U.S. Patent Application No. 14/226,106, title of invention "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2015/0272582,
-U.S. patent application Ser. No. 14/226,099, title of the invention "STERILIZATION VERIFICATION CIRCUIT", now U.S. Patent Application Publication No. 2015/0272581;
-U.S. patent application Ser. No. 14/226,094, title "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT", now U.S. patent application publication No. 2015/0272580,
-US Patent Application No. 14/226,117, title of the invention "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now US Patent Application Publication No. 2015/0272574,
-US Patent Application No. 14/226,075, title of the invention "MODULAR POWERED SURGICAL INSTRUMENT WITCH DETACHABLE SHAFT ASSEMBLIES", now US Patent Application Publication No. 2015/0272579,
-US Patent Application No. 14/226,093, title of invention "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2015/0272569,
-US Patent Application No. 14/226,116, title of the invention "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now US Patent Application Publication No. 2015/0272571,
-U.S. Patent Application No. 14/226,071, title of the invention "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR", now US Patent Application Publication No. 2015/0272578,
-U.S. Patent Application No. 14/226,097, title of the invention "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now U.S. Patent Application Publication No. 2015/0272570,
-U.S. Patent Application No. 14/226,126, title of the invention "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2015/0272572,
-U.S. Patent Application No. 14/226,133, title of the invention "MODULAR SURGICAL INSTRUMENT SYSTEM", now U.S. Patent Application Publication No. 2015/0272557,
-U.S. Patent Application No. 14/226,081, title of the invention "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now US Patent Application Publication No. 2015/0277471;
-US Patent Application No. 14/226,076, title of invention "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTION", now US Patent Application Publication No. 2015/0280424,
-US Patent Application No. 14/226,111, title of the invention "SURGICAL STAPLING INSTRUMENT SYSTEM", now US Patent Application Publication No. 2015/0272583, and-US Patent Application No. 14/226,125, title of the invention "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now US Patent Application Publication No. 2015/0280384.

The applicant of the present application also owns the following patent applications filed on September 5, 2014, the entire contents of each of which are incorporated herein by reference:
-U.S. patent application Ser. No. 14/479,103, title of the invention "CIRCUITRY AND SENSORS FOR POWEREDED MEDICAL DEVICE", now US patent application publication No. 2016/0066912,
-US Patent Application No. 14/479,119, title of invention "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION", now US Patent Application Publication No. 2016/0066914,
-U.S. Patent Application No. 14/478,908, Invention Title "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION", now U.S. Patent Application Publication No. 2016/0066910,
-U.S. Patent Application No. 14/478,895, Invention Title "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION", now U.S. Patent Application Publication No. 2016/0066909,
-U.S. Patent Application No. 14/479,110, title of invention "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", now U.S. Patent Application Publication No. 2016/0066915,
-U.S. Patent Application No. 14/479,098, title of the invention "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION", now US Patent Application Publication No. 2016/0066911,
-U.S. Patent Application No. 14/479,115, title of the invention "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now US Patent Application Publication No. 2016/0066916, and-US Patent Application No. 14/479,108, The title of the invention is "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", now US Patent Application Publication No. 2016/0066913.

The applicant of the present application also owns the following patent applications filed on April 9, 2014, the entire contents of each of which are incorporated herein by reference:
-U.S. Patent Application No. 14/248,590, title of the invention "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now U.S. Patent Application Publication No. 2014/03055987,
-U.S. Patent Application No. 14/248,581, title "SURGICAL INSTRUMENT COMPRISING A CLOSED DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now US Pat.
-U.S. Patent Application No. 14/248,595, title of invention "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE THE OPERARATION OF THE SURGICAL INSTRUMENT", No. 20/No. 0/US Patent Application Publication No. 30/No.
-US Patent Application No. 14/248,588, title of invention "POWERED LINEAR SURGICAL STAPLE/FASTENER", now US Patent Application Publication No. 2014/03096666,
-U.S. Patent Application No. 14/248,591, title of the invention "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0305991,
-U.S. Patent Application No. 14/248,584, "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH WHICH ALIGNMENT FEATURES FOR ALIGNING ROTARY 305 US, No. 405 SHAFTS WHITH ENG SURGER, 20th SURGE SHIRTTS WHICH EN"
-U.S. Patent Application No. 14/248,587, title of the invention "POWERED SURGICAL STAPLE/FASTENER", now U.S. Patent Application Publication No. 2014/0309665,
-US Patent Application No. 14/248,586, title of the invention "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/03059990, and-US Patent Application No. 14/248,607. , MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now US Patent Application Publication No. 2014/0305992.

Applicant also owns the following patent applications filed on April 16, 2013, the entire contents of each of which are incorporated herein by reference:
-U.S. Provisional Patent Application No. 61/812,365, title of invention "SURGICAL INSTRUMENT WITH MULTIPLELE FUNCTIONS PERFORMED BY A SINGLE MOTOR",
-U.S. Provisional Patent Application No. 61/812,376, title "LINEAR CUTTER WITH POWER",
-U.S. Provisional Patent Application No. 61/812,382, title "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP",
-U.S. provisional patent application No. 61/812,385, title of the invention "SURGICAL INSTRUMENT WANDLE MULTIPLE ACTION MOTORS AND MOTOR CONTROL", and-Provisional patent application No. 61/812,372, title of the invention "Surgical MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

Numerous specific details are set forth in order to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments, as described herein and shown in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described herein. The reader is advised that the embodiments described and illustrated herein are non-limiting examples, and thus the particular structural and functional details disclosed herein may be representative and exemplary. You will understand that. Changes and modifications may be made thereto without departing from the scope of the claims.

The terms “comprise” (any form of comprise, such as “comprises” and “comprising”), “have” (any form of have, such as “has” and “having”), “include ( "include" (any word form of include, such as "includes" and "including"), and "contain" (any word form of container, such as "contains" and "containing") are open-ended concatenations. It is a verb. As a result, a surgical system, device, or apparatus that "comprises," "has," "includes," or "contains" one or more elements comprises one or more of those elements. Having, but not limited to having only one or more of them. Similarly, an element of a system, device, or apparatus that "comprises," "haves," "includes," or "contains," one or more features has one or more of those features. Having, but not limited to having only one or more of those features.

The terms "proximal" and "distal" are used herein with reference to the clinician operating the handle portion of the surgical instrument. The term "proximal" refers to the portion that is closest to the clinician, and the term "distal" refers to the portion that is remote from the clinician. It will be further understood that spatial terms such as “vertical”, “horizontal”, “top”, and “bottom” may be used herein for the drawings, for convenience and clarity. 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 surgery. However, it will be readily appreciated by the reader that the various methods and devices disclosed herein may be used in many surgical procedures and applications, including those associated with open surgery, for example. By reading the “Modes for Carrying Out the Invention” herein, the reader will be aware that the various devices disclosed herein may be used to make incisions made in tissue, for example, through an original opening. It will be further appreciated that it can be inserted into the body in any way, such as through a puncture. The working or end effector portion of these instruments can be inserted directly into the patient's body or through an access device having a working passage through which the end effector and elongated shaft of the surgical instrument can be advanced. You can also

The surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw, but the staple cartridge is not removable from the first jaw, or at least easily replaceable from the first jaw. However, other embodiments are envisioned. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable about the closure axis with respect to the first jaw, but the first jaw is pivotable with respect to the second jaw. is assumed. 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 also envisioned that do not include an articulation.

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck portion extending between the proximal and distal ends. In use, the staple cartridge is positioned on the first side of the tissue to be stapled and the anvil is positioned on the second side of the tissue. The anvil is moved towards the staple cartridge to compress and clamp the tissue against the deck. The staples that are removably stored within the cartridge body can then be deployed within the tissue. The cartridge body includes a staple cavity defined therein, the staple being removably stored within the staple cavity. The staple cavities are arranged in six longitudinal rows. The three rows of staple cavities are located on a first side of the longitudinal slot and the three rows of staple cavities are located on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

The staples are supported by a staple drive unit inside the cartridge body. The drive is moveable between a first or unfired position and a second or fired position that ejects staples from the staple cavity. The drive unit is held in the cartridge body by a holder extending around the bottom of the cartridge body, and is configured to hold the cartridge body and to hold the holder with respect to the cartridge body. Including. The drives are movable by sleds between their unfired position and their fired position. The sled is moveable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramps configured to slide under the drive and lift the drive with staples supported thereon and toward the anvil.

In addition to the above, the sled is moved distally by the firing member. The firing member is configured to contact the thread and push the thread toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam engaging the first jaw and a second cam engaging the second jaw. Upon advancing the firing member distally, the first and second cams can control the distance between the deck portion of the staple cartridge and the anvil, or tissue clearance. The firing member also includes a knife configured to ablate the captured tissue intermediate the staple cartridge and anvil. It is desirable for the knife to be positioned at least partially proximal to the ramp so that the staples are ejected ahead of the knife.

FIG. 1 illustrates a motor driven surgical system 10 that may be used to perform a variety of different surgical procedures. As can be seen in FIG. 1, an example surgical system 10 includes four interchangeable surgical tool assemblies 1000, 3000, 5000 and 7000, each adapted for interchangeable use with a handle assembly 500. I'm out. Each replaceable surgical tool assembly 1000, 3000, 5000 and 7000 may be designed for use in performing one or more specific surgical procedures. In another surgical system embodiment, one or more of the replaceable surgical tool assemblies 1000, 3000, 5000 and 7000 are effectively used with an instrument drive assembly of a robotic or automated surgical system. You can also do it. For example, the surgical tool assemblies disclosed herein include various robotic systems, instruments, components and methods, including, but not limited to, US Pat. No. 9,072, which is incorporated herein by reference in its entirety. No. 535, title of the invention "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS".

FIG. 2 illustrates the attachment of the replaceable surgical tool assembly 1000 to the handle assembly 500. It will be appreciated that any of the other replaceable tool assemblies 3000, 5000, and 7000 can be coupled to the handle assembly 500 in a similar manner. The attachment mechanism and process shown in FIG. 2 may also be used in connection with attaching any of the replaceable surgical tool assemblies 1000, 3000, 5000 and 7000 to an instrument drive portion or instrument drive housing of a robotic system. it can. The handle assembly 500 may include a handle housing 502 that includes a pistol grip portion 504 that can be grasped and manipulated by a clinician. As discussed briefly below, the handle assembly 500 produces corresponding various portions of the replaceable surgical tool assembly 1000, 3000, 5000 and/or 7000 that produces various controlled movements and is operably attached to the handle assembly. Operatively support a plurality of drive systems 510, 530 configured to apply to

As seen in FIG. 2, the handle assembly 500 can further include a handle frame 506 that operably supports a plurality of drive systems. For example, the handle frame 506 can operably support a “first” or closure drive system, generally indicated as 510, that can be used to operably attach to the handle assembly 500. Opening and closing motions can be applied to the attached or connected replaceable surgical tool assemblies 1000, 3000, 5000 and 7000. In at least one form, the closure drive system 510 pivotally supported by the handle frame 506 may include an actuator in the form of a closure trigger 512. Such an arrangement allows the closure trigger 512 to be manipulated by the clinician so that when the clinician grasps the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 will be in a starting or “non-actuated” position. To an "actuated" position, and more specifically to a fully compressed or fully actuated position. In various forms, closure drive system 510 further includes a closure link assembly 514 pivotally coupled to closure trigger 512 or otherwise operatively interconnected therewith. As discussed in more detail below, in the example shown, the closure link assembly 514 includes lateral attachment pins 516 that facilitate attachment to a corresponding drive system on the surgical tool assembly. In use, to activate the closure drive system 510, the clinician depresses the closure trigger 512 toward the pistol grip portion 504. Further details are provided in U.S. Patent Application No. 14/226,142 entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", now US Patent Publication No. 2015/0272575, which is incorporated herein by reference in its entirety. As described above, the closure drive system 510 locks the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to achieve a full closure stroke. Is configured as follows. If the clinician desires to unlock the closure trigger 512 to bias the closure trigger 512 to the inoperative position, the clinician actuates the closure open button assembly 518, which causes the closure trigger to disengage. It is possible to return to the operating position. The closure open button assembly 518 may also be configured to interact with various sensors in communication with the microprocessor 560 within the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the construction and operation of the closure open button assembly 518 can be found in U.S. Patent Application Publication No. 2015/0272575.

In at least one form, the handle assembly 500 and the handle frame 506 are herein described as a firing drive system 530, configured to apply a firing motion to corresponding portions of the attached replaceable surgical tool assembly. Another drive system referred to may be operably supported. The firing drive system 530 may use an electric motor 505 located within the pistol grip portion 504 of the handle assembly 500, as described in detail in US Patent Application Publication No. 2015/0272575. In various configurations, the motor 505 may be a brushed DC drive motor with a maximum speed of about 25,000 RPM, for example. In another configuration, the motor 505 can 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 carry multiple lithium-ion (“LI”) or other suitable batteries therein. Multiple batteries that can be connected in series can be used as the power source 522 for the surgical system 10. Additionally, the power source 522 may be replaceable and/or rechargeable.

The electric motor 505 is configured to drive the longitudinally movable drive member axially in the distal and proximal directions depending on the polarity of the voltage applied to the motor. For example, if the motor drives in one direction of rotation, the longitudinally movable drive member may drive axially in the distal direction "DD." When the motor 505 drives in the opposite direction of rotation, the longitudinally displaceable drive member will drive 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 also include one or more sensors that are configured to detect the position of the drive member and/or the direction in which the drive member moves. Actuation of the motor 505 can be controlled by a firing trigger 532 (FIG. 1) pivotally supported on the handle assembly 500. The firing trigger 532 may pivot between a non-actuated position and an actuated position. The firing trigger 532 may be biased to a non-actuated position by a spring or other biasing configuration when the clinician releases the firing trigger 532, and the spring or biasing configuration may cause the firing trigger 532 to move to the non-actuated position. It may pivot or otherwise return. In at least one form, firing trigger 532 may be positioned “outside” closure trigger 512, as described above. As described in US Patent Application Publication No. 2015/0272575, the handle assembly 500 may be provided with a firing trigger safety button to prevent inadvertent activation of the firing trigger 532. When the closure trigger 512 is in the non-actuated position, the safety button is inside the handle assembly 500 and cannot be easily touched by the clinician to prevent actuation of the firing trigger 532; The firing trigger 532 cannot move to and from the firing position at which it can fire. As the clinician presses the closure trigger 512, the safety button and firing trigger 532 pivot downwards, which in turn allows manipulation by the clinician.

In at least one form, the longitudinally movable drive member may have a rack of teeth formed thereon for mating engagement with a corresponding drive gear arrangement interconnecting a motor. Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. In at least one form, the handle assembly 500 is also manually actuatable configured to allow the clinician to manually retract the longitudinally movable drive member and disable the motor 505. Including "emergency" assembly. The emergency assembly may include a lever or emergency handle assembly housed within the handle assembly 500 below the releasable door portion 550. See FIG. The lever may be configured to be manually pivoted into ratcheting engagement with the teeth of the drive member. Thus, the clinician may manually retract the drive member by ratcheting the drive member in the proximal direction "PD" using the emergency disengagement handle assembly. U.S. Patent No. 8,608,045, the title of the invention "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", the specification of which is incorporated herein by reference, as well as the specification, is incorporated herein by reference in its entirety. Other components, mechanisms, and systems that may be used with any of the various replaceable surgical tool assemblies disclosed herein are disclosed.

Referring now to FIGS. 3 and 4, the replaceable surgical tool assembly 1000 includes a surgical end effector 1500 having a first jaw 1600 and a second jaw 1800. In one configuration, the first jaw 1600 comprises an elongated groove member 1602 configured to operably support the surgical staple/fastening element cartridge 1700 therein. The second jaw 1800 includes an anvil 1810 pivotally supported with respect to the elongated groove member 1602. The replaceable surgical tool assembly 1000 may be configured to releasably retain the surgical end effector 1500 in a desired articulation position relative to the shaft axis SA ₁ and an articulation joint 1302 and articulation lock 1400 (FIGS. 4-4). 6) can be further included in the joint system 1300.

As further seen in FIGS. 4 and 7-9, the replaceable surgical tool assembly 1000 includes a tool frame assembly 1200 with a tool chassis 1210 that operably supports a nozzle assembly 1240. In one form, the nozzle assembly 1240 comprises a nozzle portion 1242, 1244 and an actuator wheel portion 1246 configured to be coupled to the nozzle portion 1242, 1244 assembled by, for example, snaps, lugs, and/or screws. It The replaceable surgical tool assembly 1000 is operably coupled to a distal closure assembly 2000 utilized to close and/or open anvil 1810 of surgical end effector 1500, as discussed in further detail below. Includes a proximal closure assembly 1900. Further, the replaceable surgical tool assembly 1000 includes a spine assembly 1250 operably supporting the proximal closure assembly 1900 and coupled to the surgical end effector 1500. In various circumstances, to facilitate assembly, the spine assembly 1250 is manufactured from an upper spine portion 1251 and a lower spine portion 1252 interconnected to each other, for example, by snap features, adhesives, and/or welding. Good. In the assembled form, the spine assembly 1250 includes a proximal end 1253 rotatably supported by the tool chassis 1210. In one configuration, for example, the proximal end 1253 of the spine assembly 1250 is attached to a spine bearing configured to be supported within the tool chassis 1210. Such a configuration facilitates rotatable attachment of the spine assembly 1250 to the tool chassis 1210 and allows the spine assembly 1250 to selectively rotate with respect to the tool chassis 1210 about the shaft axis SA ₁ . Specifically, in at least one configuration, the proximal end 1253 of the spine assembly 1250 is, for example, an upper protrusion that is each configured to receive a corresponding nozzle protrusion 1245 that extends inwardly from each of the nozzle portions 1242, 1244. It has a seat 1254 (FIGS. 4, 5, 7, 8 and 10) and a lower protruding seat. Such a configuration promotes rotation of the spine assembly 1250 about the shaft axis SA ₁ by rotating the actuator wheel portion 1246 of the nozzle assembly 1240.

As seen in FIGS. 4 and 5, spine assembly 1250 further includes an intermediate spine shaft portion 1256 having a diameter less than the diameter of proximal end 1253 of spine assembly 1250. The intermediate spine shaft portion 1256 of the upper spine portion 1251 terminates in the upper protrusion attachment element 1260 and the intermediate spine shaft portion of the lower spine portion 1252 terminates in the lower protrusion attachment element 1270. As seen in FIG. 6, the upper protrusion mounting element 1260 is formed with a protrusion slot 1262 adapted to mountably support an upper mounting link 1264 therein. Similarly, the lower protrusion attachment element 1270 is formed with a protrusion slot 1272 adapted to mountably support the lower attachment link 1274 therein. The upper mounting link 1264 has a pivot socket 1266 offset from the shaft axis SA ₁ . Pivot socket 1266 is adapted to rotatably receive therein a pivot pin 1634 formed on a groove member cap or anvil retainer 1630 attached to the proximal end portion 1610 of elongated groove member 1602. .. The lower attachment link 1274 has a lower pivot pin 1276 adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated groove member 1602. See FIG. 6. The lower pivot pin 1276 and the pivot hole 1611 are offset from the shaft axis SA ₁ . The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 and defines an articulation axis AA ₁ about which the surgical end effector 1500 can articulate with respect to the shaft axis SA ₁ . .. Although articulation axis AA ₁ is transverse to the shaft axis SA _1, articulation axis AA ₁ is laterally offset from the shaft axis SA _1, does not intersect with the shaft axis SA _1.

6 and 15, anvil 1810 has an anvil body 1812 that terminates in anvil attachment portion 1820. The anvil attachment portion 1820 is moveable or pivotable on the elongated groove member 1602 for selective pivotal movement about a fixed anvil pivot axis PA ₁ (FIG. 15) that is transverse to the shaft axis SA ₁ . Be movably supported. Pivot members or anvil trunnions 1822 extend laterally from each side of the anvil attachment portion 1820 and are received within corresponding trunnion cradle 1614 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongated groove member 1602. It Anvil trunnions 1822 are pivotally retained within their corresponding trunnion cradle 1614 by groove member caps or anvil retainers 1630. The groove member cap or anvil retainer 1630 is configured to be retained in a corresponding protruding groove or notch 1616 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongated groove member 1602. It has a pair of mounting protrusions 1636.

Surgical end effector 1500 is selectively articulatable about articulation axis AA ₁ by articulation system 1300. In one form, the joint system 1300 has a proximal articulation drive 1310 pivotally coupled to the articulation link 1320. As seen in FIG. 6, an offset mounting protrusion 1314 is formed on the distal end 1312 of the proximal articulation drive 1310. A pivot hole 1316 is formed in the offset mounting projection 1314 and is configured to pivotally receive a proximal link pin 1326 formed at the proximal end 1325 of the articulation link 1320. The distal end 1322 of the articulation link 1320 has a pivot hole 1324 configured to pivotally receive a groove pin 1618 formed in the proximal end portion 1610 of the elongated groove member 1602 therein. There is. Accordingly, the axial movement of the proximal articulation drive 1310 applies articulation to the elongated groove member 1602, causing the surgical end effector 1500 to articulate with respect to the spine assembly 1250 about the articulation axis AA ₁ .

Movement of anvil 1810 relative to elongate groove member 1602 is accomplished by axial movement of proximal closure assembly 1900 and distal closure assembly 2000. Referring now to FIGS. 4 and 7, the proximal closure assembly 1900 includes a proximal closure tube 1910 having a proximal closure tube portion 1920 and a distal portion 1930. The distal portion 1930 has a diameter that is smaller than the diameter of the proximal closure tube portion 1920. The proximal end 1922 of the proximal closure tube portion 1920 is rotatably supported within a closure shuttle 1940 that is slidably supported within the tool chassis 1210 so that the closure shuttle 1940 is relative to the tool chassis 1210. Can move axially. In one form, the closure shuttle 1940 has a pair of proximal projecting hooks 1942 configured to attach to attachment pins 516 attached to the closure link assembly 514 of the handle assembly 500. The proximal end 1922 of the proximal closure tube portion 1920 is rotatably coupled to the closure shuttle 1940. For example, a U-shaped connector 1944 is inserted into the annular slot 1924 of the proximal closure tube section 1920 and retained within the vertical slot 1946 of the closure shuttle 1940. Such a configuration has the function of attaching the proximal closure assembly 1900 to the closure shuttle for axial movement with the closure shuttle 1940 while rotating the proximal closure assembly 1900 relative to the closure shuttle 1940 about the shaft axis SA _1. It is possible to do. A closure spring 1948 (FIGS. 12-14) extends over the proximal closure tube portion 1920 to bias the closure shuttle 1940 in the proximal direction PD, which causes the replaceable surgical tool assembly 1000 to handle assembly. Serves to pivot the closure trigger 512 (FIG. 2) of the handle assembly 500 to the non-actuated position when operably coupled to the 500.

Referring now to FIGS. 5 and 6, the distal portion 1930 of the proximal closure tube 1910 is attached to the distal closure assembly 2000. For example, the distal closure assembly 2000 has an articulating connector 2010 coupled to the distal closure tube section 2030. Distal closure tube section 2030 has a diameter that is larger than the diameter of distal section 1930 of proximal closure tube 1910. The articulation connector 2010 has a proximally extending end 2012 adapted to be received on a connecting flange 1934 formed at the distal end of the distal portion 1930. The articulating connector 2010 may be retained on the connecting flange 1934 by, for example, suitable fastening element configurations, adhesives, and/or welding. The joint connector 2010 includes an end effector closure sleeve, or an upper protrusion 2014 and a lower protrusion 2016 that project distally from the distal end of the joint connector 2010 that is movably coupled to the distal closure tube portion 2030. Distal closure tube portion 2030 has an upper protrusion 2032 and a lower protrusion that project proximally from its proximal end. The upper dual pivot link 2060 has proximal and distal pins 2061, 2062 that engage corresponding holes 2015, 2034 in the upper protrusions 2014, 2032 of the articulation connector 2010 and distal closure tube portion 2030, respectively. ing. Similarly, the lower double pivot link 2064 has proximal and distal pins 2065, 2066 that engage with corresponding holes 2019 in the lower protrusion 2016 of the articulation connector 2010 and the distal closure tube portion 2030, respectively. Have As described in more detail below, distal and proximal axial translation of proximal closure assembly 1900 and distal closure assembly 2000 causes opening and closing of anvil 1810 relative to elongated channel member 1602.

The replaceable surgical tool assembly 1000 further includes a firing system, shown generally as 2100. Firing system 2100 further includes a firing member assembly 2110 supported for axial movement within spine assembly 1250. Firing member assembly 2110 includes an intermediate firing shaft portion 2120 configured for attachment to a distal cutting portion or knife bar 2130. Firing member assembly 2110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly." As can be seen in FIG. 5, the intermediate firing shaft portion 2120 can have a longitudinal slot 2124 at its distal end 2122 that can be configured to receive the proximal end 2132 of the knife bar 2130. The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 may be sized and configured to allow relative movement therebetween and may form a slip joint 2134. The slip joint 2134 allows the intermediate firing shaft portion 2120 of the firing member assembly 2110 to move to articulate the end effector 1500 without moving, or at least substantially moving, the knife bar 2130. After the end effector 1500 is properly oriented, the intermediate firing shaft portion 2120 is advanced distally by advancing the knife bar 2130 until the proximal sidewall of the longitudinal slot 2124 contacts a portion of the knife bar 2130, A surgical staple/fastening element cartridge 1700 disposed within the elongated channel member 1602 can be fired. The proximal end 2127 of the intermediate firing shaft portion 2120 is configured to be positioned within a mounting cradle at the distal end of the longitudinally movable drive member of the firing drive system 530 within the handle assembly 500. Shaft mounting protrusion 2128 (FIG. 8) is formed. Such a configuration facilitates axial movement of the intermediate firing shaft portion 2120 during activation of firing drive system 530.

In addition to the above, the replaceable tool assembly 1000 can have a shifter assembly 2200 that can be configured to selectively and releasably couple the proximal articulation drive 1310 to the firing system 2100. In one form, the shifter assembly 2200 includes a locking collar, or locking sleeve 2210, disposed around the intermediate firing shaft portion 2120 of the firing system 2100, the locking sleeve 2210 having a proximal articulation drive 1310. Can be rotated between an engaged position connecting the firing member assembly 2110 and a disengaged position in which the proximal articulation drive 1310 is not operably coupled to the firing member assembly 2110. When the locking sleeve 2210 is in its engaged position, distal movement of the firing member assembly 2110 can move the proximal articulation drive 1310 distally, and correspondingly, the proximity of the firing member assembly 2110. The posterior movement can move the proximal joint drive 1310 in the proximal direction. When the locking sleeve 2210 is in its disengaged position, motion of the firing member assembly 2110 is not transmitted to the proximal articulation drive 1310, which results in the firing member assembly 2110 moving independently of the proximal articulation drive 1310. be able to. In various situations, the proximal articulation drive 1310 may be held in place by the articulation lock 1400 when the proximal articulation drive 1310 is not moved proximally or distally by the firing member assembly 2110.

The intermediate firing shaft portion 2120 of the firing member assembly 2110 is formed with two opposite flat surfaces 2121 and 2123 having drive notches 2126 formed therein. See FIG. 8. As also seen in FIG. 13, the locking sleeve 2210 has a cylindrical, or at least generally cylindrical body with a longitudinal opening 2212 configured to receive an intermediate firing shaft portion 2120 therethrough. ing. The locking sleeve 2210 is received to engage within a corresponding portion of the drive notch 2126 of the intermediate firing shaft portion 2120 when the lock sleeve 2210 is in one position and the drive notch when in another position. It has diametrically opposed inwardly directed locking projections 2214, 2216 that are not received within 2126, thereby allowing relative axial movement of locking sleeve 2210 and intermediate firing shaft portion 2120.

Referring now to FIGS. 8 and 12-14, the locking sleeve 2210 is sized to be movably received within a notch 1319 in the proximal end 1318 of the proximal articulation drive 1310. 2218 is further included. With such an arrangement, the locking sleeve 2210 may rotate slightly to engage and disengage the intermediate firing shaft portion 2120 while engaging the notch 1319 in the proximal articulation drive 1310. Is. For example, when the locking sleeve 2210 is in its engaged position, the locking protrusions 2214, 2216 may be positioned within the drive notches 2126 of the intermediate firing shaft portion 2120 to provide a distal pushing force and/or a proximal direction. A pulling force may be transferred from firing member assembly 2110 to locking sleeve 2210. Such axial pushing or pulling motion is then transmitted from the locking sleeve 2210 to the proximal articulation drive 1310, thereby articulating the surgical end effector 1500. In effect, firing member assembly 2110, locking sleeve 2210, and proximal articulation drive 1310 move together when locking sleeve 2210 is in its engaged (articulating) position. On the other hand, when the locking sleeve 2210 is in its disengaged position, the locking projections 2214, 2216 are not received within the drive notches 2126 of the intermediate firing shaft portion 2120, resulting in a distal pushing force and/or nearness. The pulling force may not be transmitted from firing member assembly 2110 to locking sleeve 2210 (and proximal joint drive 1310).

The relative movement of the locking sleeve 2210 between the engaged and disengaged positions can be controlled by the shifter assembly 2200 interconnected with the proximal closure tube 1910 of the proximal closure assembly 1900. More specifically, referring to FIGS. 8 and 9, the shifter assembly 2200 further includes a shifter key 2240 configured to be slidably received within a keyway 2217 formed in the outer circumference of the lock sleeve 2210. doing. With such a configuration, the shifter key 2240 can move in the axial direction with respect to the lock sleeve 2210. With reference to FIGS. 8-11, the shifter key 2240 has an actuator projection 2242 extending through a cam slot or cam opening 1926 in the proximal closure tube section 1920. See FIG. 9. In addition, the cam surface 2243 is also provided adjacent to the actuator projection 2242 configured to camming with the cam opening 1926 so that the shifter key 2240 rotates in response to axial movement of the proximal closure tube portion 1920. To do.

The shifter assembly 2200 further includes a switch drum 2220 rotatably received on the proximal end portion of the proximal closure tube portion 1920. As seen in FIGS. 10-14, the actuator protrusion 2242 extends through the axial slot portion 2222 within the switch drum 2220 and is movably received within the arcuate slot portion 2224 of the switch drum 2220. A switch drum torsion spring 2226 (FIGS. 12-14) is mounted on the switch drum 2220 and engages the nozzle portion 1244 until the actuator protrusion 2242 reaches the end of the arcuate slot portion 2224. A twisting bias or a rotation (arrow SR in FIGS. 10 and 11) having a function of rotating the 2220 is applied. Please refer to FIG. 11 and FIG. When in that position, the switch drum 2220 can impart a torsional bias to the shifter key 2240, which causes the locking sleeve 2210 to rotate with the intermediate firing shaft portion 2120 into its engaged position. This position also corresponds to the non-actuated form of the proximal closure assembly 1900. In one embodiment, for example, when the proximal closure assembly 1900 is in the non-actuated configuration, the actuator protrusion 2242 is located above the cam opening 1926 of the proximal closure tube section 1920 (the anvil 1810 is a surgical staple/fastening element). (Open position spaced from cartridge 1700). When in that position, actuation of the intermediate firing shaft portion 2120 causes the proximal articulation drive 1310 to move axially. Once the user articulates surgical end effector 1500 in the desired orientation, the user can then actuate proximal closure assembly 1900. Actuation of the proximal closure assembly 1900 causes the proximal closure tube section 1920 to move distally, ultimately exerting a closing motion on the anvil 1810. This distal movement of the proximal closure tube portion 1920 causes the cam opening 1926 to cam with the cam surface 2243 of the actuator projection 2242, which causes the shifter key 2240 to rotate the locking sleeve 2210 in the actuation direction AD. Such rotation of lock sleeve 2210 disengages lock projections 2214, 2216 from drive notch 2126 of intermediate firing shaft portion 2120. When in such a configuration, firing drive system 530 can be activated without actuating proximal joint drive 1310 to activate intermediate firing shaft portion 2120. Further details regarding the operation of switch drum 2220 and locking sleeve 2210, and alternative articulation and firing drive mechanisms that may be used with the various replaceable surgical tool assemblies described herein, are disclosed therein. U.S. Patent Application No. 13/803,086 (current U.S. Patent Application Publication No. 2014/0263541), the entire content of which is incorporated herein by reference, title of the invention "ARTICULATABLE SUPERGICAL COMPUTER AN AN ARTICULATION LOCK" And US patent application Ser. No. 15/019,196, filed Feb. 9, 2016, entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTED SECONDARY CONSTRAINT".

Referring again to FIGS. 8-13, the switch drum 2220 may be further defined with openings 2228, 2230 having at least a portion of its perimeter, such openings extending from the nozzle portions 1242, 1244 to provide the switch. It can receive a circumferential projection/mount 1245 that allows relative rotation of the drum 2220 and nozzle assembly 1240 but not linear motion. Such nozzle protrusions 1245 extend through corresponding openings 1923 in the proximal closure tube portion 1920 and are located in the protrusion seats 1254 of the spine assembly 1250. Please refer to FIG. 8 and FIG. With this configuration, the user can rotate the spine assembly 1250 about the shaft axis by rotating the nozzle assembly 1240.

As also shown in FIGS. 7 and 12-14, the replaceable tool assembly 1000 communicates power to and/or from the surgical end effector 1500, and/or the surgical end effector 1500, for example. And/or communicating signals from the surgical end effector to the handle assembly 500 or to the microprocessor 560 (FIG. 2) in the robot system controller to provide a slip ring assembly 1230. You can Further details regarding the slip ring assembly 1230 and associated connectors can be found in US patent application Ser. No. 13/803,086, now US Pat. App. Pub. ), the title of the invention "ARTICULABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and the U.S. patent application No. 15/019,196 CONTINUE CONTINUES CONTINUES CONTINUES CONTINUES CONTINUES CONTINUES CONTINUE CONTINUES CONTINUES COUNTREQUEST CONTINUE CONTINUES CONTINUE CONTINuT See U.S. Patent Application No. 13/800,067, the title of the invention "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (now US Patent Application Publication No. 2014/0263552), the entire contents of which are incorporated herein by reference. be able to. The replaceable surgical tool assembly 1000 also includes at least one configured to detect the position of the switch drum 2220, as described in further detail in the aforementioned patent applications incorporated herein by reference. One sensor can be provided.

Referring again to FIG. 2, the tool chassis 1210 includes at least one dovetail slot 507 adapted to be received within a corresponding dovetail slot 507 formed within the distal end of the handle frame 506 of the handle assembly 500. A taper mounting portion 1212 is formed. Various replaceable surgical tool assemblies use a latch system 1220 to releasably connect replaceable surgical tool assembly 1000 to handle frame 506 of handle assembly 500. In at least one form, the latch system 1220 as seen in FIG. 7 includes a locking member or lock yoke 1222 movably coupled to the tool chassis 1210. The lock yoke 1222 has a U-shape with two spaced apart, downwardly extending legs 1223. Each leg 1223 is formed with a pivoting projection adapted to be received in a corresponding hole formed in the tool chassis 1210. Such a configuration facilitates pivotal attachment of the lock yoke 1222 to the tool chassis 1210. The locking yoke 1222 is configured to releasably engage a corresponding locking detent or groove 509 at the distal end of the handle frame 506 of the handle assembly 500, with two proximally projecting locking protrusions 1224. Can have See FIG. In various configurations, the lock yoke 1222 is biased proximally by a spring or biasing member 1225. Actuation of the lock yoke 1222 can be accomplished by a latch button 1226 slidably mounted on a latch actuator assembly 1221 mounted on the tool chassis 1210. The latch button 1226 can be biased proximally with respect to the lock yoke 1222. The lock yoke 1222 can be moved to an unlocked position by biasing the latch button 1226 distally, which further causes the lock yoke 1222 to pivot and retain its engagement with the distal end of the handle frame 506. Get out of alignment. When the locking yoke 1222 is in a "retaining engagement" with the distal end of the handle frame 506, the locking projections 1224 are retained in corresponding lock detents or grooves 509 at the distal end of the handle frame 506. Will be placed.

The lock yoke 1222 has at least one lock hook 1227 adapted to contact a corresponding lock projection portion 1943 formed on the closure shuttle 1940. When the closure shuttle 1940 is in the non-actuated position, the lockable yoke 1222 can be pivoted distally to unlock the replaceable surgical tool assembly 1000 from the handle assembly 500. When in that position, the locking hook 1227 is not in contact with the locking projection portion 1943 of the closure shuttle 1940. However, when the closing shuttle 1940 is moved to the actuated position, the lock yoke 1222 is prevented from pivoting to the unlocked position. In other words, if the clinician attempts to pivot the lock yoke 1222 to the unlocked position, or is the lock yoke 1222 inadvertently struck, such as pivoting distally? Alternatively, when contacted, the lock hook 1227 of the lock yoke 1222 contacts the lock projection portion 1943 of the closure shuttle 1940 to prevent the lock yoke 1222 from moving to the unlocked position.

Referring again to FIG. 6, the knife bar 2130 can have a laminated beam structure that includes at least two beam layers. Such beam layers may include, for example, stainless steel bands, which are welded and/or pinned together, eg, at their proximal ends and/or elsewhere along their length. Interconnected by. In an alternative embodiment, the distal ends of the bands are not connected to each other to allow the stacks or bands to expand relative to each other when the end effector is articulated. Such a configuration allows knife bar 2130 to be sufficiently flexible to accommodate the articulation of the end effector. Various laminated knife bar configurations are disclosed in US Patent Application No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKURE REDUCTION ARRANGENEMENTS", the entire contents of which are incorporated herein by reference. .. As can also be seen in FIG. 6, firing shaft support assembly 2300 provides lateral support to knife bar 2130 as the firing shaft support assembly flexes to conform to the articulation of surgical end effector 1500. Used for. Further details regarding the operation of the firing shaft support assembly 2300 and alternative knife bar support mechanisms may be found in US patent application Ser. INSTRUMENTS WITH CLOSE STROKE REDUCTION ARRANGEMENTS", and US patent application Ser.

As also seen in FIG. 6, a firing or knife member 2140 is attached to the distal end of knife bar 2130. In one exemplary form, firing member 2140 includes a body portion 2142 that supports a knife or tissue cutting portion 2144. Body portion 2142 projects through elongated slot 1604 of elongated groove member 1602 and terminates in laterally extending foot members 2146 on each side of body portion 2142. As the firing member 2140 is driven distally through the surgical staple/fastening element cartridge 1700, the foot member 2146 is located within the passageway of the elongated groove member 1602 located beneath the surgical staple/fastening element cartridge 1700. .. In one configuration, the body portion 2142 has two laterally projecting central tabs 2145 that may overlie a central passage within the surgical staple/fastening element cartridge 1700. See FIG. 6. The tissue cutting portion 2144 is disposed between the distally projecting upper nose portion 2143 and the foot member 2146. As can be further seen in FIG. 6, the firing member 2140 can further include two laterally extending top tabs, pins, or anvil engagement features 2147. When firing member 2140 is driven distally, the upper portion of body portion 2142 extends through centrally located anvil slot 1814 and anvil engagement features 2147 correspond to the anvil slots 1814 formed on opposite sides thereof. Located on the anvil shelf 1816. To facilitate assembly of the anvil 1810 and firing member 2140 configurations, in one configuration, the top of the anvil body 1812 has an opening 1817. When the anvil 1810 is assembled onto the elongated groove member 1602 and the firing member 2140 is installed, the opening 1817 is covered by an anvil cap 1819 attached to the anvil body 1812 by welding and/or other suitable fastening means.

Returning to FIG. 6, the firing member 2140 is configured to operably interconnect with a sled assembly 2150 operably supported within the body 1702 of the surgical staple/fastening element cartridge 1700. The sled assembly 2150 is slidable within the surgical staple/fastening element cartridge body 1702 from a proximal start position adjacent the proximal end 1704 of the cartridge body 1702 to an end position adjacent the distal end 1706 of the cartridge body 1702. Can be displaced. The cartridge body 1702 operably supports therein a plurality of staple drivers aligned in rows on each side of a centrally located slot 1708. Centrally located slot 1708 allows firing member 2140 to cut tissue clamped between anvil 1810 and surgical staple/fastening element cartridge 1700 through the slot. Each driver is associated with a corresponding pocket 1712 that opens into the upper deck surface 1710 of the cartridge body 1702. Each staple driver supports one or more surgical staples or fastening elements thereof thereon. The sled assembly 2150 includes a plurality of angled or wedge-shaped cams 2152, each cam 2152 corresponding to a particular line of fastening elements or drivers located on the sides of the slot 1708.

Referring to FIG. 2, in order to attach the replaceable surgical tool assembly 1000 to the handle assembly 500, the clinician must ensure that the tapered mounting portion 1212 formed on the tool chassis 1210 is aligned with the dovetail slot 507 of the handle frame 506. , The tool chassis 1210 of the replaceable surgical tool assembly 1000 can be positioned above, or adjacent to, the distal end of the handle frame 506. The clinician then moves the surgical tool assembly 1000 along a mounting axis IA perpendicular to the shaft axis SA ₁ to cause the tapered mounting portion 1212 to “operate” with the corresponding dovetail receiving slot 507 at the distal end of the handle frame 506. It can be placed in a "possibly engaged" state. In doing so, the firing shaft mounting projection 2128 of the intermediate firing shaft portion 2120 is also disposed within the longitudinally displaceable drive member mounting cradle cradle within the handle assembly 500 such that the portion of the mounting pin 516 on the closure link 514. , Located within the corresponding hook 1942 of the closed shuttle 1940. As used herein, the term "operable engagement" in the context of two components means that the two components are fully engaged with each other, thereby applying an actuating motion thereto. Means that a component performs the intended action, function, and/or procedure.

During normal surgery, the clinician can introduce surgical end effector 1500 to the surgical site through a trocar or other opening in the patient to access the target tissue. When doing so, the clinician axially or at least substantially aligns surgical end effector 1500 in a non-articulated manner along the shaft axis and inserts surgical end effector 1500 through the trocar. .. After passing the surgical end effector 1500 through the trocar, the clinician may need to articulate the end effector 1500 to advantageously position the end effector 1500 adjacent to the target tissue. In addition to the above, firing drive system 530 operates through a limited range of motion to articulate joint drive 1310 and end effector 1500. Such articulation occurs before closing the anvil on the target tissue. Once the end effector reaches the desired articulation position, the clinician can then actuate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such closure drive system 510 actuates the shifter assembly 2200, separating the articulation drive 1310 from the intermediate firing shaft portion 2120. Thus, once the target tissue is properly captured within the surgical end effector 1500, the clinician reactivates the firing drive system 530 to axially advance the firing member 2140 through the surgical staple/fastening element cartridge 1700. , Staples can be fired into the cut tissue to cut the target tissue. Closure system components, articulation system components, and/or firing system components of surgical tool assembly 1000 using other closure and firing drive configurations, such as, for example, handheld, manual, automatic, and/or robotic configurations. The axial movement of the can be controlled.

The end effector 10500 of the surgical instrument 10000 is shown in Figures 16-16B. The end effector 10500 includes a cartridge jaw 10600 (FIG. 18) that includes a staple cartridge 10700 and an anvil 10800 that is configured to deform staples ejected from the staple cartridge 10700. During use, the anvil 10800 is rotatable between an open, unclamped position and a closed, clamped position. However, the cartridge jaws 10600 may be rotatable towards the anvil 10800 in other embodiments. Surgical instrument 10000 further comprises a shaft 10100, and end effector 10500 is rotatably connected to shaft 10100 about articulation joint 10200. In use, the end effector 10500 is positioned between and/or in a fully articulated right position shown in angle θ _R (FIG. 16A) and a fully articulated left position shown in angle θ _L (FIG. 16B). Can be rotated about articulation joint 10200 at any suitable position between. As discussed in more detail below, angles θ _R and θ _L are limited by the design of the articulation drive system of surgical instrument 10000. In at least one example, angles θ _R and θ _L are limited to about 45 degrees with respect to the unarticulated position of end effector 10500 (FIG. 16).

Referring to FIG. 18, the shaft 10100 of the surgical instrument 10000 includes an outer closure tube that includes an outer housing 10110 that is distally movable to engage the anvil 10800 and move the anvil 10800 toward the staple cartridge 10700. including. Shaft 10100 further comprises a distal housing portion 10130 rotatably connected to outer housing 10110 by two connector plates 10120 located on opposite sides of articulation 10200. Each connector plate 10120 is connected to the outer housing 10110 at a pivot 10115, as well as to the distal housing portion 10130 at a pivot 10125. The connector plate 10120 allows the closure tube to slide relative to the articulation joint 10200 when the end effector 10500 is in the articulating position, so that the anvil 10800 is in motion while the end effector 10500 is in the articulating position. Can be opened and closed. In addition to the above, the distal housing 10130 includes an opening defined therein configured to receive a tab extending from the proximal end of the anvil 10800, the sidewall of which engages the tab and closes. It is configured to transmit a proximal or open movement of the tube to the anvil 10800.

The end effector 11500 of the surgical instrument 11000 is shown in Figures 17-17B. The end effector 11500 includes a cartridge jaw 11600 (FIG. 19) that includes a staple cartridge 11700 and an anvil 11800 that is configured to deform staples ejected from the staple cartridge 11700. During use, the anvil 11800 is rotatable between an open unclamped position and a closed clamped position. However, embodiments are envisioned where the cartridge jaws 11600 are movable with respect to the anvil 11800. Surgical instrument 11000 further comprises a shaft 11100, and end effector 11500 is rotatably connected to shaft 11100 about articulation joint 11200. In use, the end effector 11500 may move between and/or between a fully articulated right position shown in angle α _R (FIG. 17A) and a fully articulated left position shown in angle α _L (FIG. 17B). Can be rotated about the articulation joint 11200 at any suitable position between. Angles α _R and α _L are ultimately limited by the design of the articulation drive system of surgical instrument 11000, but angles α _R and α _L are larger. In at least one example, the angles α _R and α _L are, for example, about 60 degrees with respect to the non-articulated position of the end effector 11500 (FIG. 17).

Referring to FIG. 19, the shaft 11100 of the surgical instrument 11000 engages an anvil 11800 and an outer closure tube including a distally movable outer housing 11110 for moving the anvil 11800 toward the staple cartridge 11700. including. Shaft 11100 further comprises a distal housing 11130 rotatably connected to outer housing 11110 by two connector plates 11120 located on opposite sides of articulation joint 11200. Each connector plate 11120 is connected at pivot 11115 to the outer housing 11110, as well as at pivot 11125 to the distal housing 11130. Similar to the above, the connector plate 11120 allows the closure tube to slide relative to the articulation joint 11200 when the end effector 11500 is in the articulating position so that the end effector 11500 is in the articulating position. The anvil 11800 can be opened and closed in the meantime. In addition to the above, the distal housing 11130 includes an opening defined therein configured to receive a tab extending from the proximal end of the anvil 11800, the sidewall of which engages the tab and closes. It is configured to transfer proximal or open movement of the tube to anvil 11800.

Referring again to FIG. 18, surgical instrument 10000 further comprises an articulation drive system 10300 that includes an articulation drive actuator 10310 extending through an internal opening 10105 defined within a closure tube 10110 of shaft 10100. Articulation drive actuator 10310 includes a distal end operably engaging cartridge jaws 10600 of end effector 10500. More specifically, the distal end of articulation driven actuator 10310 comprises an opening or slot 10320 defined in the articulation driven actuator and cartridge jaws 10600 comprises a pin 10620 extending into slot 10320. When the articulation drive actuator 10310 is pushed distally, the end effector 10500 is driven to the right about a fixed axis defined by a pivot 10210 that rotatably connects the cartridge jaws 10600 to the frame of the shaft 10100. (FIG. 16A). Similarly, when the articulation drive actuator 10310 is pulled proximally, the end effector 10500 rotates left about the pivot 10210 (FIG. 16B).

Referring again to FIG. 19, surgical instrument 11000 further comprises an articulation drive system 11300 that includes an articulation drive actuator 11310 extending through an internal opening 11105 defined within closure tube 11110. Articulation drive system 11300 further comprises an articulation link 11320 rotatably coupled to a distal end of articulation drive actuator 11310 about pin 11315. Similarly, articulation link 11320 is rotatably coupled to cartridge jaws 11600 about a drive pin 11620 extending through an opening defined in articulation link 11320. When the articulation drive actuator 11310 is pushed distally, the end effector 11500 is driven to the right about a fixed axis defined by a pivot 11210 that rotatably connects the cartridge jaws 11600 to the frame of the shaft 11100. (FIG. 17A). Similarly, when the articulation drive actuator 11310 is pulled proximally, the end effector 11500 rotates left about the pivot 11210 (FIG. 17B).

In addition to the above, the articulation link 11320 of the articulation system 11300 articulates the end effector 11500 over a wider range of articulation angles than the end effector 10500 for a given or equal stroke length of the articulation actuators 10310 and 11310. To enable that. A side-by-side comparison of the end effectors 10500 and 11500 is provided in FIGS. 20 and 21, showing the end effectors 10500 and 11500 in a full right articulation configuration, and the end effector 11500 farther to the right than the end effector 10500. It shows that the joint can be exercised. Similarly, end effectors 10500 and 11500 can make the comparison shown in the full left articulation configuration. 22 shows the complete joint range of the end effector 10500, while FIG. 23 shows the complete joint range of the end effector 11500.

Referring again to FIG. 22, articulation actuator 10310 of surgical instrument 10000 is advanced distal stroke length (DSL) relative to its non-articulated position to fully articulate end effector 10500 to the right. Correspondingly, articulation actuator 10310 is retracted by its proximal stroke length (PSL) relative to its non-articulated position, causing end effector 10500 to fully articulate to the left. The distal stroke length (DSL) and proximal stroke length (PSL) of articulation actuator 10310 are equal, or at least substantially equal. Referring now to FIG. 23, articulation actuator 11310 advances distal stroke length (DSL) relative to its non-articulated position to fully articulate end effector 11500 to the right. Correspondingly, articulation actuator 11310 retracts proximal stroke length (PSL) with respect to its non-articulated position, causing end effector 11500 to fully articulate to the left. The distal stroke length (DSL) and the proximal stroke length (PSL) of the articulation actuator 11310 are not equal; instead, the distal stroke length (DSL) is shorter than the proximal stroke length (PSL). In other embodiments, the proximal stroke length (DSL) is shorter than the distal stroke length (PSL). In any case, referring now to FIGS. 31-31B, the combination of proximal stroke length (PSL) and distal stroke length (DSL) is equal to the total stroke length (SL).

In addition to the above, the articulation actuator 10310 is configured to apply torque to the first jaw 10600 of the end effector 10500 via the pin 10620 to rotate the end effector 10500 about the articulation joint 10200. .. Referring to Figure 22 again, lateral torque arm defined between the pivot joint 10210 and pin 10620 of the articulation joint 10200, when the end effector 10500 is in its non-articulated position, the length _{TA C1} Have. Length _{TA C1} is measured in a direction perpendicular to the longitudinal axis 10190 extending through the articulation pivot joint 10210. Similarly, the lateral torque arm defined between the pivot joint 10210 and the pin 10620 has a length TA _R1 when the end effector 10500 is fully articulated to the right as well as the end effector 10500. There has a length TA _L1 when is fully articulated to the left, both the length is measured perpendicular to the longitudinal axis 10190. In particular, the lengths TA _R1 and TA _L1 and the torque arms they define are equal, or at least substantially equal. Furthermore, the lengths TA _R1 and TA _L1 are shorter than the non-articulated lateral torque arm length TA _C1 . Therefore, the maximum torque arm or mechanical advantage of articulation system 10300 is present when end effector 10500 is in its unarticulated position.

In at least one example, for example, the arm length TA _C1 is about 0.180 inches, the arm length TA _R1 is about 0.130 inches, and the arm length TA _L1 is about 0.130 inches.

In addition to the above, articulation actuator 11310 of surgical instrument 11000 applies torque to first jaw 11600 of end effector 11500 via pin 11620 to rotate end effector 11500 about articulation joint 11200. Is configured as follows. Referring to FIGS. 23, 28 and 30, the lateral torque arm (LTA) defined between the pivot joint 11210 and the pin 11620 of the articulation joint 11200 when the end effector 11500 is in its unarticulated position. , _Defined by the length TA _C2 . Length _{TA C2} is measured in a direction perpendicular to the longitudinal axis 11190 extending through the articulation pivot joint 11210. In particular, the longitudinal axis 11190 is offset and parallel to the centerline of the shaft 11100, as described in more detail below in connection with FIG. Similar to the above, the lateral torque arm defined between the pivot joint 11210 and the pin 11620 is defined by the length TA _R2 when the end effector 11500 is fully articulated to the right (FIG. 30A). ), similarly, it is defined by the length _{TA L2} when the end effector 11500 is fully articulated to the left (FIG. 30B), both the length is measured perpendicular to the longitudinal axis 11190 It In particular, the length TA _R2 is greater than the non-articulated lateral torque arm length TA _C1 and the length TA _L2 is less than the non-articulated lateral torque arm length TA _C1 . Furthermore, the lengths TA _R2 and TA _L2 and the torque arms they define are not equal. Instead, the torque arm length TA _R2 articulated to the right is significantly larger than the torque arm length TA _L2 articulated to the left. In fact, the torque arm length TA _R2 articulated to the right and the torque arm length TA _L2 articulated to the left extend in different directions. Such an arrangement provides a larger pushing torque arm as compared to a smaller pulling torque arm. In various examples, as a result, the receding pulling force (FIG. 30B) applied by the articulation actuator 11310 to articulate the end effector 11500 to the left causes the distal push to articulate the end effector 11500 to the right. It may or need to be greater than the force (FIGS. 29 and 30A). Advantageously, the articulation actuator 11310 can accommodate greater pulling forces such that the articulation actuator 11310 does not suffer buckling failure when pulled.

In at least one example, for example, the arm length TA _C2 is about 0.149 inches, the arm length TA _R2 is about 0.154 inches, and the arm length TA _L2 is about 0.015 inches.

In addition to the above, the surgical instrument 11000 is constructed and arranged to provide a large torque to the end effector 11500 while providing a large joint range or curve in response to a short articulation stroke. That is, design ratios for some of these relationships can be established and used in the design of surgical instrument 11000. For example, the first ratio includes the right fully articulated torque arm length (TA) divided by the full articulation stroke length (SL) of articulation actuator 11310. The value of this first ratio is unitless. In at least one example, the right fully articulated torque arm length (TA) is 0.154 inches, the full articulation stroke length (SL) is 0.275 inches, and the ratio value is , 0.56, for example. The larger the ratio value of the first ratio, the more efficient the joint system. In various examples, the value of the first ratio is less than 1.0, but may be greater than 1.0. In at least one example, the right fully articulated torque arm length (TA) is 2.79 mm, the complete articulation stroke length (SL) is 11.43 mm, and the ratio value is, for example, It is 0.24.

The first ratio example above was based on the torque arm length (TA) when the end effector 11500 is in the full right articulation position. This particular position of the end effector 11500 is notable because it can be buckled when the articulation actuator 11310 is in compression and the load transmitted therethrough is excessive. Thus, the first ratio can also be used to analyze any suitable position of the end effector 11500, such as its unarticulated position and its fully articulated position to the left. In at least one example, the unarticulated torque arm length (TA) is 6.17 mm, which results in a stroke length (SL) ratio value of 0.54, for example, 11.43 mm. Also, in at least one example, the complete left articulation torque arm length (TA) is 1.41 mm, resulting in a stroke length (SL) ratio value of, for example, 11.43 mm of 0.12. ..

The second ratio is the drive pin 11620 when the end effector 11500 articulates between its right fully articulated position and its left fully articulated position, ie, the arc length curve (ALS). Including the length of the arc that moves. More specifically, the second ratio includes the arc length curve (ALS) of drive pin 11620 divided by the full articulation stroke length (SL) of articulation actuator 11310. The value of this second ratio is unitless. In at least one example, the arc length curve (ALS) of drive pin 11620 is 0.387 inches and the full articulation stroke length (SL) is 0.275 inches, resulting in, for example, a ratio value of 1. .41. In at least one example, the arc length curve (ALS) is 0.444 inches and the full articulation stroke length (SL) is 0.306 inches, resulting in, for example, a ratio value of 1.45. become. In at least one example, the arc length curve (ALS) is 12.94 mm and the full articulation stroke length (SL) is 11.43 mm, resulting in, for example, a ratio value of 1.13. A larger ratio value of the second ratio indicates a more efficient joint system. In various examples, the value of the second ratio is greater than 1.0, such as between 1.0 and 3.0. In at least one example, for example, the second ratio value is about 2.0. In a particular example, the value of the second ratio is about 1.1, but for example between 0.9 and 1.3.

The third ratio includes the sum of the torque arm length (TA) fully articulated to the right and the arc length curve (ALS) of the drive pin 11620 divided by the full articulation stroke length (SL). The value of this third ratio is unitless. In at least one example, the right fully articulated torque arm length (TA) is 0.154 inch and the drive pin 11620 arc length curve (ALS) is 0.387 inch, The articulation stroke length (SL) is 0.275 inch, and the ratio value is 1.97, for example. In at least one example, the right fully articulated torque arm length (TA) is 2.79 mm, the drive pin 11620 arc length curve (ALS) is 12.94 mm, and the total articulation is The stroke length (SL) is 1, 1.43 mm, and the ratio value is, for example, 1.38. The larger the ratio value of the third ratio, the more efficient the joint system. In various examples, the value of the third ratio is greater than 1.0, such as between 1.0 and 3.0. In at least one example, for example, the third ratio value is about 2.0 or greater.

Similar to the above, if the end effector 11500 is in any suitable position, such as the non-articulated position and the fully articulated position to the left, the third ratio can be used to evaluate the joint system. ..

The fourth ratio includes the product of the torque arm length (TA) fully articulated to the right and the arc length curve (ALS) of drive pin 11620 divided by the complete articulation stroke length (SL). The value of this fourth ratio is not unitless and is instead measured in distance. In at least one example, the right fully articulated torque arm length (TA) is 0.154 inch and the drive pin 11620 arc length curve (ALS) is 0.387 inch, The articulation stroke length (SL) is 0.275 inches, and the ratio value is 0.217 inches, for example. If this value is again divided by the stroke length (SL), this value is unitless and the value can be 0.79. In at least one example, the right fully articulated torque arm length (TA) is 2.79 mm, the drive pin 11620 arc length curve (ALS) is 12.94 mm, and the total articulation is The stroke length (SL) is 11.43 mm, and the ratio value is 3.15 mm, for example. In a particular example, the value of the fourth ratio is about 3.1 mm, but for example between 0.9 mm and 5.4 mm. Similar to the above, once again dividing this value by the stroke length (SL), this value is unitless and the value can be 0.28. The larger the ratio value of the fourth ratio, the more efficient the joint system.

Similar to the above, a fourth ratio can be used to evaluate the joint system when the end effector 11500 is in any suitable position, such as a non-articulated position and a fully articulated position to the left. ..

As mentioned above, the end effector 11500 is rotatably attached to the shaft 11100 about the fixed pivot 11210 of the articulation joint 11200. 24 and 25, the shaft 11100 comprises a distal attachment tab 11220 extending from and fixedly attached to the frame or spine of the shaft 11100. The first distal attachment tab 11220 is attached to the first jaw 11600 that includes the lower frame portion and the second distal attachment tab 11220 is attached to the upper frame portion 11230. The interconnection between the mounting tab 11220, the first jaw 11600 and the upper frame portion 11230 defines a fixed pivot 11210. Also, as mentioned above, the fixed axis pivot 11210 is laterally offset with respect to the central longitudinal axis LA of the shaft 11100 by an offset distance OD. In at least one example, the fixed axis pivot 11210 can be, for example, about. Laterally offset by 036 inches. 28-30B, the pin 11620 is longitudinally offset with respect to the fixed pivot 11210, which produces a longitudinal or axial torque arm (ATA).

As described above, the closure tube of shaft 11100 moves distally to engage anvil jaw 11800 of end effector 11500 and move anvil jaw 11800 toward staple cartridge 11700 located in cartridge jaw 11600. It is possible. Stated another way, the closure tube is configured to move the anvil 11800 from the open position (FIGS. 26-26B) to the closed position (FIGS. 27-27B) to clamp the patient's tissue against the staple cartridge 11700. R. In such cases, the closure tube with housing 11110, connector plate 11120, and distal housing 11130 is slid distal to articulation 11200 during the closing stroke. 26, when the end effector 11500 is in the open, non-articulated configuration, the connector plate 11120 extends slightly transverse to the central longitudinal axis LA of the shaft 11100. More specifically, the axis CA extending between the joints 11115 and 11125 is slightly transverse to the central longitudinal axis LA of the shaft 11100 when the end effector 11500 is in the open, unarticulated configuration. is there. When the end effector 11500 articulates to the right (FIG. 26A) or left (FIG. 26B), the orientation of the axis CA with respect to the central longitudinal axis LA can change.

In addition to the above, in various examples, the orientation of the axis CA changes with respect to the longitudinal axis extending between the proximal and distal ends of the end effector 11500. In at least one example, axis CA is transverse to such a longitudinal end effector axis, except for one configuration in which axis CA is parallel to the longitudinal end effector axis.

In addition to the above, the orientation of the axis AA defined between the articulation pivot 11210 and the distal pivot 11125 of the connector plate 11120 changes as the end effector 11500 articulates. Referring to FIG. 26, the axis AA extends at an angle β with respect to the axis CA when the end effector 11500 is in the open, non-articulated configuration. When the end effector 11500 articulates to the open right configuration (FIG. 26A), the angle β decreases. When the end effector 11500 articulates to the open left configuration (FIG. 26B), the angle β increases. However, when the open end effector 11500 is articulated, axis AA is not collinear with axis CA or parallel to axis CA. Instead, axis AA is transverse to axis CA when end effector 11500 is articulated in the open configuration.

Referring to FIG. 27, the axis AA extends at an angle γ with respect to the axis CA when the end effector 11500 is in the closed, non-articulated configuration. When the end effector 11500 is articulated to the closed right configuration (FIG. 27A), the angle γ increases. When the end effector 11500 articulates to the closed left configuration (FIG. 27B), the angle δ also increases. However, axis AA is not collinear with axis CA when end effector 11500 articulates in the closed configuration and/or any other configuration between the open and closed configurations. Alternatively, axis AA intersects axis CA when end effector 11500 articulates in a closed configuration and/or any other configuration between the open and closed configurations.

Referring again to FIGS. 20 and 21, the design of surgical instrument 11000 can shorten end effector 11500 as compared to end effector 10500. Also, while the distance between the articulation joint 10200 and the proximal end of the staple line applied to the patient's tissue by the end effector 10500 is a distance L1, the staple line applied by the articulation joint 11200 and the end effector 11500. The distance from the proximal end of the distance is L2, which is shorter than the distance L1.

40-45, the surgical instrument 11000 further comprises an articulation lock 11400 configured to selectively lock the articulation drive system 11300 and the end effector 11500 in place. The joint lock 11400 comprises a distal end 11402 attached to the frame 11180 of the shaft 11100. More specifically, shaft frame 11180 comprises a pin or protrusion 11182 that is closely received and/or pressed within an opening defined in distal end 11402. The joint lock 11400 further comprises a proximal end 11404 configured to move relative to the distal end 11402. In at least one respect, the articulation lock 11400 includes a cantilever, the distal end 11402 includes a fixed end, and the proximal end 11404 includes a free end. Proximal end 11404 is disposed within cavity 11184 defined in shaft frame 11180 and is adapted to move laterally toward and away from articulation drive actuator 11310, as described in more detail below. Composed.

In addition to the above, the proximal end 11404 of the articulation lock 11400 comprises one or more teeth 11406 defined thereon configured to engage the articulation drive actuator 11310. As shown in FIG. 40, the teeth 11406 are arranged in a longitudinal array. However, any suitable arrangement may be used. Articulation drive actuator 11310 comprises a longitudinal array of teeth 11316 defined thereon configured to be engaged by articulation lock teeth 11406. With reference to FIG. 41, the shaft frame 11180 further includes longitudinal arrays of teeth 11186 defined within the shaft frame that are further configured to engage the articulation teeth 11406. As described in more detail below, when the articulation lock 11400 is in the fully locked condition, the articulation lock teeth 11406 engage the drive actuator teeth 11316 and the shaft frame teeth 11186, causing the articulation lock 11400 to engage the articulation drive actuator 11310. Lock to shaft frame 11180 to prevent or at least suppress relative movement between articulation drive actuator 11310 and shaft frame 11180.

In addition to the above, the joint lock 11400 can be configured in three states: a self-locked state, an unlocked state, and a complete locked state. When joint lock 11400 is in the self-locking condition, referring to FIG. 43, teeth 11406 of joint lock 11400 engage drive actuator teeth 11316 and shaft frame teeth 11186. In such cases, the articulation lock 11400 can resist the forces transmitted via the articulation drive actuator 11310. However, proximal and/or distal movement of the articulation drive actuator 11310 can overcome the retention force of the articulation lock 11400 and displace the articulation lock 11400 to its unlocked configuration, as shown in FIG. In such a case, the joint lock 11400 may flex or flex laterally away from the drive actuator 11310. The joint lock 11400 comprises a spring member 11403 extending between the distal portion 11402 and the proximal portion 11404, the spring member 11403 elastically returning the joint lock to its self-locking configuration (FIG. 42), or At least configured to bias. As a result, the articulation drive system 11300 locks and unlocks itself as a result of its motion, causing the end effector 11500 to be locked, unless the articulation lock 11400 is placed in its fully locked position, as discussed below. Can exercise joints.

As further described above, the shaft 11100 of the surgical instrument 11000 includes a closure tube 11110 that is advanced distally during the closing stroke to close the end effector 11500. Prior to the closing stroke, the articulation lock 11400 is movable between its self-locking and unlocking configurations and the end effector 11500 can be articulated by the articulation drive system 11300. However, during the closing stroke, the closure tube 11110 is configured to engage the articulation lock 11400 and place or hold the articulation lock 11400 in its fully locked configuration. More specifically, the closure tube 11110 engages a cam surface 11408 defined on the back side of the articulation lock 11400 to prevent the articulation lock teeth 11406 from disengaging from the drive actuator teeth 11316 and the shaft frame teeth 11186. A protrusion or tab 11118 configured to. When the closure tube 11110 retracts proximally to open the end effector 11500, the tab 11118 disengages from the articulation lock 11400, which causes the articulation lock 11400 to move between the self-locked and unlocked positions as described above. The effector 11500 can be re-articulated because it can move freely between them.

The surgical instrument 11000 described above is further illustrated in FIGS. Surgical instrument 11000 includes a shaft 11100 configured for use with a trocar having a passageway defined therein. Surgical instrument shaft 11100 includes different diameters at different points along the length of surgical instrument shaft 11100. Notably, surgical instrument shaft 11100 includes a central region 11160 that includes a smaller diameter than other regions of surgical instrument shaft 11000. This geometry of surgical instrument shaft 11100 offers significant advantages over previous designs and solves the long felt problem associated with the use of trocars. Typically, when a surgical instrument is used in combination with a trocar during a surgical procedure, the surgical procedure is limited by the range of angles the instrument can take as a result of the compression caused by the trocar passage. The configuration of surgical instrument shaft 11100 is an improvement over existing shaft configurations because it increases the range of angles that the surgical instrument can take with respect to the longitudinal axis of the trocar. As a result, a user of surgical instrument 11000 can operate surgical instrument 11000 at various angles relative to the longitudinal axis of the trocar due to the small diameter of central region 11160 of surgical instrument shaft 11100.

Referring to FIGS. 80 and 81, surgical instrument shaft 11100 further includes a proximal region 11150 and a distal region 11170. Proximal region 11150 of surgical instrument shaft 11000 is positioned adjacent nozzle assembly 11140 of shaft 11100. Distal region 11170 is closest to end effector 11500. Proximal region 11150 of the surgical instrument shaft comprises a first diameter and central region 11160 comprises a second diameter. Distal region 11170 further includes a third diameter. The first diameter of the proximal region 11150 is different than the second diameter of the central region 11160. Similarly, the second diameter of the central region 11160 is different than the third diameter of the distal region 11170. The first diameter of the proximal region 11150 is different than the third diameter of the distal region 11170. However, embodiments are envisioned where the first and third diameters are the same.

In addition to the above, the proximal region 11150 defines a central longitudinal axis. Central region 11160 extends along the central longitudinal axis and is central to the central longitudinal axis. Proximal region 11150 and central region 11160 each define a circular contour, although they can include any suitable configuration. The distal region 11170 is not centered with respect to the central longitudinal axis. Instead, the distal region 11170 is laterally offset with respect to the central longitudinal axis. Further, much of the cross section and/or perimeter of distal region 11170 is located on the first side of the central longitudinal axis rather than the second side. In at least one example, the distal region 11170 includes an extension that extends to one side of the central longitudinal axis. Furthermore, the distal region 11170 does not define a circular contour.

With continued reference to FIGS. 80 and 81, the central region 11160 includes a second width that is less than the first width of the proximal region 11150. The central region further includes a second width that is less than the third width of the distal region 11170. Proximal region 11150 further includes a width that is different than the width of distal region 11170. For example, the width of proximal region 11150 is less than the width of distal region 11170, but still greater than the width of central region 11160. Similarly, the width of proximal region 11150 is greater than the width of distal region 11170 and central region 11160. In another example, proximal region 11150 and distal region 11170 include approximately the same width.

Referring to FIGS. 80-82, surgical instrument shaft 11100 of surgical instrument 11000 is configured to be mounted through, for example, a 12 mm trocar. In at least one such example, central region 11160 of surgical instrument shaft 11100 comprises a maximum diameter of about 9 mm. Such a diameter of the central region 11160 provides a wider range of angles that the shaft 11100 can make with respect to the centerline of the trocar. Also, such placement may reduce the likelihood of causing intercostal nerve injury associated with placing the surgical instrument shaft 11100 between the patient's ribs during certain surgical procedures. The distal region 11170 of the surgical instrument shaft 11100 is configured to mount through a 12 mm trocar and has one or more flats to enhance access levels during procedures requiring high levels of articulation. The surface 11172 is provided. Other embodiments are envisioned in which the shaft 11100 is inserted through, for example, an 8 mm trocar and/or a 5 mm trocar.

Proximal region 11150 includes a stepped down or tapered region near the proximal end of surgical instrument shaft 11100 that transitions surgical instrument shaft 11100 from proximal region 11150 to central region 11160. The central region 11160 further includes a step-up or tapered region near the distal end of the surgical instrument shaft 11100, the surgical instrument shaft 11100 transitioning from the central region 11160 to the distal region 11170.

With continued reference to FIGS. 80 and 81, proximal region 11150 includes a first perimeter, central region 11160 includes a second perimeter, and distal region 11170 includes a third perimeter. The circumference of the proximal region 11150 differs from the circumference of the central region 11160 due to the difference in diameter of such portions of the surgical instrument shaft 11100. Similarly, the circumference of the central region 11160 and the circumference of the distal region 11170 are different. The circumference of proximal region 11150 and the circumference of distal region 11170 are the same, but may be different in other embodiments.

Referring again to FIGS. 80 and 81, although surgical instrument shaft 11100 includes a single formed piece of material, surgical instrument shaft 11100, in other examples, forms a single cohesive surgical instrument shaft. Can include multiple pieces of material that are combined to achieve. The pieces of material can be assembled using any suitable process. Surgical instrument shaft 11100 is configured to operate in a variety of surgical configurations, including but not limited to the surgical stapling instruments described above. Surgical instrument shaft 11100 can be used with other surgical instruments having articulatable end effectors. Other surgical instruments can include, for example, ultrasonic surgical devices, clip appliers, and fastener appliers. In addition, surgical instrument shaft 11100 is configured for use with any surgical instrument for which the use of a trocar passage is suitable.

In addition to the above, the outer tube 11110 of the shaft 11100 includes a proximal end 11150 and a longitudinal portion 11160 that includes a diameter or width less than or equal to the diameter or width of the proximal end 11150. Accordingly, surgical instrument 11000 is constructed and arranged to provide a large torque to end effector 11500, while longitudinal portion 11160 comprises a narrow diameter. That is, at least one design ratio of this relationship can be predetermined and used to design the surgical instrument 11000. For example, one ratio includes the diameter (D) of the longitudinal portion 11160 divided by the torque arm length (TA) fully articulated to the right. The value of this ratio is unitless. In at least one example, the longitudinal portion 11160 has a diameter (D) of 0.316 inches and a torque arm length (TA) of 0.154 inches, resulting in a ratio value of, for example, 2.06. The smaller the value of this ratio, the higher the efficiency of the joint system. In various cases, the value of this ratio is less than 2.0, such as 1.0-2.0. In at least one example, the ratio value is, for example, 2.0 to 3.0. For example, the ratio value may be smaller than 3.38.

In addition to the above, the outer tube 11110 of the shaft 11100 includes a longitudinal portion 11160 and an enlarged distal end 11170 (FIG. 80). Referring again to FIG. 40, the entire articulation lock 11400 is located in the longitudinal portion 11160 rather than the enlarged distal end 11170. However, embodiments are envisioned in which at least a portion of articulation lock 11400 is located at enlarged distal end 11170. In at least one such example, the joint lock 11400 is attached to the shaft frame such that the distal end 11402 of the joint lock 11400 is at the enlarged distal end 11170 of the outer tube 11110. In a particular example, the articulation lock 11400 is repositioned such that the movable end of the articulation lock 11400 is located at the enlarged distal end 11170 of the outer tube 11110. In various cases, the entire joint lock 11400 is located at the enlarged distal end 11170.

Referring now to FIG. 46, surgical instrument 14000 comprises a shaft 14100, an end effector 11500, and an articulation drive system including an articulation drive actuator 14310 configured to articulate the end effector 11500. Shaft 14100 comprises an articulation locking system configured to selectively lock articulation drive actuator 14310 and end effector 14500 in position. The joint lock system comprises a joint lock 14400 including a proximal end and a distal end attached to a frame 14180 of shaft 14100. In at least one respect, the articulation lock 14400 includes beams that are fixed and/or simply supported at both ends. The articulation lock 14400 further comprises an intermediate portion 14404 disposed in a cavity 14184 defined in the shaft frame 14180, the shaft frame laterally directed toward and away from the articulation drive actuator 14310 of the articulation drive system 14300. Configured to move in a direction. Similar to the above, the articulation lock 14400 includes one or more spring portions 14403 configured to allow the articulation lock 14400 to flex toward and away from the articulation drive actuator 14310. Equipped with.

In addition to the above, the intermediate portion 14404 of the articulation lock 14400 comprises one or more teeth 14406 defined thereon configured to engage the articulation drive actuator 14310. The teeth 14406 are arranged in a longitudinal array. However, any suitable arrangement may be used. Articulation drive actuator 14310 comprises a longitudinal array of teeth 14316 defined thereon configured to be engaged by articulation lock teeth 14406. The articulation locking system further comprises a lock plate 14420 slidably disposed within the shaft cavity 14184, the shaft cavity including a longitudinal array of teeth 14226 configured to be engaged by the articulation locking teeth 14406. .. As described in more detail below, when the articulation lock 14400 is in the fully locked condition, the articulation lock teeth 14406 engage the drive actuator teeth 14316 and the lock plate teeth 14226, causing the articulation lock 14400 to engage the articulation drive actuator 14310. Lock in place to prevent or at least suppress relative movement between articulation drive actuator 14310 and shaft frame 14180.

Lock plate 14420 includes a shoulder 14424 disposed below articulation drive actuator 14310. Lock plate teeth 14426 are defined on the lateral edges of shoulder 14424 and are substantially aligned with teeth 14316 defined on articulation drive actuator 14310. In at least one example, articulation drive actuator teeth 14316 align along a first tooth axis and lock plate teeth 14406 extend along a second tooth axis parallel or at least substantially parallel to the first tooth axis. Is defined. In various examples, drive actuator teeth 14316 are defined in a plane parallel to the plane containing lock plate teeth 14406. Such a configuration allows joint lock 14400 to engage lock plate 14420 and articulation drive actuator 14310 simultaneously. The first tooth axis and the second tooth axis are parallel to the longitudinal axis of the shaft 14100, but the first tooth axis and the second tooth axis are oblique or transverse to the longitudinal axis of the shaft 14100. Embodiments that are directional are envisioned.

Referring again to FIG. 46, the lock plate 14420 is longitudinally slidable within the cavity 14184. However, the longitudinal movement of the lock plate 14420 is limited by the proximal and distal end walls 14427. As a result, the lock plate 14420 can enter the shaft cavity 14184 between the end walls 14427. In various examples, when the articulation lock 14400 engages the teeth 14426 and 14316, the lock plate teeth 14426 may not be fully aligned with the drive actuator teeth 14316. In such a case, the lock plate 14420 can be moved longitudinally to some extent so that the lock plate teeth 14426 align with the drive actuator teeth 14316. In various examples, lock plate 14420 can move in response to a locking force applied thereto by articulation lock 14400. In at least one example, the lock plate 14420 can be moved one tooth pitch distance distally and one tooth pitch distance proximal with respect to its center position, eg, the tooth pitch distance is adjacent to the lock plate 14420. It is the distance between the peaks of the lock teeth 14426. In other examples, the lock plate 14420 can be moved, for example, ¼ distal of the tooth pitch distance and ¼ proximal of the tooth pitch distance relative to its center position. In various examples, the lock plate 14420 can move proximally and distally by two tooth pitch distances or more.

In addition to the above, the joint lock 14400 can be configured in three states: a self-locked state, an unlocked state, and a fully locked state. When the articulation lock 14400 is in the self-locking condition, the teeth 14406 of the articulation lock 14400 engage the drive actuator teeth 14316 and the shaft frame teeth 14186. In such cases, the articulation lock 14400 can resist the force transmitted through the articulation drive actuator 14310. However, proximal and/or distal movement of articulation drive actuator 14310 can overcome the holding force of articulation lock 14400 and displace articulation lock 14400 to its unlocked configuration. In such a case, the articulation lock 14400 may flex or flex laterally away from the drive actuator 14310 to allow the end effector 11500 to articulate. Similar to the above, the spring member 14403 of the articulation lock 14400 can elastically return or at least bias the articulation lock 14400 to its self-locking configuration. As a result, as described below, the articulation drive system can lock and unlock itself as a result of its movement unless it is placed in its fully locked position.

Similarly, the shaft 14100 of the surgical instrument 14000 includes a closure tube that is advanced distally during the closure stroke to close the end effector 11500. Prior to the closing stroke, the articulation lock 14400 is moveable between its self-locking and unlocking configurations to allow the end effector 11500 to be articulated by the articulation drive system. During the closing stroke, the closure tube is configured to engage the articulation lock 14400 and place, block, and/or hold the articulation lock 14400 in its fully locked configuration. More specifically, the closure tube engages a cam surface 14405 defined on the back surface of the articulation lock 14400 to prevent the articulation teeth 14406 from disengaging from the drive actuator teeth 14316 and shaft frame teeth 14186. Includes a configured cam 14118. Cam 14118 includes angled surface 14115 that engages a corresponding angled surface defined on cam surface 14405, although any suitable configuration may be used. When the end effector 11500 can be opened by retracting the closure tube proximally, the tab 14118 disengages from the articulation lock 14400, which causes the articulation lock 14400 to engage the self-locked position and the unlocked position as described above. The freedom to move between positions allows the end effector 11500 to articulate again.

When the articulation lock 14400 is moved to the fully locked configuration by the closure tube, referring again to FIG. 46, the articulation lock 14400 pushes the lock plate 14420 against the lateral sidewall 14183 of the shaft cavity 14184. In fact, the articulation lock 14400 engages the lock plate 14420 with sufficient force to pin the lock plate 14420 to the sidewall 14183 so that the lock plate 14420 cannot move longitudinally relative to the shaft frame 14180. , Or at least substantially immobile. The lock plate 14420 includes one or more protrusions 14422 extending therefrom, the protrusions digging, biting, and/or flexing the sidewall 14183 of the shaft cavity 14184 when the lock plate 14420 is pressed against the sidewall 14183. No, the lock plate 14420 is configured to prevent or at least reduce the possibility of longitudinal movement relative to the shaft frame 14180.

In addition to the above, the shaft frame 14180 comprises one or more cavities or openings defined therein, which are configured to allow and/or facilitate deflection of the sidewalls 14183. For example, as shown in FIG. 46, shaft frame 14180 includes a cavity 14182 defined therein, which cavity 14182 is aligned with, or at least substantially aligned with, protrusion 14422. As described above, when the lock plate 14420 is laterally displaced by the closing tube, the side wall 14183 is elastically displaced into the cavity 14182 and the lock plate 14420 is locked in place. In such a case, the engagement of shaft frame 14180 and lock plate 14420 prevents articulation drive actuator 14310 from moving longitudinally and locks end effector 11500 in place. When the closure tube is retracted and disengaged from the articulation lock 14400, the sidewall 14183 returns to its non-flexed state, allowing lateral displacement of the lock plate 14420. At such point, the lock plate 14420 can be unlocked and the end effector 11500 articulated, as outlined above.

Surgical instrument 15000 is shown in FIGS. 47-49, and in many respects is similar to surgical instrument 14000, but most of it will not be repeated here for the sake of brevity. Among other things, surgical instrument 15000 includes an articulation drive system that includes a shaft, end effector 11500, and articulation drive actuator 14310. Surgical instrument 15000 further comprises an articulation locking system including articulation lock 15400 movable between a self-locked position, an unlocked position, and a fully locked position, similar to the above. The joint locking system further comprises a lock plate 15420 similar in many respects to lock plate 14420. For example, the lock plate 15420 can be moved laterally and engage the wall 14183. Also, for example, the lock plate 15420 may be longitudinally oriented such that the array of teeth 15426 defined on the lock plate 15420 is in the proper locking position to engage the teeth 14406 of the articulation lock 15400, as shown in FIG. Can be moved. Accordingly, the shaft of surgical instrument 15000 includes a distal spring 15429 located intermediate lock plate 15420 and a distal end wall 15427 defined in the shaft frame, as well as lock plate 15420 and a near end defined in the shaft frame. It further includes a proximal spring 15429 located intermediate the end wall 15427. The spring 15429 is configured to position the lock plate 15420 in a centered or balanced position between the end walls 15427, which is shown in FIG. Such a central position creates a proximal gap (PG) and a distal gap (DG) between the end wall 15427 and the lock plate 15420, which are equal to each other, or at least substantially equal. Therefore, the spring 15429 may be subject to different deflections or loads when the lock plate 15420 is positioned to mate with the articulation lock 15400, as shown in FIG. 49, which results in an unbalanced gap between PG and DG. Could create.

Surgical instrument 16000 is shown in FIGS. 50-52 and is in many respects similar to surgical instruments 14000 and 15000, but most of them will not be repeated here for the sake of brevity. Among other things, surgical instrument 16000 comprises an articulation drive system including a shaft, an end effector 11500, and an articulation drive 16310. With reference to FIG. 50, the surgical instrument 16000 further comprises an articulation locking system including an articulation lock 16400, which, as before, can be configured in a self-locking configuration, an unlocking configuration, and a fully locking configuration. The joint lock system further comprises a lock plate 16420 similar in many respects to lock plate 14420. For example, as shown in FIG. 51, the lock plate 16420 may be laterally moveable to engage the wall 14183. Also, for example, the lock plate 16420 is longitudinally movable such that the teeth 16426 of the lock plate 16420 are in the proper locking position to engage the teeth 16406 of the articulation lock 16400, as shown in FIG. Further, the teeth 16406 of the articulation lock 16400, the teeth 16426 of the lock plate 16420, and the locking teeth 16316 of the articulation drive 16310 are configured and arranged to provide multiple positions or permutations of positions, where the articulation lock 16400 is The joint driving unit 16310 can be locked to the lock plate 16420. For example, the articulation system will reach a full lock configuration in one set of positions shown in FIG. 51 and a different set position in FIG. 52.

The above adaptability of the joint lock system can be achieved via the tooth pitch of the joint lock teeth 16406, the joint drive teeth 16316, and the lock plate teeth 16426. For example, referring primarily to FIG. 50, joint lock teeth 16406 are set to a first pitch 16407, joint drive teeth 16316 are set to a second pitch 16317, and lock plate teeth 16426 are set to a third pitch. The pitch is set to 16427. The first pitch is different from the second pitch and the third pitch, the second pitch is different from the first pitch and the third pitch, and the third pitch is the first pitch and the second pitch. However, the embodiment assumes that the first pitch, the second pitch, and the third pitch are the same. Referring again to FIG. 50, the third pitch 16427 of the lock plate teeth 16426 is greater than the second pitch 16317 of the joint drive teeth 16316, and the second pitch 16317 is the first pitch of the joint lock teeth 16406. Although larger than 16407, any suitable configuration can be utilized.

Surgical instrument 17000 is shown in FIGS. 53-56 and is similar in many respects to surgical instrument 11000, but most of it will not be repeated here for the sake of brevity. Surgical instrument 17000 includes a shaft, an end effector 11500 rotatably connected to the shaft about an articulation joint 11200, and a joint configured to articulate the end effector 11500 about the articulation joint 11200. A motion drive system. Similar to the above, the articulation drive system includes an articulation link 17320 rotatably attached to the jaw 11600 about the pin 11620 and an articulation drive rotatably attached to the articulation link 17320 about the pin 17315. 17310. Surgical instrument 17000 further comprises an articulation lock 17400 movably attached to the shaft frame of surgical instrument 17000, which is moveable between an unlocked position and a locked position. The joint lock 17400 includes a distal end 17402 fixedly attached to the shaft frame and a proximal end 17404 slidably attached to the shaft frame. More specifically, the shaft frame comprises a pin extending into an opening defined in the distal end 17402 of the articulation lock 17400 and a guide protrusion 17114 extending into an elongated opening defined in the proximal end 17404. In a particular example, the shaft frame comprises two or more pins that extend into an opening defined in the distal end 17402 of the articulation lock 17400 to secure the distal end 17402 to the shaft frame and It is possible to prevent rotation with respect to the shaft frame. As a result of the above, at least the proximal end 17404 of the articulation lock 17400 is movable with respect to the shaft frame and engages the articulation drive 17310 to lock the articulation system and end effector 11500 in place.

In addition to the above, the articulation drive 17310 includes a longitudinal tooth rack 17316 defined thereon, and the articulation lock 17400 includes a longitudinal tooth rack 17406 defined thereon. When the joint lock 17400 is in its unlocked position, as shown in FIGS. 53 and 54, the teeth 17406 of the joint lock 17400 are not engaged with the teeth 17316 of the joint drive 17310. In such a case, the joint drive unit 17310 can move freely with respect to the joint lock 17400 to articulate the end effector 11500. When the joint lock 17400 is in the partial lock position, as shown in FIG. 55, the joint lock teeth 17406 are partially engaged with the joint drive teeth 17316. In such cases, the proximal and distal movements of joint drive 17310 are impeded by joint lock 17400. However, the joint drive 17310 can still move relative to the joint lock 17400 to articulate the end effector 11500. When the joint lock 17400 is in the fully locked position, as shown in FIG. 56, the joint lock teeth 17406 are fully engaged with the joint drive teeth 17316. In such cases, the proximal and distal movements of articulation drive 17310 and the articulation of end effector 11500 are impeded by articulation lock 17400.

In addition to the above, surgical instrument 17000 does not include a biasing member configured to move joint lock 17400 toward joint drive 17310, other than closure member or tube 17110. The closure tube 17110 is configured to engage the articulation lock 17400 and move the articulation lock 17400 from its unlocked position (Figure 54) to its partially locked position (Figure 55) and fully locked position (Figure 56). .. Similar to the above, the closure tube 17110 comprises a cam 17118 configured to engage a cam surface defined on the articulation lock 17400, although other configurations can be used. The closure tube 17110 is articulated 17400 between its unlocked position and its partially locked position as the closure tube 17110 is moved distally through a partial closing stroke (PCS) that at least partially closes the end effector 11500. Is configured to move. In such cases, the end effector 11500 of the surgical instrument 17000 can be used to grasp tissue of a patient, for example. The closure tube 17110 is configured to move the articulation lock 17400 to its fully locked position when the closure tube 17110 is moved distally through a full closure stroke (FCS) that fully closes the end effector 11500. In such cases, the end effector 11500 of the surgical instrument 17000 can be used to completely clamp the patient's tissue, for example.

As discussed above, the locking force exerted by the articulation lock 17400 on the articulation drive 17310 increases as the closure tube 17110 is advanced distally. Stated another way, the joint locking force is a function of the closing tube 17110 stroke. In addition to the above, referring to FIG. 57, the locking force between joint drive 17310 and joint lock 17400 is represented by line 17101. As shown in FIG. 57, the articulation teeth 17406 become initially engaged with the articulation teeth 17316 during the partial closing stroke. In at least one example, such initial engagement of teeth 17406 and 17316 occurs after about 0.050 inch closing stroke of closing tube 17110, although any suitable distance may be used. In particular, such initial engagement of teeth 17406 and 17316 does not necessarily coincide with the end of the partial closing stroke. Rather, it can occur at some point in the partial closure stroke (PCS). It also occurs at some point in the Full Close Stroke (FCS). However, such initial engagement does not include a combination of locking forces. Instead, the combination of locking forces between teeth 17406 and 17316 is established only during the full closing stroke (FCS). In at least one example, the fully closed stroke (FCS) length is, for example, about 0.260 inches.

Surgical instrument 18000 is shown in FIGS. 58-60 and in many respects is similar to surgical instruments 11000 and 17000, but most of them are not repeated here for the sake of brevity. Surgical instrument 18000 comprises a shaft, an end effector 11500 rotatably connected to the shaft about an articulation joint, and a joint system configured to articulate end effector 11500. The shaft comprises a frame 18180 that includes first and second longitudinal racks of teeth 18186 that are parallel or at least substantially parallel to each other, but the racks of teeth 18186 can extend laterally to one another. Surgical instrument 18000 further comprises an articulation lock 18400 and a closure member including a cam 18118. The joint lock 18400 includes a first locking arm 18410 configured to engage a first longitudinal rack of teeth 18186 and a first locking arm 18410 configured to engage a second longitudinal rack of teeth 18186. 2 lock arms 18420. 59 and 60, the first lock arm 18410 comprises a first cam surface 18415 defined thereon and the second lock arm 18420 defines a second lock arm 18420 defined thereon. Cam surfaces 18425 are provided that are configured to contact the cams 18118 during the closing stroke of the closure member and to be displaced or flexed outwardly into a fully locked engagement with the longitudinal rack of teeth 18186. R. In addition, one or both of the lock arms 18410 and 18420 also lock the end effector 11500 in place when the lock arms 18410 and 18420 are displaced outwardly to engage the shaft frame 18180. To engage the joint system.

Once displaced or flexed to a fully locked condition, the lock arms 18410 and 18420 define a longitudinal slot 18430 therebetween, configured to allow the cam 18118 to pass, for example, during the remainder of the closing stroke. Moreover, in such a case, the cam 18118 pushes the articulation lock 18400 into engagement with the frame 18180, holding the lock arms 18410 and 18420 securely in their fully locked position.

In at least one alternative embodiment, in addition to the above, the first locking arm 18410 of the articulation lock 18400 is configured to engage the shaft frame 18180 of the surgical instrument 18000 and the second lock of the articulation lock 18400. Arm 18420 may be configured to engage the articulating system of surgical instrument 18000.

Surgical instrument 19000 is shown in FIGS. 61-65 and is similar in many respects to surgical instrument 11000, but most of it will not be repeated here for the sake of brevity. Surgical instrument 19000 articulates shaft 19100 including closure member 19110, end effector 11500 rotatably connected to shaft 19100 about articulation 11200, and end effector 11500 about articulation 11200. And an articulation drive system 19300 including an articulation drive 19310 configured to cause 61, the surgical instrument 19000 further comprises an articulation lock 19400 configured to selectively engage the articulation drive system 19300 and lock the end effector 11500 in place. Shaft 19100 further comprises a frame 19180, and articulation lock 19400 is movably attached to frame 19180 between an unlocked position (Fig. 61), a partially locked position (Fig. 63), and a locked position (Fig. 64). As will be described in more detail below, the joint lock 19400 is movable laterally toward the joint drive 19310 to bring the joint lock 19400 into close proximity with the joint drive 19310 (FIG. 63) and also to drive the joint drive. The portion 19310 is caused to interfere laterally (FIG. 64).

In addition to the above, the shaft frame 19180 includes a proximal guide post 19182 and a distal guide post 19184. Proximal guide post 19182 extends laterally into an elongated slot defined at proximal end 19402 of articulation lock 19400, and similarly distal guide post 19184 laterally defined at distal end 19404 of articulation lock 19400. Extends into an elongated slot. The laterally elongated slot allows the articulation lock 19400 to move laterally toward and away from the articulation drive 19310, as outlined above. The laterally elongated slot also defines a lateral path for the articulation lock 19400 to prevent, or at least substantially prevent, longitudinal movement of the articulation lock 19400 relative to the shaft frame 19180. As a result, the elongate slot of the articulation lock 19400 has an unlocked position (FIG. 61) in which the locking teeth 19406 of the articulation lock 19400 do not engage the longitudinal rack of teeth 19316 defined on the articulation drive 19310. The joint lock 19400 can be guided between a partially locked position (FIG. 63) that partially engages the tooth 19316 and a fully locked position (FIG. 64) that the locking tooth 19406 fully engages the tooth 19316. ..

In addition to the above, the articulation lock 19400 further comprises a longitudinal cam slot 19408 defined therein and the closure member 19110 comprises a cam pin 19188 located in the cam slot 19408. When the closure member 19110 is in the non-actuated or open position (FIG. 61), the cam pin 19188 is located on the proximal portion 19408a of the cam slot 19408. When the closure member 19110 is moved distally to the partially actuated or partially closed position, as shown in FIG. 62, the cam pin 19188 moves to the central portion 19408b of the cam slot 19408. In such a case, the cam pin 19188 displaces the joint lock 19400 towards the joint drive 19310. However, in such a case, the teeth 19406 of the articulation lock 19400 may not engage the teeth 19316 of the articulation drive 19310, which results in the articulation drive 19310 articulating the end effector 11500 relative to the shaft 19100. Can still move to let. As a result, the end effector 11500 can only articulate when the closing stroke of the closure member 19110 is partially completed.

When the closure member 19110 is moved further distally, as shown in FIG. 63, the cam pin 19188 is moved into the distal portion 19408c of the cam slot 19408. In such a case, the cam pin 19188 displaces the joint lock 19400 into close proximity with the joint drive 19310 and further partially engages the teeth 19316 of the joint drive 19310. Thus, such partial engagement between teeth 19406 and 19316 can only withstand a certain amount of force transmitted through joint drive 19310, overcoming such resistance and allowing the joint to The drive portion 19310 can be moved relative to the joint lock 19400 to articulate the end effector 11500.

In addition to the above, the articulation lock 19400 is not lifted or lowered laterally relative to the shaft frame 19180 during the partial closing stroke of the closure member 19110 (FIGS. 61-63). Rather, articulation lock 19400, as shown in FIG. 64, has teeth 19406 of articulation lock 19400 fully engaged with teeth 19316 of articulation drive 19310 during the final or final portion of the closing stroke of closure member 19110, It is lifted upwards to lock the joint drive 19310 in place. The articulation lock 19400 is moved upwards by different cam pins extending from the closure member 19110, ie, cam pins 19189 that engage the articulation lock 19400 at the end of the closing stroke of the closure member 19110. In particular, the cam pin 19189 does not engage the articulation lock 19400 at the beginning of the closing stroke or during the partial closing stroke of the closing member 19110. At best, the cam pin 19189 may make sliding contact with the bottom of the articulation lock 19400 during the partial closing stroke. Thus, referring primarily to FIG. 65, the articulation lock 19400 includes a notch or recess 19409 defined therein to provide a clearance between the cam pin 19189 and the articulation lock 19400 during a partial closing stroke. That is, when the cam pin 19189 reaches the end of the recess 19409, the cam pin 19189 comes into contact with the joint lock 19400 to drive the joint lock 19400 upward in the lateral direction, and as shown in FIG. Interferingly engaged with the teeth 19316 of the portion 19310, the articulation lock 19400 is placed in the fully locked position. At such time, the joint drive 19310 is locked in place and cannot be moved longitudinally to articulate the end effector 11500.

Referring again to FIG. 65, the teeth 19316 of the joint drive 19310 are angled or tilted with respect to the longitudinal axis of the shaft 19100. The lock teeth 19406 of the joint lock 19400 are either non-angled or angled differently than the teeth 19316. As a result, when the joint lock 19400 is in its lowered position (FIG. 63), the lock teeth 19406 of the joint lock 19400 can partially engage the teeth 19316 of the joint drive 19310 and the joint lock 19400 is in its raised position. At some time (FIG. 64), the teeth 19316 can be fully engaged.

Unlocking the joint system 19300 of the surgical instrument 19000 requires retracting the closure member 19110 to disengage the cam pin 19189 from the joint lock 19400 so that the joint lock 19400 can return to its lowered position. There is. When the cam pin 19189 is disengaged from the articulation lock 19400, when the cam pin 19188 is pulled proximally through the cam slot 19408, the proximal retraction of the cam pin 19188 can drive the articulation lock 19400 downwards. .. Further, the cam pin 19188 can displace the joint lock 19400 away from the joint drive 19310 when pulled proximally. In various embodiments, the shaft 19110 may include one or more than one, such as, for example, a spring configured to bias or push the articulation lock 19400 downward to quickly reset the articulation lock to the unlocked position. A biasing member can be included.

The surgical instrument 20000 is shown in FIGS. 66-68 and is in many respects similar to the surgical instruments 11000, 17000, 18000 and 19000, but most of them have been repeated here for brevity. Absent. The surgical instrument 20000 includes a shaft including a closed tube 20110, an end effector 11500 rotatably attached to a shaft about an articulation joint 11200, and an end effector 11500 about the articulation joint 11200 with respect to the shaft. An articulation system configured to articulate. Similar to the above, the articulation system comprises an articulation link 20320 rotatably pinned to the end effector 11500 and an articulation actuator 20310 rotatably pinned to the articulation link 20320. In use, the articulation actuator 20310 is moved proximally and/or distally to drive the articulation link 20320 and articulate the end effector 11500. Surgical instrument 20000 further includes an articulation locking system including articulation locking gear 20400 rotatably mounted to the frame of the shaft about a fixed axis. Articulation gear 20400 comprises an annular array of teeth 20406 that matingly engages a longitudinal array of teeth 20316 defined on articulation actuator 20310. As a result, referring generally to FIG. 66, the articulation lock gear 20400 is proximal and/or proximal to the articulation actuator 20310 until the articulation lock gear 20400 is locked in place by the closure tube 20110, as shown in FIG. Alternatively, it rotates in response to distal movement.

In addition to the above, the articulation locking system extends from the shaft frame to a central opening defined in the articulation locking gear 20400 and a closure tube 20110 is moved distally during a closing stroke to close the end effector 11500. 20405 further comprises a cam or wedge 20118 of the closure tube 20110 configured to engage the lock arm 20405 and open the lock arm 20405 outward to engage the articulating lock gear 20400. When the lock arm 20405 engages the joint lock gear 20400, the lock arm 20405 can prevent the joint lock gear 20400 from rotating and the articulation actuator 20310 from moving in the longitudinal direction. In such a case, the locking arms 20405 will be retracted proximally by the wedges 20118 of the closure tube 20110 during the opening stroke, until the locking arms 20405 resiliently return to their non-curved or unlocked configuration. Can be prevented or at least substantially prevented.

In addition to the above, the articulating system of surgical instrument 20000 can be placed in an unlocked configuration (FIG. 66), a partially locked configuration (FIG. 67), and a fully locked configuration (FIG. 68). The joint system may be placed in its partially locked configuration (FIG. 67) as the closure tube 20110 is advanced distally through the partially closed stroke (PCS). In such a case, the end effector 11500 is at least partially closed, but can still articulate even when the lock arm 20405 is partially engaged with the articulating lock gear 20400. More specifically, the joint lock gear 20400 can still rotate despite the drag created by the partial engagement of the lock arm 20405 with the joint lock gear 20400. In at least one example, for example PCS is about. It is 050 inches. The joint system can be placed in its fully locked configuration (FIG. 68) as the closure tube 20110 is advanced distally through the fully closed stroke (FCS). In such cases, the end effector 11500 is completely closed and cannot articulate until the articulation system returns to its partially locked and/or unlocked configuration.

The surgical instrument 21000 is shown in FIGS. 69-71 and is in many respects similar to the surgical instruments 11000, 17000, 18000, 19000 and 20000, but for the sake of brevity most of them have been described here. I won't repeat it. The surgical instrument 21000 includes a shaft including a closure member 21110, an end effector 11500 rotatably attached to the shaft about an articulation joint 11200, and an end effector 11500 about the articulation joint 11200 relative to the shaft. And an articulation system including an articulation actuator 21130 configured to articulate. Surgical instrument 21000 further includes an articulation locking system including articulation locking gear 21400 rotatably mounted to the frame of the shaft about a fixed axis. Articulation gear 21400 comprises an annular array of teeth 21406 that matingly engages a longitudinal array of teeth 21316 defined on articulation actuator 21310. As a result, with reference to FIG. 69, the articulation lock gear 21400 may articulate actuator 21310 until the articulation lock gear 21400 is locked in place by the closure member 21110 (FIG. 71), as described in more detail below. Rotates in response to proximal and/or distal longitudinal movement of the.

In addition to the above, the articulating locking system of surgical instrument 21000 further comprises a moveable locking element 21405 slidably mounted to the shaft frame. More specifically, referring primarily to FIG. 69, the locking element 21405 allows the locking element 21405 to slide laterally toward and/or away from the joint drive 21310. A guide projection 21402 extending laterally into an elongated slot 21403 defined in the constructed shaft frame. 70, the locking element 21405 slides laterally within the opening defined in the articulating lock gear 21400 between the unlocked position (FIG. 69) and the locked position (FIG. 71). The locking element 21405 comprises an annular array of locking teeth 21407 and the articulating lock gear 21400 comprises an annular array of locking teeth 21408 defined around its inner opening when the locking element 21405 is in its unlocked position. (FIG. 69), the locking teeth 21407 of the locking element 21405 are not engaged with the locking teeth 21408 of the articulating lock gear 21400. When the locking element 21405 is in its locking position (FIG. 71), the locking teeth 21407 of the locking element 21405 engage the locking teeth 21408 of the articulating lock gear 21400 and the articulating lock gear 21400 is unable to rotate, resulting in a joint. Motion actuator 21300 is prevented from being moved longitudinally to articulate end effector 11500.

69-71 show distal advancement of the closure member 21110 during the closing stroke. FIG. 69 shows the closure member 21110 in a non-actuated or open position. In such a position, the closure member 21110 does not engage the locking element 21405. FIG. 70 shows the closure member 21110 in a partially closed position with the closure member 21110 at least partially closing the end effector 11500. In such a position, the cam surface 21115 of the closure member 21110 is engaged with the locking element 21405. In at least one example, closure member 21110 is moved about 0.050 inches distally from its open position (FIG. 69) to its partially closed position (FIG. 70). 71 shows the closure member 21110 in a fully closed position with the closure member 21110 fully closed the end effector 11500. In such position, the cam surface 21115 is moved by the locking element 21405, which is displaced by the total thickness of the closure member 21110.

In view of the above, the surgical instrument is a joint configured to prevent the end effector of the surgical instrument from articulating and/or unintentionally back driven by loads or torques applied to the end effector. A locking system can be included. At least a portion of the articulation lock system is movable to engage the articulation drive system of the surgical instrument to prevent articulation of the end effector. In at least one example, the articulation lock can be integrated with an articulation drive system, as described in more detail below.

72-74, a surgical instrument 22000 is configured to articulate a shaft and an end effector relative to the shaft, such as, for example, end effector 11500 of surgical instrument 22000. With. The joint movement driving system 22300 includes a joint driving unit 22310 and a pinion gear 22320. The articulation drive 22310 includes a longitudinal rack of teeth 22316 operatively meshed with the teeth 22326 of the pinion gear 22320 defined thereon. Translation of the joint drive 22310 in the distal direction causes the pinion gear 22320 to rotate in the first direction. Similarly, translation of the joint drive 22310 in the proximal direction causes the pinion gear 22320 to rotate in the second direction. The pinion gear 22320 includes a bevel gear 22330 fixedly attached thereto, and the bevel gear 22330 rotates together with the pinion gear 22320 about a common rotation axis. The combination assembly of pinion gear 22320 and bevel gear 22330 is rotatably mounted within the shaft of surgical instrument 22000.

In addition to the above, the teeth 22336 of the bevel gear 22330 are in meshing engagement with the teeth 22346 of the bevel gear 22340 rotatably mounted about the rotatable threaded articulation lead screw 22350. More specifically, bevel gear 22340 includes a nut portion that at least partially includes a threaded opening that mates with articulating lead screw 22350. When the bevel gear 22340 is rotated in the first direction by the joint driving unit 22310 via the bevel gear 22330, the bevel gear 22340 rotates the articulation lead screw 22350 in the first direction. Similarly, when the bevel gear 22340 rotates in the second direction, the bevel gear 22340 rotates the articulation lead screw 22350 in the second direction. Further, when the articulation lead screw 22350 rotates in its first direction, the end effector 11500 rotates in a first direction, and correspondingly, when the threaded joint drive shaft 22350 rotates in its second direction. , Rotate in the second direction.

In addition to the above, the pitch of the threads of the threaded articulation lead screw 22350 can be selected to prevent reverse drive within the articulation drive system 22300. Stated differently, the steepness of the threads defined in the articulation lead screw 22350 resists forces and/or torques transmitted proximally from the end effector 11500 via the articulation drive system 22300. As a result, unintended articulation of the end effector 11500 can be prevented. Thus, the thread pitch can function as an articulation lock integral with the articulation drive system 22300. In at least one example, the articulating lead screw comprises, for example, an ACME lead screw.

Referring to FIGS. 75-79, surgical instrument 23000 is configured to articulate a shaft and an end effector relative to the shaft, such as, for example, end effector 11500 of surgical instrument 23000. With. The joint movement drive system 23300 includes a joint drive unit 23310 and a pinion gear 23320. The articulation drive 23310 includes a longitudinal rack of teeth 23316 operatively meshed therewith with the teeth 23326 of the pinion gear 23320. Translation of the joint drive 23310 in the distal direction causes the pinion gear 23320 to rotate in the first direction. Similarly, translation of the joint drive 23310 in the proximal direction causes the pinion gear 23320 to rotate in the second direction. The pinion gear 23320 includes a worm gear 23330 fixedly attached thereto, and the worm gear 23330 rotates together with the pinion gear 23320 about a common rotation axis. The combined assembly of pinion gear 23320 and worm gear 23330 is rotatably mounted within the shaft of surgical instrument 23000.

In addition to the above, the teeth 23336 of the worm gear 23330 are in meshing engagement with the teeth 23346 of the worm 23340 rotatably mounted on the shaft frame. The worm 23340 includes a pinion gear 23350 fixedly attached thereto, and the pinion gear 23350 rotates with the worm 23340 about a common rotation axis. The pinion gear 23350 is operably engaged with a translatable articulation output driver 23360. More specifically, the pinion gear 23350 comprises teeth 23356 that mesh with a rack of teeth 23366 defined on the output driver 23360. When the worm 23340 is rotated in the first direction by the joint drive 23310 via the worm gear 23330, the pinion gear 23350 drives the output driver 23360 distally. Correspondingly, when worm 23340 is rotated in a second direction by worm gear 23330, worm 23340 and pinion gear 23350 drive output driver 23360 proximally. Further, the end effector 11500 is in a first direction when the output driver 23350 is driven distally by the articulation drive system 23330 and a second direction when the output driver 23350 is driven proximally by the articulation drive system 23330. Rotate in the direction of.

In addition to the above, the thread pitch of the worm 23340 can be selected to prevent reverse drive within the articulation drive system 23300. Stated another way, the steepness of the threads defined in worm 23340 may resist forces and/or torques transmitted proximally from end effector 11500 via articulation drive system 23300, for example. The end effector 11500 can be prevented from being unintentionally articulated. Thus, the thread pitch can function as an articulation lock integral with the articulation drive system 23300.

The surgical instrument 12000 shown in FIGS. 32-34B is similar to the surgical instrument 11000 in some respects, but many are not repeated here for the sake of brevity. In addition to the shaft 11100, the end effector 11500, and the articulation joint 11200, the surgical instrument 12000 further comprises a staple firing system 12900 including, for example, a firing bar 12910 extending through the articulation joint 11200. In use, the firing bar 12910 is distally translatable to perform a staple firing stroke and proximally retractable after at least a portion of the staple firing stroke is completed. The firing bar 12910 extends through a groove member or slot 11190 defined within the frame 11180 of the shaft 11100, the groove member or slot closely engaging the firing bar 12910 as the firing bar 12910 moves relative to the shaft 11100. Configured to receive and/or guide. Similarly, the end effector 11500 comprises a groove member or slot 11590 defined within a frame 11580 of the end effector 11500, the groove member or slot defining a firing bar 12910 as the firing bar 12910 moves relative to the end effector 11500. Are configured to closely receive and/or guide.

In addition to the above, groove members 11190 and 11590 do not extend into articulation joint 11200 and firing bar 12910 may not be supported within articulation joint 11200. When the end effector 11500 is in the non-articulated configuration (FIG. 34), the firing bar 12910 is less likely to buckle within the articulation joint 11120 during the staple firing stroke, but the end effector 11500 is in the articulated configuration. In that case, the likelihood of firing bar 12910 buckling laterally during the staple firing stroke is increased (FIGS. 34A and 34B). To reduce the possibility of such buckling, surgical instrument 12000 further comprises a firing bar support 12400 configured to support firing bar 12910. The firing bar support 12400 includes a proximal portion 12410 connected to the shaft frame 11180, a distal portion 12430 connected to the end effector frame 11580, and an intermediate portion 12420 extending between the proximal portion 12410 and the distal portion 12430. including. Portions 12410, 12420, and 12430 of firing bar support 12400 are integrally formed. However, other embodiments are envisioned where portions 12410, 12420, and 12430 are assembled together and/or include separate components.

In addition to the above, the distal portion 12430 of the firing bar support 12400 is fixedly attached to the end effector frame 11580 and does not move, or at least substantially does not move, with respect to the end effector frame 11580. The intermediate portion 12420 of the firing bar support 12400 includes one or two reduced cross-sections that allow the firing bar support 12400 to bend within the articulation joint 11200, among other things, when the end effector 11500 articulates. Including one or more parts. The proximal portion 12410 of the firing bar support 12400 is slidably attached to the shaft frame 11180 so that the firing bar support 12400 can translate with respect to the shaft frame 11180 as the end effector 11500 articulates. That is, the proximal portion 12410 of the firing bar support 12400 includes a proximal head 12415 slidable within a chamber or cavity 11185 defined within the shaft frame 11180 that can limit movement of the firing bar support 12400. Including. However, embodiments without such movement constraints are envisioned. In any event, the proximal portion 12410, the intermediate portion 12420, and the distal portion 12430 of the firing bar support 12400 cooperatively define a groove member or slot 12490, the groove member or slot being specifically an articulation joint. The firing bar 12910 is supported within the 11200 and is configured to reduce the likelihood of the firing bar 12910 buckling during, for example, a staple firing stroke.

In various examples, the firing bar 12910 is composed of a plurality of parallel or at least substantially parallel layers. These layers are secured to the distal cutting member and can be partially translated or slid longitudinally relative to each other, particularly within the articulation joint 11200. Each such layer is configured to transfer load in the same direction, ie proximal or distal, even if such layers can move or slide relative to each other. In addition to the above, such layers may extend laterally relative to each other, particularly within the articulation joint 11200, when the end effector 11500 is articulated. The intermediate portion 12420 of the firing bar support 12400 includes a plurality of connected control elements, which can at least reduce, if not prevent, the relative lateral spread of the firing bar layers. Alternatively, as mentioned above, one or more of the control elements may not be connected to each other.

In addition to, or in place of, the firing bar support 12400, the surgical instrument 12000 includes one or more dividers that separate and control the layers of the firing bar 12910. With reference to FIGS. 34-34B, the shaft 11110 comprises a partition 12920 disposed within the layers of the firing bar 12910. The two layers of firing bar 12910 are located on one side of partition 12920 and the two layers are located on the other side of partition 12920, although any suitable arrangement can be used. The partition 12920 prevents half of the layers of the firing bar 12910 from spreading outward when the end effector 11500 articulates. Stated another way, the partition 12920 prevents the two rightmost firing bar layers from spreading to the left when the end effector 11500 articulates to the right (FIG. 34A), and similarly, the partition 12920: When the end effector 11500 articulates to the left, it prevents the two leftmost firing bar layers from spreading to the right (FIG. 34B). The partition 12920 extends through the articulation joint 11200 and the firing bar support 12400 into the end effector 11500 and can bend as the end effector 11500 articulates. Thus, in such cases, the partition 12920 is flexible. The partition 12920 is attached to the frame 11180 of the shaft 11110 and does not move with respect to the frame 11180. However, embodiments are envisioned where the partition 12920 is not attached to the frame 11180 and can float within the firing bar layer.

The surgical instrument 13000 shown in FIGS. 35-39B is similar in some respects to surgical instrument 11000 and 12000, but many are not repeated here for the sake of brevity. In addition to the shaft 13100, the end effector 13500, and the articulation joint 11200, the surgical instrument 13000 further comprises a staple firing system 12900 including, for example, a firing bar 12910 extending through the articulation joint 11200. In use, the firing bar 12910 is distally translatable to perform a staple firing stroke and proximally retractable after at least a portion of the staple firing stroke is completed. Referring primarily to FIGS. 39-39B, firing bar 12910 extends through a groove member or slot 13190 defined within frame 13180 of shaft 13100, which groove bar or slot allows firing bar 12910 to be relative to shaft 11100. It is configured to closely receive and/or guide the firing bar 12190 as it moves. Similarly, the end effector 13500 comprises a groove member or slot defined within the frame 13580 of the end effector 13500, the groove member or slot providing a firing bar 12190 as the firing bar 12910 moves relative to the end effector 13500. It is configured to closely receive and/or guide.

In addition to the above, the firing bar 12910 is less likely to buckle within the articulation joint 11120 during the staple firing stroke when the end effector 13500 is in an unarticulated configuration (FIG. 39), but the end effector 13500 is articulated. When in a moving configuration, the likelihood of firing bar 12910 buckling laterally during the staple firing stroke is increased (FIGS. 39A and 39B). To reduce the likelihood of such buckling, surgical instrument 13000 further comprises a firing bar support 13400 configured to support firing bar 12190. The firing bar support 13400 comprises a first side plate 13410 and a second side plate 13420. Side plates 13410 and 13420 are located on opposite sides of firing bar 12910. Each side plate 13410, 13420 includes a proximal portion connected to the shaft frame 13180, a distal portion connected to the end effector frame 13580, and an intermediate portion extending between the proximal and distal portions. The parts of the plates 13410 and 13420 are integrally formed. However, other embodiments are envisioned where the parts are assembled together and/or include separate components.

In addition to the above, the first side plate 13410 includes a distal portion 13416 that is fixedly attached to the end effector frame 13580 and does not move, or at least substantially does not move, with respect to the end effector frame 13580. .. Similarly, the second side plate 13420 includes a distal portion 13426 that is fixedly attached to the end effector frame 13580 and does not move, or at least substantially does not move, with respect to the end effector frame 13580. The first side plate 13410 includes a proximal portion 13412 slidably attached to the shaft frame 13180 to allow the first side plate 13410 to translate with respect to the shaft frame 13180 as the end effector 13500 articulates. Proximal portion 13412 comprises a head slidable within a chamber or cavity 13185 defined within shaft frame 13180 that can limit the movement of firing bar support 13400. Similarly, the second side plate 13420 is a proximal portion 13422 slidably attached to the shaft frame 13180 to allow the firing bar support 13400 to translate with respect to the shaft frame 13180 as the end effector 13500 articulates. Equipped with. Proximal portion 13422 comprises a head slidable within a chamber 13185 defined within shaft frame 13180, which may also limit movement of firing bar support 13400.

The first side plate 13410 includes a flexible portion 13414 located within the articulation joint 11200, such that the distal portion 13416 of the first side plate 13410 flexes relative to the proximal portion 13412 and the end effector 13500. It becomes possible to adapt to the joint movement of. The flexible portion 13414 includes a hinge that extends laterally from the first side plate 13410 and includes a gap 13413 defined in the hinge that allows rotation within the first side plate 13410. In addition to, or in the alternative to, the first side plate 13410 includes a longitudinal opening 13415 defined therein, which allows the first side plate 13410 to bend within the end effector 13500 to articulate the end effector 13500. Be prepared for exercise. First side plate 13410 can include any suitable number and configuration of openings and/or recesses defined in any suitable position defined therein during articulation of end effector 13500. In addition, the first side plate 13410 is configured to allow bending. Similarly, the second side plate 13412 includes a flexible portion 13424 located within the articulation joint 11200, which causes the distal portion 13426 of the second side plate 13420 to bend relative to the proximal portion 13422. It becomes possible to adapt to the joint movement of the end effector 13500. The flexible portion 13424 includes a hinge that extends laterally from the first side plate 13420 and includes a gap defined in the hinge that allows rotation within the second side plate 13420. In addition to or in the alternative, the second side plate 13420 includes a longitudinal opening defined therein, which causes the second side plate 13420 to bend within the end effector 13500 and articulate the end effector 13500. To be able to deal with. The second side plate 13420 can include any suitable number and configuration of openings and/or recesses defined in any suitable position defined therein during articulation of the end effector 13500. In addition, the second side plate 13420 is configured to allow bending.

In addition to the above, the side plates 13410 and 13420 are flexible and can elastically return to their non-flexed configuration when the end effector 13500 is returned to its non-articulated configuration. In various examples, the side plates 13410 and 13420 include springs that resiliently bias the end effector 13500 into its non-articulated configuration.

Firing member 24900 may be used with any of the surgical stapling instruments shown in FIGS. 83 and 84 and disclosed herein. Firing member 24900 includes a firing bar 24910 that includes multiple layers, as described above. More specifically, firing bar 24910 includes two outer layers 24911 and two inner layers 24912. Firing member 24900 further comprises a distal cutting member 24920 including a tissue cutting edge 24926. Distal cutting member 24920 includes a first cam 24922 configured to engage a first jaw of the end effector and a second cam configured to engage a second jaw of the end effector. And 24924. That is, embodiments are envisioned in which distal cutting member 24920 is configured to engage only one jaw of the end effector, or alternatively none of the jaws of the end effector.

Layers 24911 and 24912 of firing bar 24910 are welded to distal cutting member 24920 at weld 24930. As shown in FIG. 84, the first weld 24930 is on the first side of the firing member 24900 and the second weld 24930 is on the second side of the firing member 24900. The first weld 24930 penetrates the first outer layer 24911 and the adjacent inner layer 24912. In various examples, the first weld 24930 completely penetrates the adjacent inner layer 24912 and/or also penetrates other inner layers 24912. The second weld 24930 penetrates the second outer layer 24911 and the adjacent inner layer 24912. In various examples, the second weld 24930 completely penetrates the adjacent inner layer 24912 and/or also penetrates other inner layers 24912.

Referring primarily to FIG. 83, each weld 24930 of firing member 24900 is configured to hold firing bar 24910 securely to cutting member 24920 and at the same time provide a flexible connection therebetween. Including lines. Each weld 24930 includes a butt weld 24931 that connects the cutting member 24920 to the distal ends of the plates 24911 and 24912, and also pulls and/or compresses when longitudinal firing force is transmitted through the firing member 24900. It becomes a state. The butt weld is orthogonal, or at least substantially orthogonal, to the longitudinal firing axis (FA) of firing member 24900. Butt weld 24931 includes a square, closed square, single bevel, double bevel, single J-shape, double J-shape, single V-shape, double V-shape, single U-shape, double U-shape, flange, flare, and/or tee. It may include any suitable configuration, such as configuration.

In addition to the above, each weld 24930 further comprises a distal hook weld 24932 and a proximal hook weld 24933. Each hook weld 24932 and 24933 is aligned or parallel to the longitudinal firing axis (FA) of firing member 24900 and is in shear when longitudinal firing forces are transmitted through firing member 24900. Including a longitudinal portion. Additionally, each hook weld 24932 and 24933 comprises a butting portion that is orthogonal, or at least substantially orthogonal, to the longitudinal firing axis (FA), and longitudinal firing force is transmitted through firing member 24900. When in tension and/or compression. In particular, each set of hook welds 24932 and 24933 includes an interlocking connection between the firing bar 24910 and the cutting member 24920, which can transfer stress flow between them, resulting in failure and/or improperness. Never.

Each weld 24930 is, for example, substantially L-shaped. However, the weld 24930 can include any suitable configuration.

Surgical instruments 10000, 11000, 12000, 13000, 14000, 15000, 16000, 17000, 18000, 19000, 20000, 21000, 22000, and 23000 are surgical staplers, but their design is particularly articulatable ends. It is easily compatible with other surgical instruments that have effectors. Such other surgical instruments may include, for example, clip appliers, fastener appliers, and/or surgical instruments capable of delivering electrical and/or vibrational energy to tissue.

FIG. 86 depicts a surgical staple cartridge 25100 with an elongated nose 25150 located at its distal end, shown generally as 25102. The elongated nose 25150 has a base 25152 defined by a first length 25154 extending the distance between the ends of the staple line 25056 and the distal tip 25142 of the staple cartridge 25100. Distal tip 25142 is formed at an angle σ from base 25152 of staple cartridge 25100. The distal tip 25142 of the staple cartridge 25100 is pointed and is configured to act as a waiting area for a wedge sled (not shown) of the firing system upon completion of the staple firing stroke.

In an effort to reduce the overall length of the staple cartridge without sacrificing the length of stapled tissue, the surgical staple cartridge 25200 shown in FIG. And a cartridge body 25210 including a nose 25250. The shortened nose 25250 has a base 25252 defined by a second length 25254 extending the distance between the ends of the staple line 25056 and the blunt distal tip 25242 of the staple cartridge 25200. The second length 25254 of the shortened nose 25250 is minimized by blunting the waiting area of the wedge sled 25270 (see Figure 89). The rounded, shortened nose 25250 of the staple cartridge 25200 of FIG. 85 may still provide a waiting area for the wedge sled, which may require additional storage for storage, as described below. is there. The blunt distal tip 25242 is formed at an angle γ from the base 25252 of the staple cartridge 25200.

Comparing the staple cartridges 25200 and 25100 shown in FIGS. 85 and 86, the reader should be aware that the second length 25254 is shorter than the first length 25154. As a result, the length of staple cartridge 25200 beyond the ends of staple line 25056 is minimized to allow improved spatial access, especially within the surgical site. The shortened nose 25250 also prevents the blunt distal tip 25242 from piercing the seal on the trocar system, as discussed further below. Further, it will be appreciated that the angle γ of the blunt distal tip 25242 of the staple cartridge 25200 to the base 25252 is greater than the angle σ of the pointed distal tip 25142 of the staple cartridge 25100 to the base 25152. For example, the blunt distal tip 25242 can extend at an angle of about 45-50 degrees with respect to the base 25252 of the staple cartridge 25200, and the pointed distal tip 25142 with respect to the base 25152 of the staple cartridge 25100. It can extend at an angle of about 30 degrees. The steeper angle of the blunt distal tip 25242 provides increased stability over the distal region of the staple cartridge 25200 structure.

FIG. 89 is a plan view of the staple cartridge 25200. Cartridge body 25210 of staple cartridge 25200 includes an elongated slot 25230 extending from proximal end 25204 of staple cartridge 25200 toward distal shortened nose 25250. A plurality of staple cavities 25220 are formed within the cartridge body 25210. Staple cavity 25220 extends between proximal end 25204 and distal end 25202 of staple cartridge 25200. The staple cavities 25220 are arranged in six laterally spaced longitudinal rows 25221, 25222, 25223, 25224, 25225, 25226, with three rows on each side of the elongated slot 25230. Staples 25260 are removably disposed within staple cavities 25220.

FIG. 87 illustrates one embodiment of a triple staple driver 25240 within a staple cartridge 25200 for supporting and driving three staples 25260. Staple driver 25240 includes a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. The central base member 25348 connects the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The first driver portion 25342 is located at least partially distal to the second driver portion 25344. Further, the third driver portion 25346 is located at least partially distal to the second driver portion 25344. A plurality of first staple drivers 25240 are slidably mounted in corresponding staple cavities 25220 from three longitudinal rows 25221, 25222, 25223 on one side of the elongated slot 25230. In other words, each first staple driver 25240 is configured to support three staples 25260, the staples 25260 stored within the staple cavities 25220 of the first longitudinal row 25221 and the second longitudinal row 25221. Staples 25260 stored in staple cavities 25220 of 25222 and staples 25260 stored in staple cavities 25220 of the third longitudinal row 25223. The distal position of the first driver portion 25342 and the third driver portion 25346 with respect to the second driver portion 25344 causes the staples 25260 to fire in a reverse arrow configuration. 89, the last staples 25260 of the first longitudinal row 25221 and the third longitudinal row 25223 have been shortened of the staple cartridge 25200 over the last staples 25260 of the second longitudinal row 25222. Close to nose 25250.

Opposite the elongated slot 25230, a plurality of second staple drivers are mounted in corresponding staple cavities 25220 of the three longitudinal rows 25224, 25225, 25226. Similar to staple driver 25240, each second staple driver includes a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. The central base member 25348 connects the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The first driver portion 25342 is located at least partially distal to the second driver portion 25344. Further, the third driver portion 25346 is located at least partially distal to the second driver portion 25344. Like the staple driver 25240 above, each second staple driver is configured to support three staples 25260, and the staples 25260, fifth and fifth stored in the staple cavities 25220 of the fourth longitudinal row 25224. Staples 25260 stored in staple cavities 25220 of longitudinal row 25225 and staples 25260 stored in staple cavities 25220 of sixth longitudinal row 25226. Due to the distal position of the first driver portion 25342 and the third driver portion 25346 with respect to the second driver portion 25344, the staples 25260 are fired in a reverse arrow configuration. 89, the final staples 25260 of the fourth and sixth longitudinal rows 25224 and 25226 have been shortened of the staple cartridge 25200 over the final staples 25260 of the fifth longitudinal row 25225. Close to nose 25250.

The first driver portion 25342 of the staple driver 25240 has a first front strut 25352 and a first rear strut 25354 that project upward from the first driver portion base. The first front struts 25352 and the first rear struts 25354 are spaced apart from one another to collectively form a first staple cradle (ie, a staple projection facing the anvil) for supporting the staples 25260 in an upright position. To form. Similarly, the second driver portion 25344 has a second front strut 25362 and a second rear strut 25364 that project upward from the second driver portion base. The second front strut 25362 and the second rear strut 25364 are spaced apart from one another to collectively form a second staple cradle (ie, the protrusion of the staple facing the anvil) for supporting the staples 25260 in an upright position. To form. The third driver portion 25346 has a third front strut 25372 and a third rear strut 25374 projecting upward from the third driver portion base. The third front strut 25372 and the third rear strut 25374 are spaced apart from one another to collectively form a third staple cradle (ie, the staple protrusion facing the anvil) for supporting the staples 25260 in an upright position. To form.

The mass centroids of the first and third driver portions 25342, 25346 are represented by dashed line DD. Similarly, dashed line P-P represents the center of mass of the second driver portion 25344. The combined mass center of gravity of the triple staple driver 25240 is represented in Figures 87 and 88 as dashed line CC. Thus, the staple driver 25240 is less likely to roll forward. In particular, CC is closer to DD than PP, so the staple driver 25240 is very stable.

As described above, the central base member 25348 of the staple driver 25240 shown in FIG. 88 attaches the first driver portion 25342 and the third driver portion 25346 to the second driver portion 25344. The central base member 25348 includes proximal ends of the first and third rear struts 25354, 25374 of the first and third driver portions 25342, 25346 and a second front strut 25362 of the second driver portion 25344, respectively. Extends laterally to and from the proximal end. As shown in FIG. 90, central base member 25348 has an angled rearward facing edge 25349 adapted to be engaged by wedge sled 25270, as discussed in further detail below. The extension of the central base member 25348 between all three driver portions 25342, 25344, 25346 causes the midpoint of the rearward facing edge 25349 to be closer to the first portion 25342 and closer to the third portion 25346. It may branch. Such a configuration may balance the moments created during firing and forming of staples 25260 stored within staple cavity 25220.

Referring primarily to FIG. 89, each staple cavity 25220 defined in the cartridge body 25210 of staple cartridge 25200 comprises a proximal wall 25264 and a distal wall 25262. The direction of the reverse arrow formed by the configuration of the first, second, and third driver portions 25342, 25344, 25346 of the triple staple driver 25240 described above is in the forward and/or lateral direction of the staple driver 25240 during the staple firing stroke. Reduces rolling in the direction. In various examples, the distal end of the first anterior strut 25352 and the distal end of the third anterior strut 25372 are pushed into the distal wall 25262 of the respective staple cavity 25220, thereby stabilizing the driver 25240. To be done. Thus, as the sled 25270 (FIG. 89) lifts the staple driver 25240 upward during the staple firing stroke, the two distal walls 25262 of the staple cavity 25220 provide opposing forces against the front struts 25352, 25372, and Prevents undesired movement or rolling of the driver 25240.

As shown in FIGS. 87-90, the elongated slot 25230 of the staple cartridge 25200 is configured to receive a portion of the firing assembly 25280. The firing assembly 25280 is configured to push the sled 25270 distally to eject the staples 25260 stored within the staple cavity 25220 and deform the staples 25260 with respect to the anvil located opposite the staple cartridge 25200. It More specifically, the connecting member 25282 pushes the wedge sled 25270 of the staple cartridge 25200 distally. Wedge sled 25270 comprises four rails, two inner rails 25272 and two outer rails 25274 connected to each other by a central member 25276. One inner rail 25272 and one outer rail 25274 are located on one side of the elongated slot 25230 and another inner rail 25272 and another outer rail 26274 are located on the opposite side of the elongated slot 25230. When driven distally, the inner rail 25272 passes through an inner groove 25212 defined in the cartridge body 25210 and engages a rearward facing edge 25349 of a driver 25240 supporting staples 25260 to anvil the staples. Fire it at. Similarly, outer rail 25274 passes through outer groove 25214 defined in cartridge body 25210 and engages the portion of driver 25240 that supports staples 25260 to push the staples toward the anvil. The distal movement of the wedge sled 25270 causes the rails 25272, 25274 to contact the rearward facing edge 25349 of the staple driver 25240 and push the driver 25240 upwards to move the staple cartridge 25200 to the staple 25260 and the staple cartridge 25200 to the opposing anvil. Eject into the tissue captured in between. Coupling member 25282 also includes a cutting end 25284 that dissects tissue as coupling member 25282 is advanced distally to eject staples 25260 from cartridge body 25210.

Referring again to FIG. 87, the positioning of the first, second and third driver portions 25342, 25344, 25346 of the staple driver 25240 between or adjacent the inner rails 25272 and outer rails 25274 of the wedge sled 25270 is laterally aligned. Increase the stability of. Two rails, one inner rail 25272 and one outer rail 25274, span the staple driver 25240 for improved support and stability throughout the firing stroke. In addition to increasing the stability of the staple driver 25240, another advantage of having a staple driver 25240 that spans the two rails 25272, 25274 of the wedge sled 25270 is that the force required to perform the firing stroke is reduced. is there. The required force is reduced due to less deflection and loss in the system. In addition, the additional drive surface provided by the rearward facing edge 25349 allows the rails 25272, 25274 of the wedge sled 25270 to extend at a steeper angle from the base 25278 of the wedge sled 25270. The steeper angle of wedge sled 25270 allows for an overall reduction in the length of base 25278 of wedge sled 25270, which further contributes to the reduction in the length of shortened nose 25250 of staple cartridge 25200. Upon completion of the staple firing stroke, referring again to FIG. 89, the wedge sled 25270 of the firing assembly 25280 remains within the shortened nose 25250 of the staple cartridge 25200.

FIG. 89 illustrates the wedge sled 25270 of the firing assembly 25280 resting on the shortened nose 25250 upon completion of the staple firing stroke. The shortened nose 25250 includes a plurality of openings 25292, 25294 at the distal end of the shortened nose 25250 to receive four rails 25272, 25274. The shortened nose 25250 further comprises an opening 25296 configured to receive the central sled member 25276 of the wedge sled 25270. Accordingly, portions of rails 25272, 25274 and central sled member 25276 of wedge sled 25270 are exposed at distal end 25202 of staple cartridge 25200. The openings 25292, 25294 are a succession of groove members 25212, 25214 on which the rails 25272, 25274 of the wedge sled 25270 are slidably moved. The two inner openings 25292 are configured to receive the two inner rails 25272 of the wedge sled 25270, and the two outer openings 25294 are configured to receive the two outer rails 25274 of the wedge sled 25270. A central opening 25296 in the center of the distal portion 25202 of the shortened nose 25250 is configured to receive the central member 25276 of the wedge sled 25270. Openings 25292, 25294, 25296 at the distal end 25202 of the shortened nose 25250 allow the staple firing stroke to complete and retain the wedge sled 25270 at the shortened distal end.

Referring again to FIG. 89, staple cartridge 25200 further includes protrusions 25262 extending around the proximal and distal ends of staple cavity 25220. The protrusions 25262 of the first longitudinal row 25221 are shown to be unitary and the protrusions of the second and third longitudinal rows 25222, 25223 are shown to be connected. The protrusions 25262 are configured to provide additional support to the staples 25260 as the staples are fired upward from the staple cavities 25220. Additionally, the protrusion 25264 formed in the most distal staple cavity 25220 is beveled to control tissue flow to the end effector. A more detailed discussion of the protrusions can be found in US Patent Application Publication No. 2015/0297228, filed June 30, 2014, entitled "FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT CONFORMATIONS," filed June 30, 2014. To be

91 illustrates some of the advantages obtained by using the shortened staple cartridge 25200 from FIG. 85, instead of the elongated staple cartridge 25100 from FIG. 86. Both staple cartridges are suitable for various surgical procedures, such as low anterior resection (LAR). LAR is a common treatment for colorectal cancer, for example. Such surgery requires accurate dissection and sealing of tissue deep within the patient's pelvic cavity. As will be described in more detail below, the shortened nose 25250 of FIG. 85 reduces the length of the staple cartridge 25200, and in particular, the end effector of the surgical instrument allows for greater access to tissue within the pelvic cavity. Allows you to gain access. The reader should understand that the staple cartridges described herein can be used in a variety of surgical procedures and are not limited to the particular procedures described herein.

In addition to the above, the short staple cartridge 25200 is part of the first end effector 25202 on the first surgical instrument 25201 that also includes the anvil 25203. The first surgical instrument 25201 further comprises a first shaft 25206 rotatably connected to the first end effector 25202. The first end effector 25202 is capable of articulating around an articulation joint 25208 disposed intermediate the first end effector 25202 and the first shaft 25206. The first end effector 25202 can articulate with respect to the first shaft 25206 at an angle α. Similarly, the elongated staple cartridge 25100 is part of a second end effector 25102 on a second surgical instrument 25101 that also includes an anvil 25103. The second surgical instrument 25101 also includes a second shaft 25106 rotatably connected to the second end effector 25102. The second end effector 25102 is capable of articulating about an articulation joint 25108 located intermediate the second end effector 25102 and the second shaft 25106. The second end effector 25102 can articulate at an angle β with respect to the second shaft 25106.

In addition to the above, in use, the clinician inserts the end effector 25202 into the patient through a cannula or trocar when the end effector 25202 is in a non-articulated state. Upon passing the trocar, the end effector 25202 can articulate as shown in FIG. At such time, shaft 25206 can be moved to position end effector 25202 within the pelvic cavity. A similar procedure is used to position the end effector 25102.

The first end effector 25202 can reach a distance X ₁ from the pelvic floor within the pelvic cavity during a LAR procedure. The second end effector 25102 can reach a distance X ₂ from the pelvic floor within the pelvic cavity during the LAR procedure. The distance X ₁ is shorter than the distance X ₂ and the first surgical instrument 25201 can be placed deeper into the pelvic cavity than the second surgical instrument 25101, and the surgeon can More arrays can be targeted, accessed and removed. In addition, the articulating ability of the first surgical instrument 25201 allows deeper access to the tissue within the surgical site while providing minimal trauma to the surrounding tissue. Since β is larger than α, the first end effector 25202 can articulate more than the second end effector 25102. For example, the first end effector 25202 can articulate at an angle of 115 degrees from the first shaft 25206 and the second end effector 25102 can articulate at an angle of 135 degrees from the second shaft 25106. Just enough.

As shown in FIG. 91, the staple cartridge 25100 and the anvil 25103 of the end effector 25102 have approximately the same length, but the staple cartridge 25100 is significantly longer than the anvil 25103. By comparison, the staple cartridge 25200 and the anvil 25203 of the end effector 25202 are substantially the same length, if not the same length. In any case, the length difference between the staple cartridge 25200 and the anvil 25203 of the end effector 25202 is much smaller than the end effector 25102, if any.

Extreme differences between the distal end of the staple cartridge and the distal end of the anvil can result in damage to the trocar when the end effector is inserted through the trocar. With reference to FIG. 92, the end effector 25810 includes a distal end 25802, an anvil 25820, and a staple cartridge 25830. The staple cartridge 25830 has a blunt, shortened nose 25840 similar to the shortened nose 25250 on the staple cartridge 25200 of FIG. As seen in FIGS. 92 and 93, anvil 25820 has a protective tip 25822 thereon. The protective tip 25822 is sized and positioned on the anvil 25820 in such a way that the length of the anvil 25820 is shorter than the staple cartridge 25830. Thus, the shortened nose 25840 of staple cartridge 25830 extends distally to anvil 25820. The protective tip 25822 may be integrally formed (molded, machined, etc.) on the distal end 25802 of the anvil 25820, or may include a separate piece configured to receive a complementary portion of the anvil. A more extensive discussion of protective tips can be found in US Patent Application Publication No. 2008/0169328, entitled "IMPROVED BUTTRESS MATERIAL FOR USE WITH A SURGICAL STAPLER," the entire disclosure of which is incorporated herein by reference. it can.

As seen in FIGS. 92 and 93, the protective tip 25822 of the anvil 25820 and the first curved or beveled outer surface 25824 and the second outer surface 25824 configured to form a stubby distal end on the anvil 25820. It has a curved or sloped outer surface 25826. The first angled outer surface 25824 extends downwardly from the upper surface 25828 of the anvil 25820 at a first angle φ. The second angled outer surface 25826 extends downwardly from the first angled outer surface 25824 toward the staple cartridge 25830 at a second angle θ. The second angle θ is larger than the first angle φ. For example, various embodiments are envisioned where the angle θ is approximately 90 degrees. It is envisioned that other embodiments of protective tip 25822 have only either first angled outer surface 25824 or second angled outer surface 25826. The first angled outer surface 25824 serves to deflect the centering ring of the trocar seal assembly during insertion of the end effector 25810 through the trocar. If the second angle θ is further away from 90 degrees and/or if the first and second curved outer surfaces 25824, 25826 are not continuous, the anvil 25820 will provide a trocar seal, as described in detail below. It may penetrate or displace the centering ring of the trocar seal system.

The protective tip can be attached to the anvil in any suitable manner. 94-99 show exemplary embodiments of separately formed protective tips 25922, 26022, and various methods for attaching them to the anvil. As shown in FIGS. 94-96, the distal portion of the anvil 25920 has a mounting member 25927, 25929 configured to retainly mate with a complementary retaining groove 25926, 25928 formed in the protective tip 25922. With mounting features including. More specifically, a central retention groove 25928 is formed in protective tip 25922 to receive central attachment member 25929 of anvil 25920. A pair of side retaining grooves 25296 are formed in the protective tip 25922 to receive a pair of corresponding side mounting members 25927 on the anvil 25920. 96 is a cross-sectional view of the anvil 25920 of FIG. 94 taken along line 96-96 of FIG. 95 in an exploded configuration showing the alignment of the retaining grooves 25926, 25928 and their respective mounting members 25927, 25929. An elongated slot 25994 extends longitudinally from the proximal end 25904 of the anvil 25920 to the distal end 25902 of the anvil 25920. The elongated slot 25994 is configured to receive a portion of the firing assembly discussed herein.

In addition to, or in the alternative, rivets 25924 may be used to secure protective tip 25922 to anvil 25920. As shown in FIG. 96, the through hole 25925 extends through the central retention groove 25928 of the protective tip 25922. Through hole 25925 also extends through central mounting member 25929 of anvil 25920 to align through hole 25925 and facilitate insertion of rivet 25924 when protective tip 25922 is mounted on anvil 25920. 95 is a cross-sectional view of the anvil 25920 of FIG. 94 taken along line 95-95 of FIG. 94 in an exploded configuration showing a rivet assembly for releasably securing the protective tip 25922 to the anvil 25920. In addition to, or in the alternative, the protective tip 25922 may include an adhesive such as, for example, a cyanoacrylate, a photocurable acrylic, polyurethane, silicone, epoxy, and/or a UV curable adhesive such as HENKEL LOCITE®. May be fixed to the anvil 25920 by. In any event, a combination attachment member and retention groove may be provided on anvil 25920 and protective tip 25922. Still other forms of attachment and attachment configurations can be used to attach the protective tip 25922 to the anvil 25920.

97-99 show another embodiment of a tip mount configuration. The distal portion of anvil 26020 includes a mounting member 26027 configured to retainably mate with a complementary retaining groove 26026 defined in protective tip 26022. Additionally, the central retention groove 26028 defined within the protective tip 26022 is configured to receive the central mounting member 26029 of the anvil 26020. 98 is a cross-sectional view of the anvil 26020 of FIG. 97 taken along the line 98-98 of FIG. 97 in an exploded configuration showing the alignment of the retaining grooves 26026, 26028 and their respective mounting members 26027, 26029. 99 is a cross-sectional view of the anvil 26020 of FIG. 97 taken along line 99-99 of FIG. 97 in the assembled configuration. The protective tip 26022 is secured to the anvil 26020 using a compression fit. The central attachment member 26029 is press fit into the central retention groove 26028 and remains in place due to the geometry of the central retention groove 26028. The central mounting member 26029 of the anvil 26020 of FIG. 98 has a trapezoidal shape that is mimicked by the central retention groove 26028. An elongated slot 26094 extends longitudinally from the proximal end 26004 of the anvil 26020 toward the distal end 26002 of the anvil 26020. The elongated slot 26094 is configured to receive a portion of the firing assembly discussed herein.

In addition to, or in the alternative to, the protective tip 26022 may include, for example, a cyanoacrylate, a photocurable acrylic, a polyurethane, a silicone, an epoxy, and/or an adhesive such as a UV curable adhesive such as HENKEL LOCITE®. It may be fixed to the anvil 26020 by an agent. In various embodiments, a combination attachment member and retention groove may be provided on the anvil 26020 and the protective tip 26022. Still other forms of attachment and attachment configurations can be used to attach the protective tip 26022 to the anvil 26020. 97-99 further illustrate means for assisting the user in attaching protective tip 26022 to anvil 26020. FIG. 97 shows a protective tip 26022 removably disposed within the temporary holder 26030. To releasably attach the protective tip 26022 to the anvil 26020, the user pushes the temporary holder 26030 and the anvil 26020 together. The temporary holder 26030 may provide an additional sterile barrier to the protective tip 26022 while the protective tip 26022 is attached to the anvil 26020. In addition, the temporary holder 26030 may provide the user with a more substantial object to hold as the protective tip 26022 is attached to the anvil 26020 because the protective tip 26022 may be smaller in size. It is envisioned that temporary holder 26030 may be used across various embodiments of protective tips, including other embodiments disclosed herein.

Various protective anvil tips are described and illustrated herein for use in connection with linear end effectors. However, the protective anvil tip described herein may be used in connection with a variety of different end effector configurations such as curved end effectors and other types of end effector without departing from the spirit and scope of the present disclosure. Those skilled in the art will readily understand. Therefore, the protective tip described above should not be limited to use only in connection with linear end effectors and/or staplers.

100-106 illustrate exemplary practical applications of various end effectors described herein when inserted through a trocar seal system prior to being introduced at a surgical site. The trocar seal system 27040 of FIGS. 100-106 comprises a housing 27042 configured to support a floating seal assembly 27050 and a central opening 27044 configured to receive a surgical instrument. Floating seal assembly 27050 includes a first shield door 27052 and a second shield door 27054 that work together to prevent gas from escaping the insufflated body cavity of a patient during a surgical procedure. Floating seal assembly 27050 further comprises a centering ring 27058 configured to guide the surgical instrument through central opening 27044 of trocar seal system 27040. The floating seal assembly 27050 is attached to the housing 27042 of the trocar seal system 27040 via an annular elastic member 27056.

100 shows an end effector 27000 with an anvil 27010 and staple cartridge 27020. Staple cartridge 27020 comprises a blunt, shortened nose 27022, similar to shortened nose 25250 depicted in staple cartridge 25200 of FIG. The distal end 27202 of anvil 27010 is sharp and does not have a protective tip as shown in FIG. As shown in FIG. 100, anvil 27010 is shorter in length than staple cartridge 27020. In other words, the shortened nose 27022 of the staple cartridge 27020 extends longitudinally beyond the distal end 27002 of the anvil 27010. Prior to inserting the end effector 27000 through the trocar seal system 27040, the first shield door 27052 and the second shield door 27054 extend inwardly to prevent gas from escaping the surgical site. 101 illustrates the end effector 27000 of FIG. 100 partially inserted into the trocar seal system 27040. The shortened nose 27022 of the staple cartridge 27020 is the first component of the end effector 27000 and contacts the first and second shield doors 27052,27054 of the trocar seal system 27040 and tilts the floating seal assembly 27050 to one side. .. Due to its rounded tip, the shortened nose 27022 does not damage the second shield door 27054 when subjected to force.

102 illustrates the end effector 27000 of FIGS. 100 and 101 when the end effector 27000 is further introduced into the central opening 27044 of the trocar seal system 27040. After the shortened staple cartridge nose 27022 first contacts the trocar seal system 27040, the pointed distal end 27002 of the anvil 27010 contacts the first shield door 27052 of the trocar seal system 27040. In various examples, the pointed distal end 27002 of the anvil 27010 is because the contact between the shortened nose 27022 and the second shield door 27054 has already laterally shifted the position of the floating seal assembly 27050. It is possible to break the first shield door 27052 of the trocar seal system 27040. If the distal end 27002 of the anvil 27010 was provided with a protective tip 27012 similar to the protective tip 25822 shown in FIG. 92, as shown in FIG. 103, then the risk of breaking the first shield door 27052 would have been reduced. Let's do it. The use of the protective tip 27012 on the anvil 27010 reduces the risk of rupture because the first shield door 27052 extends smoothly around the protective tip 27012. Further, the same length of cartridge and anvil reduces or prevents pre-shifting of the floating seal assembly.

FIG. 104 depicts an end effector 27100 with an anvil 27110 and a staple cartridge 27120. Staple cartridge 27120 includes a pointed elongated nose 27122 similar to elongated nose 25150 depicted in staple cartridge 25100 of FIG. The distal end 27102 of the anvil 27110 is sharp and does not have a protective tip as shown in FIG. The anvil 27110 is shorter than the staple cartridge 27120. In other words, the elongated nose 27122 of the staple cartridge 27120 extends longitudinally beyond the distal end 27102 of the anvil 27110. Prior to inserting the end effector 27100 through the trocar seal system 27040, the first shield door 27052 and the second shield door 27054 of the trocar seal system 27040 extend inwardly to prevent gas from escaping the surgical site. 105 illustrates the end effector 27100 of FIG. 104 when the end effector 27100 is first inserted into the trocar seal system 27040. The elongate nose 27122 of the staple cartridge 27120 is the first component of the end effector 27100 and contacts the first and second shield doors 27052, 27054 of the trocar seal system 27040 to secure the floating seal assembly 27050, as described above. Tilt to one side or pre-shift.

106 shows the end effector 27100 of FIGS. 104 and 105 when the end effector 27100 is further introduced into the central opening 27044 of the trocar seal system 27040. After the initial contact of the elongated nose 27122 of the staple cartridge 27120, the pointed distal end 27102 of the anvil 27110 contacts the first shield door 27052 of the trocar seal system 27040. In various examples, the contact between the elongated nose 27122 and the second shield door 27054 displaces the position of the floating seal assembly 27050 so that the sharpened distal end 27102 of the anvil 27110 causes the first end of the trocar seal system 27040 to move. Shield 27052 may be ruptured.

As described herein, the first staple cartridge can include a first cartridge length and the second staple cartridge can include a second cartridge length that is different than the first cartridge length. .. In various examples, the end effector of the surgical stapling instrument can include a cartridge jaw configured to receive a first staple cartridge and, alternatively, a second staple cartridge. Stated differently, the cartridge jaws are configured to receive the first staple cartridge and the second staple cartridge, but not simultaneously. The first staple cartridge and the second staple cartridge each include a proximal end that is aligned with the proximal cartridge jaw reference surface when positioned within the cartridge jaws. For example, if the length of the first cartridge is greater than the length of the second cartridge, the distal end of the first staple cartridge may be more proximal than the distal end of the second staple cartridge from the proximal cartridge jaw reference surface. It is placed further away. The reader should understand that the second cartridge length may be longer than the first cartridge length in other cases.

In addition to the above, the end effector includes an anvil jaw movable relative to the cartridge jaws between an open or unclamped position and a closed or clamped position. In an alternative embodiment, the cartridge jaws are moveable with respect to the anvil jaws. In either case, the anvil jaw includes a distal anvil end supported by the first staple cartridge and the second staple cartridge, depending on which staple cartridge is located in the cartridge jaw. The distal anvil end is supported in a first position on the first cartridge jaw and a second position on the second cartridge jaw. In various examples, the first position and the second position may not be the same distance from the proximal cartridge jaw reference plane. However, in some cases they may be the same distance from the proximal cartridge jaw reference. Further, in various examples, the first position is located at a first distance from the distal end of the first staple cartridge and the second position is located at a first distance from the distal end of the second staple cartridge. Located at two or different distances. In use, the patient's tissue is placed between the anvil jaw and the cartridge jaw, yet the support position of the staple cartridge still supports the anvil jaw or a clamp load applied by the anvil jaw.

In various cases, in addition to the above, the distal anvil end extends beyond the distal end of the first staple cartridge when the end effector is in the clamped configuration and the first staple cartridge is positioned in the cartridge jaws. The distal effector can be extended distally and, likewise, when the end effector is in the clamped configuration and the second staple cartridge is located in the cartridge jaws, the distal anvil end is the distal staple of the second staple cartridge. It can extend distally beyond the distal end. However, in various cases, if the length of the first cartridge is longer than the length of the second cartridge, the distal anvil tip may extend distally beyond the distal end of the second staple cartridge, It cannot extend distally beyond the distal end of the first staple cartridge. In such a case, the anvil jaw is longer than the second staple cartridge when the second staple cartridge is placed in the cartridge jaws, and the first staple cartridge is longer than the first staple cartridge when the first staple cartridge is placed in the cartridge jaws. Can be shorter. In some examples, the anvil jaw is the same length as the first staple cartridge or the second staple cartridge.

In addition to the above, the anvil jaws flex when moved to the clamped position. Due to the different cartridge lengths of the staple cartridges, the deflection of the anvil jaws may differ depending on which staple cartridge is located in the cartridge jaws. As a result, the staple forming gap between the anvil jaw and the staple driver of the first cartridge jaw may be different than the staple forming gap between the anvil jaw and the staple driver of the second cartridge jaw. In some cases, the difference in the stapling gap is negligible, and the staples ejected from the first staple cartridge and the second staple cartridge are formed at the same, or at least appropriate height, between the anvil jaws and the cartridge jaws. Fully staple the captured tissue. In such cases, the unformed height of the staples in the first staple cartridge may be the same as the unformed height of the staples in the second staple cartridge. In another example, the unformed height of staples in the first staple cartridge is different from the unformed height of staples in the second staple cartridge. In such cases, higher staples may be used with the first staple cartridge depending, for example, on the expected deflection and/or orientation of the anvil jaws when clamped against the first and second staple cartridges. , Shorter staples can be used in the second staple cartridge. In at least one such example, each staple of the first staple cartridge has an unformed height in a first unformed height range and each staple of the second staple cartridge has a second formed height. Has an unformed height in the unformed height range. In some cases, the first unformed height range is completely different from the second unformed height range, while in other cases the first unformed height range is in the second unformed height range. Partially overlaps the height range.

As described above, the first staple cartridge and the second staple cartridge are selectively disposed on the cartridge jaws of the end effector, and in addition to the above, when the staple cartridges are disposed on the cartridge jaws, the cartridge jaws are , A bottom support or surface configured to support the staple cartridge. Such a support can include a vertical reference plane. In various cases, the first support position on the first staple cartridge and the second support position on the second staple cartridge described above are at the same vertical distance from the vertical reference plane of the cartridge jaws. The vertical distance is measured orthogonally from the vertical reference plane, but can be measured in any suitable manner. In another example, the first support position on the first staple cartridge has a different vertical height than the second support position on the second staple cartridge. In such a case, the orientation and/or deflection of the anvil jaw when the anvil jaw is in its clamped position may be different as a result of the first and second support positions having different vertical heights. Such different vertical heights may occur when the distal end or nose of the first staple cartridge differs from the distal end of the second staple cartridge, among other reasons.

Many of the surgical instrument systems described herein are driven by electric motors. The surgical instrument system described herein can operate in any suitable manner. In various cases, the surgical instrument system described herein can be operated by, for example, a manually operated trigger. In certain examples, the motors disclosed herein may comprise part of a robot control system. Further, any of the end effector and/or tool assemblies disclosed herein can be utilized with robotic surgical instrument systems. U.S. patent application Ser. No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", current U.S. Patent Application Publication No. 2012/0298719, is, for example, some examples of robotic surgical instrument systems. Are disclosed in more detail.

The surgical instrument system described herein has been described in relation to staple deployment and deformation. The embodiments described herein are not so limited. Various embodiments are contemplated for deploying fastening elements other than staples, such as clamps or tacks. Further, various embodiments are contemplated that utilize any suitable means for sealing tissue. For example, the end effector according to various embodiments can include an electrode configured to heat and seal tissue. Also, for example, the end effector according to certain embodiments can apply vibrational energy to seal the tissue.

Example 1-Surgical instrument including an end effector. The end effector includes a cartridge jaw and an anvil jaw, one of the cartridge jaw and the anvil jaw being rotatable with respect to the other about a closure axis. The surgical instrument further comprises a shaft comprising a frame defining a longitudinal shaft axis and a closure actuator, the closure actuator being translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion and a link. The link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The proximal and distal link axes define a longitudinal link axis therebetween. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable in an articulation plane between an unarticulated position and an articulated position, the articulation axis being offset from the longitudinal shaft axis. The longitudinal link axis is not collinear with the longitudinal shaft axis when the end effector is in either the unarticulated or articulated position.

Example 2-The surgical instrument of Example 1, wherein the proximal link axis is located along the longitudinal shaft axis.

Example 3-The surgical instrument of Examples 1 or 2, wherein the cartridge jaws comprise a staple cartridge that includes staples removably stored therein.

Example 4-The surgical instrument of Example 3, wherein the staple cartridge is replaceable.

Example 5-The surgical instrument of Examples 3 or 4, further comprising a different firing actuator separate from the closure actuator, the firing actuator operable to eject staples from the staple cartridge.

Example 6-The surgical instrument of Examples 3, 4 or 5 wherein the longitudinal link axis is not parallel to the longitudinal shaft axis when the end effector is in either the unarticulated or articulated position.

Example 7-The surgical instrument of Example 3, 4 or 5 wherein the end effector further comprises a longitudinal end effector axis. The longitudinal end effector axis is collinear with the longitudinal shaft axis when the end effector is in the unarticulated position. The end effector further comprises a distal end disposed along the longitudinal end effector axis, the distal link axis proximate the distal end when the end effector is in either the unarticulated position or the articulated position. Offset with respect to an axis extending between the link shafts.

Example 8-Surgical instrument including an end effector. The end effector comprises a longitudinal end effector axis, a distal end disposed along the end effector axis, a cartridge jaw and an anvil jaw, one of the cartridge jaw and the anvil jaw being centered about a closure axis with respect to the other. It is rotatable. The surgical instrument further comprises a shaft that includes a frame that defines a longitudinal shaft axis and a closure actuator, and is translatable with respect to the frame. The closure actuator includes a proximal portion, a distal portion and a link. The link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable in an articulation plane between an unarticulated position and an articulated position, the articulation axis being offset from the longitudinal shaft axis. The longitudinal end effector axis is aligned with the longitudinal shaft axis when the end effector is in the unarticulated position. When the end effector is in either the unarticulated or articulated position, the distal link axis is offset with respect to the axis extending between the distal end of the end effector and the proximal link axis.

Example 9-The surgical instrument of Example 8, wherein the proximal and distal link axes define a longitudinal link axis. The longitudinal link axis is not collinear with the longitudinal shaft axis when the end effector is in either the unarticulated position or the articulated position.

Example 10-The surgical instrument of Example 9 wherein the longitudinal link axis is not parallel to the longitudinal shaft axis when the end effector is in either the unarticulated position or the articulated position.

Example 11-The surgical instrument of Examples 8, 9 or 10 wherein the proximal link axis is located along the longitudinal shaft axis.

Example 12-The surgical instrument of Examples 8, 9, 10 or 11 wherein the cartridge jaws comprise a staple cartridge including staples removably stored therein.

Example 13-The surgical instrument of Example 12, wherein the staple cartridge is replaceable.

Example 14-The surgical instrument of Example 12 or 13, further comprising a different firing actuator separate from the closure actuator, the firing actuator being operable to eject staples from the staple cartridge.

Example 15-Surgical instrument including an end effector. The end effector comprises a longitudinal end effector axis, a distal end disposed along the end effector axis, a first jaw and a second jaw, one of the first jaw and the second jaw being in an open position. And a closed position relative to the other. The surgical instrument further comprises a shaft that includes a frame that defines a longitudinal shaft axis and a closure actuator, and is translatable with respect to the frame. The closure actuator includes a proximal portion, a distal portion and a link. The link is rotatably connected to the proximal portion about the proximal link axis and to the distal portion about the distal link axis. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about an articulation axis defined by the articulation joint. The end effector is articulatable between a non-articulated position and an articulated position, the articulation axis being transverse to the longitudinal shaft axis. The longitudinal end effector axis is aligned with the longitudinal shaft axis when the end effector is in the unarticulated position. The distal link axis extends between the distal end of the end effector and the proximal link axis when the first jaw is in the open position, the closed position, and any position between the open and closed positions. Arranged laterally with respect to.

Example 16-The surgical instrument of Example 15, wherein the proximal and distal link axes define a longitudinal link axis. Regardless of whether the end effector is in the unarticulated or articulated position, the longitudinal link axis is not aligned with the longitudinal shaft axis when the first jaw is in the closed position.

Example 17-The longitudinal link axis is not parallel to the longitudinal shaft axis when the first jaw is in the closed position regardless of whether the end effector is in the unarticulated or articulated position. The surgical instrument according to Example 15 or 16.

Example 18-The surgical instrument of Examples 15, 16 or 17, wherein the proximal link axis is located along the longitudinal shaft axis.

Example 19-The surgical instrument of Examples 15, 16, 17 or 18 wherein the first jaw comprises a staple cartridge containing staples removably stored therein.

Example 20-The surgical instrument of Example 19, wherein the staple cartridge is replaceable.

Example 21-The surgical instrument of Examples 19 or 20, further comprising a different firing actuator separate from the closure actuator, the firing actuator being operable to eject staples from the staple cartridge.

Example 22-A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: It is arranged laterally offset with respect to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame in the attached position, the articulation drive moving to a proximal position to rotate the end effector to a first full articulation position and distally. Move to the position to rotate the end effector to the second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. A lateral moment arm is defined between the mounting position and the fixed articulation axis, the lateral moment arm being orthogonal to the longitudinal axis. The surgical instrument is configured to maximize the ratio of lateral moment arms to articulation stroke length.

Example 23-The surgical instrument of Example 22, wherein the end effector is positionable in a non-articulated position aligned with the longitudinal axis. When the end effector moves from the unarticulated position to the first fully articulated position, the end effector is moved over the first arc length. When the end effector moves from the unarticulated position to the second fully articulated position, the end effector is moved over the second arc length.

Example 24-The surgical instrument of Example 23, wherein the first arc length is equal to the second arc length.

Example 25-The surgical instrument of Example 23, wherein the first arc length and the second arc length are different.

Example 26-The surgical instrument of Examples 22, 23, 24 or 25 wherein the ratio is between 1.1 and 1.4.

Example 27-Examples 22, 23, 24, 25 wherein the mounting position moves over the articulating arc length as the end effector moves between the first and second fully articulating positions. Or the surgical instrument according to 26.

Example 28-The surgical instrument of Example 27 configured to maximize articulation ratio including articulation arc length to articulation stroke length.

Example 29-The surgical instrument of Example 28, wherein the articulation ratio is between 1.2 and 1.7.

Example 30-The surgical instrument of Example 27, 28 or 29 configured to maximize the ratio including the product of articulation arc length and lateral moment arm to articulation stroke length.

Example 31-The surgical instrument of Example 30, wherein the ratio is between 1 and 3.

Example 32-The surgery of Examples 22, 23, 24, 25, 26, 27, 28, 29, 30 or 31 wherein the end effector further comprises a staple cartridge that includes staples removably stored therein. Equipment.

Example 33-The surgical instrument of Example 32, wherein the staple cartridge is replaceable.

Example 34-A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: It is arranged laterally offset with respect to the longitudinal axis. The surgical instrument further includes an articulation drive coupled to the end effector frame in the mounted position. The joint drive moves to a proximal position to rotate the end effector to a first full articulation position and to a distal position to rotate the end effector to a second full articulation position. The proximal and distal positions define the articulation stroke of the articulation drive. The articulation stroke has an articulation stroke length and a lateral moment arm is defined between the mounting position and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis. The surgical instrument is configured to have a lateral moment arm to articulation stroke length ratio of greater than one.

Example 35-The surgical instrument of Example 34, wherein the ratio is between 1.1 and 1.4.

Example 36-Surgery according to Example 34 or 35, wherein the attachment position moves over the articulating arc length as the end effector moves between the first and second full articulation positions. Equipment.

Example 37-The surgical instrument of Example 36 configured to maximize the articulation ratio including articulation arc length to articulation stroke length.

Example 38-The surgical instrument of Example 37, wherein the articulation ratio is between 1.2 and 1.7.

Example 39-The surgical instrument of Example 36 configured to maximize the ratio including the product of articulation arc length and lateral moment arm to articulation stroke length.

Example 40-The surgical instrument of Example 39, wherein the articulation ratio is between 1 and 3.

Example 41-The surgical instrument of Examples 34, 35, 36, 37, 38, 39 or 40, wherein the end effector further comprises a staple cartridge that includes staples removably stored therein.

Example 42-The surgical instrument of Example 41, wherein the staple cartridge is replaceable.

Example 43-A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: It is arranged laterally offset with respect to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame in the attached position, the articulation drive moving to a proximal position to rotate the end effector to a first full articulation position and distally. Move to the position to rotate the end effector to the second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. The mounting position moves over the articulation arc length as the end effector moves between the first and second full articulation positions. A lateral moment arm is defined between the mounting position and the fixed articulation axis, the lateral moment arm being orthogonal to the longitudinal axis. The surgical instrument is configured such that the ratio of the product of the lateral moment arm and the articulation arc length to the articulation stroke length is greater than one.

Example 44-A surgical instrument including a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: It is arranged laterally offset with respect to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame in the attached position, the articulation drive moving to a proximal position to rotate the end effector to a first full articulation position and distally. Move to the position to rotate the end effector to the second fully articulated position. The proximal and distal positions define an articulation stroke of the articulation drive, the articulation stroke having an articulation stroke length. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The surgical instrument further includes means for increasing the lateral moment arm while limiting the articulation stroke.

Example 45-A shaft comprising a proximal end, a distal end, a longitudinal axis extending between the proximal and distal ends, and an outer housing including a shaft radius defined relative to the longitudinal axis. Surgical instruments. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis comprising: It is arranged laterally offset with respect to the longitudinal axis. The surgical instrument further comprises an articulation drive coupled to the end effector frame in the installed position, the articulation drive being proximally movable to rotate the end effector in a first direction, the articulation drive being distal. Movable to rotate the end effector in a second direction opposite the first direction. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The transverse moment arm is orthogonal to the longitudinal axis and the ratio of shaft radius to transverse moment arm is less than 1.4.

Example 46-The surgical instrument of Example 45, wherein the ratio is less than 1.3.

Example 47-The surgical instrument of Example 45, wherein the ratio is less than 1.2.

Example 48-The surgical instrument of Example 45, wherein the ratio is less than 1.1.

Example 49-The end effector is rotatable a first distance in a first direction and a second distance in a second direction, the first distance and the second distance being equal, Example 45, The surgical instrument according to 46, 47 or 48.

Example 50-The end effector is rotatable in a first direction over a first range and in a second direction over a second range, the first range and the second range being unequal, Example 45. 46, 47 or 48.

Example 51-The surgical instrument of Examples 45, 46, 47, 48, 49 or 50 further comprising a staple cartridge that includes staples removably stored therein.

Example 52-The surgical instrument of Example 51, wherein the staple cartridge is replaceable.

Example 53-The surgical instrument of Examples 45, 46, 47, 48, 49, 50, 51 or 52, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.

Example 54-The surgical instrument of Example 53, wherein the shaft includes a shaft frame extending through the inner opening and the end effector frame is rotatably coupled to the shaft frame.

Example 55-A shaft includes a first longitudinal portion and a second longitudinal portion, and a shaft radius of the outer housing is a first shaft radius in the first longitudinal portion and a first shaft portion in the second longitudinal portion. The surgical instrument of Examples 45, 46, 47, 48, 49, 50, 51, 52, 53 or 54 including two shaft radii, wherein the first shaft radius is different than the second shaft radius. ..

Example 56-A shaft comprising a proximal end, a distal end, a longitudinal axis extending between the proximal and distal ends, and an outer housing including a shaft radius defined relative to the longitudinal axis. Shaft assembly. The shaft assembly further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis being longitudinal. It is arranged laterally offset with respect to the direction axis. The shaft assembly further includes an articulation drive coupled to the end effector frame in the mounted position. The articulation drive is proximally displaceable to rotate the end effector in a first direction and the articulation drive is distally displaceable to rotate the end effector in a second direction opposite the first direction. A lateral moment arm is defined between the mounting position and the fixed articulation axis. The transverse moment arm is orthogonal to the longitudinal axis and the shaft assembly is configured to have a minimum ratio of shaft radius to transverse moment arm.

Example 57-The shaft assembly of Example 56, wherein the ratio is less than 1.4.

Example 58-The shaft assembly of Example 56 with a ratio of less than 1.1.

Example 59-The shaft assembly of Example 56, 57 or 58 further comprising a staple cartridge that includes staples removably stored therein.

Example 60-The shaft assembly of Example 59 with interchangeable staple cartridges.

Example 61-A shaft assembly according to Example 56, 57, 58, 59 or 60, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.

Example 62-A shaft assembly according to Example 56, 57, 58, 59, 60 or 61, wherein the shaft comprises a first longitudinal portion and a second longitudinal portion. The outer housing shaft radius includes a first shaft radius in the first longitudinal portion and a second shaft radius in the second longitudinal portion. The first shaft radius is different than the second shaft radius.

Example 63-Surgical instrument including a shaft including an outer housing including a shaft radius. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about the articulation pivot, the articulation pivot defining an articulation axis, the articulation axis of the shaft. It is arranged laterally offset with respect to the center line. The surgical instrument further includes an articulation drive coupled to the end effector frame in the mounted position. The articulation drive is proximally moveable to rotate the end effector in a first direction to a first full articulation position, and the articulation drive is distally moveable to move the end effector in a second direction to a second direction. Rotate to full articulation position. A lateral moment arm is defined between the mounting position and the articulation axis. The transverse moment arm is orthogonal to the centerline of the shaft and the ratio of the shaft radius to the transverse moment arm is between 1 and 1.4.

Example 64-A surgical instrument including a shaft and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, one of the first jaw and the second jaw having a staple removably stored therein. A staple cartridge including. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes an articulation rod operably connected to the end effector. The articulation rod is displaceable distally to rotate the end effector in a first direction and the articulation rod is displaceable proximally to rotate the end effector in a second direction. The surgical instrument further comprises a closure tube configured to engage the first jaw during the closing stroke and move the first jaw toward the closed position, the closure tube articulating during the closing stroke. It can slide on the joint. The surgical instrument further comprises a staple firing assembly. The staple firing assembly comprises a cutting member movable through an end effector during a staple firing stroke, and a firing bar attached to the cutting member, the firing bar comprising a plurality of flexible layers, the firing bar comprising an articulated bar. Extends through the joint. The staple firing assembly further comprises a support disposed within the flexible layer, the support disposed proximal to the articulation joint. The staple firing system further comprises a plurality of control elements, each control element comprising an opening defined therein. The firing bar extends through the opening. The control element is configured to hold the flexible layers together.

Example 65-The surgical instrument of Example 64, wherein the control element is positioned within the articulation joint.

Example 66-The surgical instrument of Example 64 or 65, wherein the first jaw comprises a staple cartridge.

Example 67-The surgical instrument of Example 64 or 65, wherein the second jaw comprises a staple cartridge.

Example 68-The surgical instrument of Examples 64, 65, 66 or 67, wherein the cutting member is welded to the firing bar.

Example 69-The surgical instrument of Examples 64, 65, 66, 67 or 68, wherein the control elements are connected to each other.

Example 70-The surgical instrument of Examples 64, 65, 66, 67 or 68, wherein the control elements are not connected to each other.

Example 71-The surgical instrument of Examples 64, 65, 66, 67, 68, 69 or 70, wherein the control elements are not connected to each other.

Example 72-The surgical instrument of Examples 64, 65, 66, 67, 68, 69, 70 or 71 wherein the articulating joint defines a fixed axis of rotation about which the end effector rotates.

Example 73-Surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is moveable with respect to the second jaw between an unclamped position and a clamped position. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation link operably connected to the end effector, the articulation link being distally movable to rotate the end effector in a first direction and the articulation link proximally movable. Rotate the effector in the second direction. The surgical instrument further comprises a clamp member configured to engage the first jaw during the clamp stroke and move the first jaw toward the clamp position, the clamp member articulating during the clamp stroke. It is slidable with respect to the part. The surgical instrument further comprises a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke, and a firing member. The firing member comprises a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to one another. The firing member extends through the articulation joint. The surgical instrument further comprises control elements, each control element comprising an opening defined therein. The firing bar extends through the opening and the control element is configured to hold the flexible layer together.

Example 74-The surgical instrument of Example 73, wherein the control element is positioned within the articulation.

Example 75-The surgical instrument of Examples 73 or 74, wherein the first jaw comprises a staple cartridge.

Example 76-The surgical instrument of Examples 73 or 74, wherein the second jaw comprises a staple cartridge.

Example 77-The surgical instrument of Examples 73, 74, 75 or 76, wherein the cutting member is welded to the firing bar.

Example 78-The surgical instrument of Examples 73, 74, 75, 76 or 77, wherein the control elements are connected to each other.

Example 79-The surgical instrument of Examples 73, 74, 75, 76 or 77, wherein the control elements are connected to each other.

Example 80-The surgical instrument of Examples 73, 74, 75, 76, 77, 78 or 79 wherein the shaft comprises a shaft frame and the support is attached to the shaft frame.

Example 81-A surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is moveable with respect to the second jaw between an unclamped position and a clamped position. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further includes an articulation link operably connected to the end effector. The articulation link is displaceable distally to rotate the end effector in a first direction and the articulation link is displaceable proximally to rotate the end effector in a second direction. The surgical instrument further comprises a clamp member configured to engage the first jaw during the clamp stroke and move the first jaw toward the clamp position. The clamp member is slidable relative to the articulation joint during the clamp stroke. The surgical instrument further comprises a staple firing assembly. The staple firing assembly includes a cutting member and a firing member. The cutting member is moveable through the end effector during the staple firing stroke. The firing member comprises a plurality of flexible layers attached to the cutting member, the flexible layers configured to slide longitudinally relative to one another. The firing member extends through the articulation joint. The staple firing assembly further includes a support disposed between the two flexible layers. The staple firing assembly further includes means for limiting lateral displacement between the flexible layers.

Example 82-The surgical instrument of Example 81, wherein the first jaw comprises a staple cartridge.

Example 83-The surgical instrument of Example 81, wherein the second jaw comprises a staple cartridge.

Example 84-Surgical instrument including a shaft and an end effector. The end effector includes a proximal end, a distal end, and a longitudinal axis extending between the proximal and distal ends, a first jaw and a second jaw. The first jaw is moveable with respect to the second jaw between an unclamped position and a clamped position. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises a staple firing assembly. The staple firing assembly includes a cutting member moveable through an end effector during a staple firing stroke, the cutting member including a first portion configured to engage the first jaw and a second jaw. A second portion configured to engage. The staple firing assembly further comprises a firing member comprising a plurality of flexible layers welded to the cutting member along a weld line. The weld line includes a longitudinal portion and a transverse portion extending orthogonal to the longitudinal portion.

Example 85-The surgical instrument of Example 84, wherein the first jaw comprises a staple cartridge.

Example 86-The surgical instrument of Example 84, wherein the second jaw comprises a staple cartridge.

Example 87-The surgical instrument of Examples 84, 85 or 86, wherein the second jaw comprises a staple cartridge.

Example 88-The surgical instrument of Examples 84, 85, 86 or 87, wherein the firing member comprises a first side and a second side and the weld seam is on the first side and the second side. ..

Example 89-Surgical instrument comprising a shaft including a shaft frame and an end effector. The end effector includes a proximal frame, a distal end, a first jaw, and a second jaw. The first jaw is moveable with respect to the second jaw between an unclamped position and a clamped position. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument wherein the staple firing assembly further comprises a staple firing assembly including a cutting member movable through the end effector during a staple firing stroke. The staple firing assembly further comprises a firing member, the firing member comprising a plurality of flexible layers attached to the cutting member, the firing member extending through the articulation joint. The surgical instrument further comprises a lateral spring support disposed adjacent the firing member. The lateral spring support includes a distal end attached to the proximal frame of the end effector. The lateral spring support further includes a proximal end configured to slide with respect to the shaft frame.

Example 90-The surgical instrument of Example 89, wherein the first jaw comprises a staple cartridge.

Example 91-The surgical instrument of Example 89, wherein the second jaw comprises a staple cartridge.

Example 92-The surgical instrument of Example 89, 90 or 91, wherein the lateral spring support comprises a first lateral spring support disposed along a first side of the firing member. The surgical instrument further comprises a second lateral spring support disposed along the second side of the firing member.

Example 93-A surgical instrument including a shaft and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, one of the first jaw and the second jaw having a staple removably stored therein. A staple cartridge including. The surgical instrument further comprises an articulation joint, and the end effector is rotatably connected to the shaft about the articulation joint. The surgical instrument further comprises an articulation rod operably connected to the end effector, the articulation rod being distally movable to rotate the end effector in a first direction and the articulation rod proximally movable. Rotate the effector in the second direction. The surgical instrument further comprises a firing bar comprising a plurality of flexible layers, the firing bar movable through the articulation joint during a staple firing stroke. The surgical instrument includes a first flexible support disposed on a first side of the firing bar, a second flexible support disposed on a second side of the firing bar, and a plurality of control elements. And each control element includes an opening defined therein. The firing bar extends through the opening and the first flexible support, the second flexible support, and the control element are configured to hold the flexible layers together.

Example 94-The surgical instrument of Example 93, wherein the first flexible support and the second flexible support extend through at least some of the control element openings.

Example 95-A surgical instrument including an end effector including a proximal end and a distal end. The surgical instrument further includes a shaft. The shaft comprises a frame and a locking plate movable relative to the frame, the locking plate comprising a first longitudinal rack of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator being distally displaceable to rotate the end effector in a first direction and proximally displaceable to move the end effector to a first end effector. Rotate in direction 2. The articulation actuator comprises a second longitudinal rack of locking teeth. The shaft further includes an articulation lock that includes a third longitudinal rack of locking teeth. The articulation lock engages an unlocked position in which the articulation actuator is movable with respect to the frame, and a third longitudinal rack of locking teeth with a first longitudinal rack of locking teeth and a second longitudinal rack of locking teeth. And can be placed in a locked position that prevents proximal and distal movement of the articulation actuator.

Example 96-The surgical instrument of Example 95, wherein a first longitudinal rack of locking teeth is defined in a first plane and a second longitudinal rack of locking teeth is defined in a second plane. .. The first plane and the second plane are different.

Example 97-The surgical instrument of Example 95 or 96, wherein the lock plate is slidable relative to the frame.

Example 98-The surgical instrument of Examples 95, 96, or 97, wherein the frame comprises a recess and the locking plate is located within the recess. The recess includes a proximal end wall configured to limit proximal movement of the lock plate within the recess. The recess further comprises a distal end wall configured to limit distal movement of the lock plate within the recess.

Example 99-The surgical instrument of Example 98, further comprising a biasing member disposed between the proximal end wall and the lock plate.

Example 100-The surgical instrument of Example 98, further comprising a biasing member disposed between the distal end wall and the lock plate.

Example 101-Example 95, wherein the end effector comprises a first jaw and a second jaw, the first jaw being movable relative to the second jaw between an open position and a closed position. , 96, 97, 98, 99 or 100. The surgical instrument further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the joint lock and hold the joint lock in the locked position during the closing stroke.

Example 102-The surgical instrument of Example 101, wherein the shaft defines a longitudinal axis. The frame includes a flexible portion and the closure member is configured to push the locking plate against the flexible portion, causing the flexible portion to flex transverse to the longitudinal axis.

Example 103-The surgical instrument of Example 102, wherein the flexible portion includes a lateral sidewall and a cavity defined behind the lateral sidewall. The lateral sidewall is configured to bend into the cavity.

Example 104-Surgical according to Example 95, 96, 97, 98, 99, 100, 101, 102 or 103, wherein the articulation lock is biased to engage the lock plate and articulation actuator. Equipment.

Example 105-The surgical instrument of 95, 96, 97, 98, 99, 100, 101, 102, 103 or 104, wherein the end effector further comprises a staple cartridge that includes staples removably stored therein. ..

Example 106-The surgical instrument of Example 105, wherein the staple cartridge is replaceable.

Example 107-The surgical instrument of Example 105 or 106, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The first jaw comprises a staple cartridge.

Example 108-The surgical instrument of Example 105 or 106, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The second jaw comprises a staple cartridge.

Example 109-Examples 95-96, 97, 98, 99, 100, 101, 102, 103, 104, 105, wherein the first longitudinal rack of locking teeth comprises teeth spaced at a first pitch. The surgical instrument according to 106, 107 or 108. The second longitudinal rack of locking teeth comprises teeth spaced at a second pitch, the second pitch being different than the first pitch. The third longitudinal rack of locking teeth comprises teeth spaced at a third pitch, the third pitch different from the first pitch and the second pitch.

Example 110-Surgical instrument including an end effector and a shaft. The end effector has a proximal end and a distal end. The shaft includes a frame that includes a first longitudinal rack of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector. The articulation actuator is displaceable distally to rotate the end effector in a first direction and the articulation actuator is displaceable proximally to rotate the end effector in a second direction. The articulation actuator comprises a second longitudinal rack of locking teeth. The shaft further includes an articulation lock that includes a third longitudinal rack of locking teeth. The articulation lock comprises an unlocked position in which the articulation actuator is movable relative to the frame, a third longitudinal rack of locking teeth, a first longitudinal rack of locking teeth of the frame and a locking tooth of the articulation actuator. It can be placed in a locked position that engages two longitudinal racks and restrains the proximal and distal movement of the articulation actuator.

Example 111-The surgical instrument of Example 110, wherein the frame includes a slidable lock plate and the first longitudinal rack of lock teeth is defined on the lock plate.

Example 112-The surgical instrument of Example 110 or 111, wherein the end effector comprises a staple cartridge that includes staples removably stored therein.

Example 113-Surgical instrument including an end effector and a shaft. The shaft comprises a frame and an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector. The articulation actuator is movable in a first direction to rotate the end effector in one direction and the articulation actuator is movable in a second direction to rotate the end effector in another direction. The shaft has a first position in which the articulation actuator can move with respect to the frame, and an articulation lock engages the frame and the articulation actuator to move the articulation actuator in first and second directions. Further included is an articulating lock positionable in the limiting second position.

Example 114-The surgical instrument of Example 113, wherein the end effector comprises a staple cartridge that includes staples removably stored therein.

Example 115-Surgical instrument including an end effector head configurable in an unclamped and a clamped configuration. The surgical instrument further includes a shaft. The shaft comprises a frame including a longitudinal axis and an articulation joint, the end effector head being rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector head. The articulation actuator is movable in a first direction to rotate the end effector head in one direction and the articulation actuator is movable in a second direction to rotate the end effector head in another direction. The articulation actuator includes at least one locking protrusion extending transversely to the longitudinal axis. The shaft further includes an articulation lock that includes at least two protrusions extending transversely to the longitudinal axis. The articulation lock is configured to bend laterally with respect to the longitudinal axis to allow articulation of the end effector head. The shaft further comprises a closure member configured to move the end effector head from the unclamped configuration to the clamped configuration during the closing stroke, the closure member providing lateral flexure of the joint lock after the closing stroke. To prevent articulation of the end effector head.

Example 116-A surgical instrument including an end effector including a proximal end, a distal end, a first jaw, and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The surgical instrument further comprises a shaft comprising a frame, the frame comprising a first longitudinal rack of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator being distally displaceable to rotate the end effector in a first direction and proximally displaceable to move the end effector to a first end effector. Rotate in direction 2. The articulation actuator comprises a second longitudinal rack of locking teeth. The shaft further includes an articulation lock that includes a third group of locking teeth. The articulation lock includes a disengaged position in which the third group of locking teeth is not engaged with the frame and the articulation actuator, and the third group of locking teeth includes a first longitudinal rack of locking teeth and a first group of locking teeth. The two longitudinal racks can be engaged and placed in an engagement position that prevents proximal and distal movement of the articulation actuator. The shaft further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

Example 117-The surgical instrument of Example 116, wherein a first longitudinal rack of locking teeth is defined in a first plane. A second longitudinal rack of locking teeth is defined in the second plane. The first plane and the second plane are different.

Example 118-The surgical instrument of 116 or 117, wherein the end effector further comprises a staple cartridge that includes staples removably stored therein.

Example 119-The surgical instrument of Example 118, wherein the staple cartridge is replaceable.

Example 120-The surgical instrument of Example 118 or 119, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The first jaw comprises a staple cartridge.

Example 121-The surgical instrument of Example 118 or 119, wherein the end effector comprises a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The second jaw comprises a staple cartridge.

Example 122-The surgical instrument of Examples 116, 117, 118, 119, 120 or 121, wherein the first longitudinal rack of locking teeth comprises teeth spaced at a first pitch. The second longitudinal rack of locking teeth comprises teeth spaced at a second pitch, the second pitch being different than the first pitch. The third group of locking teeth comprises teeth spaced at a third pitch, the third pitch being different than the first pitch and the second pitch.

Example 123-The surgical instrument of Examples 116, 117, 118, 119, 120, 121 or 122, wherein the shaft defines a longitudinal axis. The joint lock includes a lock plate slidable transverse to the longitudinal axis between the disengaged position and the engaged position. The frame includes a proximal guide post and a distal guide post. The lock plate comprises a proximal lateral slot and a distal lateral slot, the proximal guide post extending into the proximal lateral slot and the distal guide post extending into the distal lateral slot. The proximal guide post and the distal guide post cooperate to define a lateral path of the locking plate.

Example 124-The surgical instrument of Example 123, wherein the lock plate includes a lock slot that includes a sidewall defined therein. The closure member includes a lock driver that extends into the lock slot. The lock driver is configured to engage the side wall during the closing stroke to move the lock plate from the disengaged position to the engaged position.

Example 125-The surgical instrument of Example 124, wherein the closure member is movable via a retract stroke to move the first jaw to an open position. The lock driver is configured to engage one of the side walls of the lock slot to move the lock plate from the engaged position to the engaged and disengaged position during the retract stroke.

Example 126-The surgical instrument of Example 124, wherein the closure member is moveable through an open stroke to move the first jaw to the open position. The lock driver is configured to engage one of the side walls of the lock slot to move the lock plate from the engaged position to the disengaged position during the opening stroke.

Example 127-Surgery according to Example 116, 117, 118, 119, 120, 121, 122, 123, 124, 125 or 126, wherein the articulating lock includes a locking arm that is deflectable into an engaged position by a closure member. Equipment.

Example 128-The joint lock includes a first locking arm and a second locking arm as described in Examples 116, 117, 118, 119, 120, 121, 122, 123, 124, 125 or 126. Equipment. The closure member includes a wedge positionable between the first lock arm and the second lock arm during a closing stroke to cause the articulation lock to flex into an engaged position.

Example 129-The surgical instrument of Example 128, wherein a third group of locking teeth are present on the first and second locking arms.

Example 130-First Lock Arm is Configured to Engage a First Longitudinal Rack of Locking Teeth and Second Lock Arm Arranges to Engage a Second Longitudinal Rack of Locking Teeth And the surgical instrument of example 128 or 129.

Example 131-A surgical instrument including an end effector including a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft comprises a frame and a locking plate movable relative to the frame, the locking plate comprising a first group of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator being configured to rotate the end effector in a first direction and a second direction. The articulation actuator comprises a second group of locking teeth. The shaft further includes an articulation lock that includes a third group of locking teeth. The articulation lock includes a disengaged position in which the third group of lock teeth is not engaged with the lock plate, the frame and the articulation actuator, and the third group of lock teeth is the first group of lock teeth and the lock teeth. The second group can be engaged to be placed in an engagement position that suppresses articulation of the end effector. The shaft further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

Example 132-The surgical instrument of Example 131, wherein the end effector further comprises a staple cartridge that includes staples removably stored therein.

Example 133-A surgical instrument including an end effector including a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame, the frame including a first group of locking teeth. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator being configured to rotate the end effector in a first direction and a second direction. The shaft further includes an articulation lock that includes a gear that includes a second group of teeth in meshing engagement with the first group of teeth, the gear being rotatably mounted to the frame. The shaft further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the gear during the closing stroke to prevent articulation of the end effector.

Example 134-The surgical instrument of Example 133, wherein the end effector further comprises a staple cartridge that includes staples removably stored therein.

Example 135-Surgical instrument including an end effector including a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft comprises a frame and a lock plate movable relative to the frame, the lock plate comprising a first group of interlocking functions. The shaft further comprises an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator being configured to rotate the end effector in a first direction and a second direction. The articulation actuator includes a second group of interlocking functions. The shaft further comprises an articulation lock with a third group of coupling features, the articulation lock having a disengaged position in which the third group of coupling features does not engage the lock plate and the articulation actuator, and a third of the coupling features. The group can be disposed in an engagement position that engages the first group of coupling features and the second group of coupling features to inhibit articulation of the end effector. The shaft further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

Example 136-A surgical instrument including an end effector including a first jaw and a second jaw. The second jaw is movable with respect to the first jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame, a grounding member movable relative to the frame, and an articulation joint, and the end effector is rotatably connected to the shaft by the articulation joint. The shaft further comprises an articulation actuator operably connected to the end effector, the articulation actuator being configured to rotate the end effector in a first direction and a second direction. The shaft has an engagement position where the joint lock is not engaged with the ground contact member and the articulation actuator, and an engagement position where the joint lock engages with the ground contact member and the articulation actuator to suppress the joint motion of the end effector. Further provided is a positionable joint lock. The shaft further comprises a closure member configured to move the first jaw toward the closed position during the closing stroke. The closure member is configured to engage the articulation lock during the closing stroke and move the articulation lock from the disengaged position to the engaged position.

Example 137-Surgical Instrument Insertable Through Trocar. The surgical instrument includes a handle and a shaft extending from the handle. The shaft comprises a frame, a proximal portion connected to the handle, a distal portion including an end effector, and an articulation joint, the end effector rotatable about the articulation joint. The shaft further comprises an articulation actuator operably coupled to the end effector, the articulation actuator being selectively movable to rotate the end effector in a first direction and a second direction. The shaft further includes an outer housing slidable with respect to the frame. The outer housing includes a distal non-round housing portion adjacent the articulation joint and a longitudinal round housing portion extending between the proximal portion and the distal non-round housing portion. The longitudinal round housing portion includes a first diameter. The distal, non-rounded housing portion includes a second diameter. The first diameter is smaller than the second diameter. The distal non-round housing portion and the longitudinal round housing portion are sized and configured to be inserted through the trocar into the surgical site. The shaft further comprises an articulation lock configured to engage the articulation actuator and prevent rotation of the end effector, the articulation lock disposed within the distal, non-rounded housing portion.

Example 138-The surgical instrument of Example 137, wherein the end effector comprises a staple cartridge that includes staples removably stored therein.

Example 139-The surgical instrument of Example 138, wherein the end effector further comprises an anvil configured to deform the staples. The anvil is rotatable with respect to the staple cartridge.

Example 140-The surgical instrument of Example 138, wherein the end effector further comprises an anvil configured to deform the staples and the staple cartridge is rotatable with respect to the anvil.

Example 141-The surgical instrument of Examples 137, 138, 139 or 140, wherein the staple cartridge is replaceable.

Example 142-The surgical instrument of Examples 137, 138, 139, 140 or 141 with replaceable end effectors.

Example 143-The surgical instrument of Examples 137, 138, 139, 140, 141 or 142 wherein the longitudinal round housing portion defines a longitudinal axis. The distal, non-rounded housing portion is offset and eccentric with respect to the longitudinal axis.

Example 144-The proximal portion of the shaft includes the connector including a latch configured to releasably retain the shaft on the handle, as in Examples 137, 138, 139, 140, 141, 142 or 143. Surgical instruments.

Example 145-The surgical instrument of Examples 137, 138, 139, 140, 141, 142, 143 or 144, wherein the entire joint lock is located in the distal, non-rounded housing portion.

Example 146-A joint lock includes a fixed portion mounted to a frame and a locking portion movable within a distal, non-rounded housing portion. Examples 137, 138, 139, 140, 141, 142, 143. Or 144, the surgical instrument.

Example 147-The surgical instrument of Example 146, wherein the articulation lock includes a fixed portion mounted to the frame and a locking portion movable within the distal, non-rounded housing portion.

Example 148-Surgical instrument insertable through a trocar. The surgical instrument includes a handle and a shaft extending from the handle. The shaft comprises a frame, a proximal portion attachable to the handle, a distal portion including an end effector, and an articulation joint, the end effector being rotatable about the articulation joint. The shaft further comprises an articulation actuator operably coupled to the end effector, the articulation actuator being moveable to rotate the end effector in a first direction and a second direction. The shaft further includes an outer housing slidable with respect to the frame. The outer housing comprises a distal housing portion adjacent the articulation joint, the distal housing portion including a non-rounded perimeter including a width. The outer housing further includes a longitudinal housing portion extending between the proximal portion and the distal housing portion. The longitudinal housing portion has a substantially rounded periphery including a diameter, the diameter being less than the width. The distal housing portion and the longitudinal housing portion are sized and configured to be inserted into the surgical site through a trocar. The shaft further comprises an articulation lock configured to engage the articulation actuator and prevent rotation of the end effector, the articulation lock disposed within the distal housing portion.

Example 149-The surgical instrument of Example 148, wherein the end effector comprises a staple cartridge that includes staples removably stored therein.

Example 150-The surgical instrument of Example 148 or 149, wherein the staple cartridge is replaceable.

Example 151-The surgical instrument of Examples 148, 149 or 150, wherein the end effector is replaceable.

Example 152-The surgical instrument of Examples 148, 149, 150 or 151, wherein the entire joint lock is located in the distal housing portion.

Example 153-The surgical instrument of Examples 148, 149, 150 or 151 wherein the articulating lock includes a fixed portion mounted to the frame and a locking portion movable within the distal housing portion.

Example 154-The surgical instrument of Example 153, wherein the anchoring portion is within the longitudinal housing portion.

Example 155-Surgical instrument including a handle and a shaft extending from the handle. The removable shaft comprises a frame, a proximal latch attachable to the handle, a distal portion including an end effector, and an articulation joint, the end effector being rotatable about the articulation joint. The removable shaft further comprises an articulation actuator configured to articulate the end effector in the first direction and the second direction. The removable shaft further comprises an outer tube translatable with respect to the frame. The outer tube comprises a distal tube portion adjacent the articulation joint, the distal tube portion including a non-round perimeter including width. The outer tube further includes a longitudinal tube portion. The longitudinal tube portion has a substantially rounded circumference including a diameter, the diameter being less than the width. The distal tube portion and the longitudinal tube portion are sized and configured to be inserted through the trocar into the surgical site. The removable shaft further comprises an articulation lock configured to engage the articulation actuator and prevent rotation of the end effector, the articulation lock disposed within the distal tube portion.

Example 156-Surgical stapling instrument system including a handle, nozzle, and elongated shaft. The elongate shaft includes a proximal end, a distal end, a proximal region including a first diameter, a central region including a second diameter, the central region defining a longitudinal axis and the distal region including a third region. Including diameter. The first diameter differs from the second diameter and the distal region is laterally offset with respect to the longitudinal axis. The surgical stapling instrument system further comprises an end effector comprising a first jaw. The first jaw includes an elongated groove member and a staple cartridge including a plurality of staples, the staple cartridge operably supported within the elongated groove member. The end effector further comprises a second jaw, the second jaw movable with respect to the first jaw. A surgical stapling instrument system is configured to rotatably connect an end effector to an elongated shaft, a firing member configured to move within the end effector, and configured to apply firing motion to the firing member. Further included is a firing system.

Example 157-The surgical stapling instrument system of Example 156, wherein the first diameter is greater than the second diameter.

Example 158-Surgical stapling instrument system according to example 156 or 157, wherein the second diameter is less than the third diameter.

Example 159-The surgical stapling instrument system according to example 156, 157 or 158, wherein the third diameter is less than the first diameter and greater than the second diameter.

Example 160-The surgical stapling instrument system of Examples 156, 157, 158 or 159, wherein the second jaw includes an anvil configured to deform the staples.

Example 161-The surgical stapling instrument system according to Examples 156, 157, 158, 159 or 160, wherein the distal region of the elongate shaft comprises at least one flat surface.

Example 162-Surgical stapling instrument system according to example 156, 157, 158, 159, 160, or 161, wherein the distal region is not perfectly cylindrical.

Example 163-Surgical stapling instrument including an elongated shaft. The elongate shaft comprises a proximal end, a distal end, and a first width at the proximal end, the first width of the elongate shaft transitioning to a second width at the center of the elongate shaft, The second width transitions to a third width at the distal end of the elongate shaft. The distal end of the elongate shaft is not cylindrical and the distal end comprises an enlarged portion that extends transversely to the second width, the first, second and third widths being different. The surgical stapling instrument further comprises an end effector configured to be attached to the distal end of the elongate shaft. The end effector includes a first jaw and a second jaw, the first jaw movable with respect to the second jaw. The surgical stapling instrument further comprises an articulation assembly configured to apply articulation to the end effector, a firing member, and a firing system configured to apply firing motion to the firing member.

Example 164-The surgical stapling instrument of Example 163, wherein the first width is greater than the second width.

Example 165-The surgical stapling instrument of Example 163 or 164, wherein the second width is less than the third width.

Example 166-A surgical stapling instrument according to Example 163, 164 or 165, wherein the third width is less than the first width and greater than the second width.

Example 167-The surgical stapling instrument of Example 163, 164, 165 or 166, wherein the distal end of the elongate shaft is configured for attachment through a 12 mm cannula passage.

Example 168-The surgical stapling instrument of Examples 163, 164, 165, 166 or 167 wherein the center of the elongate shaft comprises a width of less than 10 mm.

Example 169-Surgical Fastening Instrument Including Elongate Shaft. The elongate shaft includes a proximal end, a distal end, a proximal region including a first perimeter, a central region including a second perimeter, the central region defining a central longitudinal axis and the distal region including a third region. Including around. The first perimeter is different from the second perimeter and the third perimeter is offset with respect to the second perimeter. The surgical fastener further comprises an end effector configured to be attached to the distal end of the elongate shaft. The end effector comprises a fastening element cartridge jaw and an anvil. The surgical fastener includes an articulation system configured to apply articulation to an end effector, a firing member configured to move the firing member through the end effector, and a firing and And a firing system configured to apply a retracting movement to the firing member.

Example 170-The surgical fastener of Example 169, wherein the first perimeter is greater than the second perimeter.

Example 171-The surgical fastener of example 169 or 170, wherein the second perimeter is smaller than the third perimeter.

Example 172-The surgical fastener of Examples 169, 170 or 171, wherein the third perimeter is less than the first perimeter and greater than the second perimeter.

Example 173-The surgical fastener of Examples 169, 170, 171 or 172, wherein the proximal region comprises a step down configuration.

Example 174-The surgical fastener of Examples 169, 170, 171, 172 or 173, wherein the distal region of the elongate shaft comprises at least one flat surface.

Example 175-The surgical fastener of Examples 169, 170, 171, 172, 173 or 174, wherein the central region comprises a step-up region at the distal end.

Example 176-A surgical instrument including a housing and a shaft extending from the housing including an outer tubular portion. The outer tube portion includes a proximal tube portion, the proximal tube portion defining a longitudinal axis, and an elongate intermediate tube portion extending distally from the proximal tube portion. The portion is central along the longitudinal axis. The outer tubular portion further includes a distal tubular portion extending distally from the intermediate tubular portion, the distal tubular portion being laterally offset with respect to the longitudinal axis, the distal tubular portion being lateral to the longitudinal axis. And an enlarged portion extending to the portion. The outer tube portion further includes a tapered neckdown defined between the intermediate tube portion and the distal tube portion.

Example 177-The surgical instrument of Example 176 further comprising an end effector and an articulation joint rotatably connecting the end effector to the distal tube portion.

Example 178-The surgical instrument of Example 177, wherein the end effector comprises a staple cartridge that includes staples removably stored therein.

Example 179-Surgical instrument including a housing containing an electric motor. The surgical instrument further comprises a shaft extending from the housing, the shaft comprising a frame and an end effector. The end effector includes a first jaw, a second jaw, a second jaw in which the first jaw is rotatable relative to the second jaw, and staples removably stored therein. A staple cartridge that includes the staple cartridge and an anvil configured to deform the staple. The surgical instrument includes a closure system configured to move the first jaw toward the second jaw during a closing stroke, an articulation joint rotatably connecting the end effector to the shaft, and the end effector. Further included is an articulation system configured to articulate with respect to the shaft, and a firing system operably associated with the electric motor. The firing system is configured to eject staples from the staple cartridge during a staple firing stroke. The surgical instrument further comprises a first rotating member configured to selectively transfer motion from the firing system to the joint system, and a second rotating member rotatably mounted to the frame, the second rotating member The rotating member of is operatively associated with the joint system. The closure system is configured to engage the second rotating member during the closing stroke to lock the articulation system in place and prevent articulation of the end effector.

Example 180-The surgical instrument of Example 179, wherein the closure system includes a closure tube surrounding the frame. The closure system further comprises a wedge configured to engage the second rotating member and lock the second rotating member in place during the closing stroke.

Example 181-The surgical instrument of Example 179 or 180, wherein the first rotating member is rotatably mounted within the frame.

Example 182-The surgical instrument of Examples 179, 180 or 181, wherein the second rotating member comprises a gear that interlocks with a rack of teeth defined on the articulating system.

Example 183-The surgical instrument of Examples 179, 180, 181, or 182, wherein the first jaw comprises a staple cartridge and the second jaw comprises an anvil.

Example 184-The surgical instrument of Examples 179, 180, 181, or 182, wherein the first jaw comprises an anvil and the second jaw comprises a staple cartridge.

Example 185-The surgical instrument of Examples 179, 180, 181, 182, 183 or 184, wherein the housing includes a handle.

Example 186-The surgical system of Examples 179, 180, 181, 182, 183, 184 or 185 wherein the housing is attachable to a robotic surgical system.

Example 187-In Example 179, 180, 181, 182, 183, 184, 185 or 186, the first rotating member is configured to operably disconnect the joint system from the firing system during the closing stroke. The surgical instrument described.

Example 188-The surgical instrument of Examples 179, 180, 181, 182, 183, 184, 185, 186 or 187 wherein the joint system is operably disconnected from the firing system during the staple firing stroke.

Example 189-The closure system is retractable to open the first jaw after the closing stroke and unlock the articulation system, Examples 179, 180, 181, 182, 183, 184, 185, 186, 187. Or the surgical instrument according to 188.

Example 190-The second rotating member is described in Examples 179, 180, 181, 182, 183, 184, 185, 186, 187, 188 or 189, which is rotatable about a post extending from the frame. Surgical instruments. The post includes a first brake arm and a second brake arm, the closure system engaging the first and second brake arms during a closing stroke to prevent rotation of the second rotating member. Is composed of.

Example 191-Example wherein the second rotating member comprises an annular array of teeth and the closure system is configured to engage the annular array of teeth during the closing stroke to prevent rotation of the second rotating member. 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189 or 190.

Example 192-A surgical instrument including a housing including a rotatable input, a shaft extending from the housing, the shaft including a frame, and an end effector. The end effector includes a first jaw and a second jaw, the first jaw being rotatable with respect to the second jaw. The surgical instrument includes a closure system configured to close the first jaw during a closing stroke, an articulation joint rotatably connecting the end effector to the shaft, and an articulating articulation of the end effector relative to the shaft. And a firing system operably associated with the rotatable input. The firing system is configured to move through the end effector during a firing stroke. The surgical instrument further comprises a first rotating member configured to selectively synchronize the firing system and the joint system, and a second rotating member rotatably mounted to the frame. A second rotating member is operably engaged with the articulating system and a closure system is engaged with the second rotating member during a closing stroke to lock the articulating system in place and to articulate the end effector. Configured to prevent movement.

Example 193-The surgical instrument of Example 192, further comprising a staple cartridge that includes staples removably stored therein.

Example 194-A surgical instrument including a housing including a rotatable input, a shaft extending from the housing, the shaft including a frame, and an end effector. The end effector includes a first jaw and a second jaw, the first jaw being rotatable with respect to the second jaw. The surgical instrument includes a closure system configured to close the first jaw during a closing stroke, an articulation joint rotatably connecting the end effector to the shaft, and an articulating articulation of the end effector relative to the shaft. And a firing system operably associated with the rotatable input. The firing system is configured to move through the end effector during a firing stroke. The surgical instrument further comprises a first rotating member configured to selectively synchronize movement of the firing system with movement of the joint system and a second rotating member operably engageable with the joint system. Prepare The closure system is configured to stop rotation of the second rotating member during the closing stroke to lock the articulation system in place and prevent articulation of the end effector.

Example 195-The surgical instrument of Example 194, further comprising a staple cartridge including staples removably stored therein.

Example 196—A proximal end, a distal end, a cartridge body that includes a blunt nose at the distal end, and a plurality of staple cavities defined within the cartridge body, the plurality of staple cavities being close together. A plurality of staple cavities extending longitudinally from the distal end to the distal end; a plurality of staples removably stored within the plurality of staple cavities; and configured to support at least one of the plurality of staples A staple cartridge assembly comprising a driver and a sled movable toward a distal end during a firing stroke. The sled comprises a first ramp and a second ramp, the first ramp being laterally offset from the second ramp. The first ramp and the second ramp are configured to lift the driver and the rounded nose of the cartridge body is configured to receive the first ramp of the sled after completion of the firing stroke. A first recess formed in the distal end and a second recess formed in the distal end configured to receive the second ramp of the sled after the firing stroke is complete. Including.

Example 197-The staple cartridge assembly of Example 196, wherein the first ramp and the second ramp are exposed at the distal end at the completion of the firing stroke.

Example 198-A driver supports a first driver portion configured to support a first staple, a second driver portion configured to support a second staple, and a third staple. A staple cartridge assembly according to example 196 or 197, including a third driver portion configured to:

Example 199-The staple cartridge assembly of Example 198, wherein the driver further comprises a central base member connecting the first driver portion, the second driver portion, and the third driver portion.

Example 200-Example 199, wherein the first driver portion includes a first anterior strut including a proximal end and the second driver portion includes a second anterior strut including a distal end. Staple cartridge assembly. The central base member extends longitudinally between the proximal end of the first front strut and the distal end of the second front strut.

Example 201-A staple cartridge assembly according to Example 196, 197, 198, 199 or 200, wherein the central base member includes a rearwardly sloping wall configured to be engaged by a sled.

Example 202-A staple cartridge assembly according to Example 196, 197, 198, 199, 200 or 201, wherein the sled is configured to drive the driver toward the anvil located on the opposite side of the staple cartridge assembly.

Example 203-A staple cartridge assembly including a proximal end, a distal end, a cartridge body including a shortened nose at the distal end, and an array of staples removably stored in the cartridge body. The rows of staples extend longitudinally from the proximal end to the distal end. The row of staples includes the most distal staples and the most proximal staples. The staple cartridge assembly further includes a driver, each driver configured to support at least one of the staples, and a sled movable toward the distal end. The sled includes a ramp configured to lift the driver and staple toward an anvil located opposite the staple cartridge assembly during a firing stroke. The sled further comprises a base, the shortened nose length extends from the most distal staple to the distal end, and the shortened nose length is shorter than the sled base.

Example 204-A staple cartridge assembly according to Example 203, further comprising an anvil, the anvil including a protective tip at a distal end.

Example 205-A staple cartridge assembly according to Example 203 or 304, further comprising an anvil, wherein the distal end of the shortened nose extends beyond the distal end of the anvil.

Example 206-The staple cartridge assembly of Example 203, 204, or 205, wherein the sled portion of the sled is exposed at the distal end upon completion of the firing stroke.

Example 207-End effector for surgical stapling instrument. The end effector comprises a staple cartridge assembly. A staple cartridge assembly includes a proximal end, a distal end, a cartridge body including a nose shortened to the distal end, staples removably stored in the cartridge body, and at least one staple. A configured driver and a sled movable toward the distal end. The sled includes a driver and a ramp configured to lift at least one staple. The sled further comprises a base, and the shortened nose of the cartridge body is shorter than the sled base. The end effector further includes an anvil. The anvil includes a staple forming surface that includes a plurality of staple forming pockets. The anvil further comprises a blunt distal nose extending downwardly toward the staple cartridge assembly.

Example 208-The end effector of Example 207, wherein the blunt distal nose is removably attached to the anvil.

Example 209-The end effector of example 207 or 208, wherein the anvil further comprises a frame that includes attachment features configured to facilitate attachment of the blunt distal nose to the frame.

Example 210-The end effector of Example 207, 208, or 209, wherein the anvil includes a distal end, and the distal end of the staple cartridge assembly extends beyond the distal end of the anvil.

Example 211-Containing a cartridge body, a proximal end, a distal end, a slot configured to receive a cutting member, and a first row of staples removably stored in the cartridge body, The staple cartridge assembly, wherein the first row of staples extends along a first side of the slot between a proximal end and a distal end. The staple cartridge assembly further comprises a second row of staples removably stored in the cartridge body, the second row of staples along the first row of staples on the first side of the slot. Extends between the proximal and distal ends. The staple cartridge assembly further comprises a third row of staples removably stored in the cartridge body, the third row of staples along a second row of staples on a first side of the slot. Extends between the proximal and distal ends. The staple cartridge assembly is configured to support a first staple from a first staple row, a second staple from a second staple row, and a third staple from a third staple row. And the second staple is closer to the proximal end than the first and third staples.

Example 212-A staple cartridge assembly according to Example 211, wherein the first staple, the second staple, and the third staple form a reverse arrow configuration.

Example 213-A staple cartridge assembly according to Example 211 or 212 further including a sled configured to lift the driver toward the anvil located on the opposite side of the staple cartridge assembly.

Example 214-A staple cartridge assembly according to Example 211, 212 or 213, further comprising an anvil, the anvil comprising a distal end.

Example 215-The staple cartridge assembly of Example 214, wherein the staple cartridge distal end extends distally to the anvil distal end.

Example 216-A staple cartridge system including an end effector configurable in an unclamped configuration and a clamped configuration. The end effector comprises an anvil jaw and a cartridge jaw. The cartridge jaws are configured to receive staple cartridges. The cartridge jaws include a cartridge support reference surface. The staple cartridge system further comprises a first staple cartridge. A first staple cartridge is removably stored in the first deck configured to support tissue of a patient, a first staple cavity defined in the first deck, and a first staple cavity. A first staple and a first proximal end. When the first staple cartridge is placed in the cartridge jaws, the first proximal end is aligned with the reference surface of the cartridge jaws. The first staple cartridge further comprises a first distal end, the first cartridge length being defined between the first proximal end and the first distal end. The staple cartridge system further comprises a second staple cartridge. A second staple cartridge is removably stored in the second deck configured to support tissue of a patient, a second staple cavity defined in the second deck, and a second staple cavity. A second staple and a second proximal end. The second proximal end is aligned with the reference surface of the cartridge jaws when the second staple cartridge is placed in the cartridge jaws. The second staple cartridge further comprises a second distal end, the second cartridge length being defined between the second proximal end and the second distal end, and the end effector clamped configuration. And the anvil is supported by the first position on the first staple cartridge when the first staple cartridge is positioned in the cartridge jaws. The anvil is supported by the second position on the second staple cartridge when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaws. The first position is a first orthogonal distance from the cartridge support reference plane when the first staple cartridge is placed in the cartridge jaws, and the second position is the second staple cartridge placed in the cartridge jaws. It is a second orthogonal distance from the cartridge supporting reference plane when the cartridge is pressed. The first orthogonal distance is different than the second orthogonal distance. The anvil jaws flex differently depending on whether the first staple cartridge or the second staple cartridge is located in the cartridge jaws.

Example 217-The staple cartridge system of Example 216, wherein the second cartridge length is different than the first cartridge length.

Example 218-The staple cartridge system of Example 216 or 217, wherein the second cartridge length is less than the first cartridge length.

Example 219-The staple cartridge system of Example 216, 217, or 218, wherein the second orthogonal distance is less than the first orthogonal distance.

Example 220-The staple cartridge system of Example 216, 217, or 218, wherein the second orthogonal distance is higher than the first orthogonal distance.

Example 221-The staple cartridge system of any of Examples 216, 217, 219 or 220, wherein the second cartridge length is longer than the first cartridge length.

Example 2222-The staple cartridge system of Example 216, 217, 218 or 221, wherein the second orthogonal distance is less than the first orthogonal distance.

Example 223-The staple cartridge system according to Example 216, 217, 218 or 221, wherein the second orthogonal distance is higher than the first orthogonal distance.

Example 224-Example 216, 217, 218, 219, 220, 221, 222 or where the second position for the second distal end is closer than the first position for the first distal end. 223. A staple cartridge system according to Item 223.

Example 225-Examples 216, 217, 218, 219, 220, 221 are farther from the second position from the second distal end than from the first position from the first distal end. 222. The staple cartridge system according to 222 or 223.

Example 226-The staple cartridge system of Examples 216, 217, 218, 219, 220, 221, 222, 223, 224 or 225, wherein the anvil jaw includes a distal anvil tip. The first cartridge length is set such that the distal anvil tip extends beyond the first distal end and the second cartridge length is such that the distal anvil tip does not exceed the second distal end. Is set.

Example 227-Examples 216, 217, 218, wherein the anvil jaws undergo a first deflection when the end effector is in a clamped configuration and the first staple cartridge is positioned in the cartridge jaws. 219, 220, 221, 222, 223, 224, 225 or 226. The anvil jaws undergo a second deflection when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaws. The second deflection is greater than the first deflection.

Example 228-Each first staple has an unformed height in a first unformed height range and each second staple is unformed in a second unformed height range. Examples 216, 217, 218, 219, 220, 221, 222, which have heights and wherein the second unformed height range includes a height that is higher than the height of the first unformed height range. 223, 224, 225, 226 or 227.

Example 229-Each first staple has an unformed height in a first unformed height range and each second staple is unformed in a second unformed height range. Examples 216, 217, 218, 219, 220, 221, 222, which have heights and wherein the second unformed height range comprises a height that is lower than the height of the first unformed height range. 223, 224, 225, 226 or 227.

Example 230-Each first staple has an unformed height in a first unformed height range and each second staple is unformed in a second unformed height range. Examples 216, 217 having heights and the second unformed height range is different from the first unformed height range but partially overlaps the first unformed height range. 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228 or 229.

Example 231-Anvil jaw comprises a distal anvil tip, a first cartridge length is set such that the distal anvil tip extends beyond the first distal end, and a second cartridge length is Example 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229 or 230, where the distal anvil tip is set shorter than the second distal end. The staple cartridge system described in.

Example 232-Anvil jaw is rotatable with respect to the cartridge jaws, Example 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230 or 231. The staple cartridge system described in.

Example 233-Cartridge jaws are rotatable with respect to anvil jaws, examples 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230 or 231. The staple cartridge system described in.

Example 234-Example 216, 217, 218, 219, 220, 221, 222, where the first distal end comprises a first cartridge nose and the second distal end comprises a second cartridge nose. 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, or 233. The second cartridge nose has a rounder tip than the first cartridge nose.

Example 235-Examples 216, 217, 218, 219, 220, 221, 222, where the first distal end comprises a first cartridge nose and the second distal end comprises a second cartridge nose. 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233 or 234. The second cartridge nose is shorter than the first cartridge nose.

The following disclosures are incorporated herein by reference in their entirety.
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-U.S. Pat. No. 7,000,818, title of invention "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISCINT CLOSED AND FIRING SYSTEMS", issued February 21, 2006,
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Although various devices have been described herein in connection with specific embodiments, modifications and changes may be made to those embodiments. Particular features, structures or characteristics may be combined in any suitable manner in one or more embodiments. Thus, the particular features, structures, or characteristics illustrated or described in connection with one embodiment are, without limitation, all or partly combined with features, structures, or characteristics of one or more other embodiments. Good. Also, while materials have been disclosed for particular components, other materials may be used. Further, in accordance with various embodiments, a single component can be replaced by multiple components, or multiple components can be replaced by a single component, to perform a given function(s). May be replaced. The above description and the following claims are intended to cover all such modifications and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or can be designed to be used multiple times. However, in either case, the device may be reconditioned for reuse after at least one use. Reconditioning can include, but is not limited to, any combination of device disassembly, followed by cleaning or replacement of certain parts of the device, and subsequent reassembly of the device. Specifically, reconditioning facilities and/or surgical teams may disassemble the device, clean and/or replace certain parts of the device, and then reassemble the device for subsequent use. You can Those of ordinary skill in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

The devices disclosed herein can be processed prior to surgery. First, new or used equipment may be obtained and cleaned if necessary. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic bag or a TYVEK bag. The container and instrument can then be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, and/or high energy electrons. Radiation can kill bacteria on the device and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device can also be sterilized using any other technique known in the art, including, but not limited to, beta radiation, gamma radiation, ethylene oxide, hydrogen peroxide plasma, and/or water vapor.

While this invention has been described as having a representative design, the present invention may be further modified within the spirit and scope of this disclosure. Accordingly, this application is intended to cover any variations, uses, or adaptations of the present invention using its general principles.

All patents, publications, or other disclosed references, which are hereby incorporated by reference in their entirety or in part, are pre-existing definitions, statements, or other disclosures in which the incorporated material is described in this disclosure. It is intended to be incorporated herein only to the extent not inconsistent with the content. As such, and to the extent necessary, the disclosure expressly set forth herein supersedes any contradictory statements incorporated herein by reference. Any document, or portion thereof, which is hereby incorporated by reference but is inconsistent with an existing definition, description, or other disclosed document mentioned herein, shall be incorporated by reference with the incorporated document. It should be incorporated only to the extent that it does not conflict with the disclosure.

Embodiments
(1) A surgical instrument,
A shaft,
The proximal end,
The distal end,
A longitudinal axis extending between the proximal end and the distal end;
An outer housing having a shaft radius defined with respect to the longitudinal axis;
And a shaft,
An end effector comprising an end effector frame rotatably connected to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis defining the longitudinal direction. An end effector positioned laterally offset with respect to the axis,
An articulation drive coupled to the end effector frame in a mounting position, the articulation drive being proximally movable to rotate the end effector in a first direction; Is movable distally to rotate the end effector in a second direction opposite to the first direction, and a lateral moment arm is disposed between the mounting position and the fixed articulation axis. An articulation drive being defined, wherein the lateral moment arm is orthogonal to the longitudinal axis and the ratio of the shaft radius to the lateral moment arm is less than 1.4.
(2) The surgical instrument according to embodiment 1, wherein the ratio is less than 1.3.
(3) The surgical instrument according to embodiment 1, wherein the ratio is less than 1.2.
(4) The surgical instrument according to embodiment 1, wherein the ratio is less than 1.1.
(5) The end effector is rotatable by a first distance in the first direction and a second distance in the second direction, and the first distance and the second distance are equal. The surgical instrument according to embodiment 1.

(6) The end effector is rotatable in a first range in the first direction and in a second range in the second direction, and the first range and the second range are equal. No, the surgical instrument of embodiment 1.
(7) The surgical instrument according to embodiment 1, further comprising a staple cartridge including staples removably stored therein.
(8) The surgical instrument according to embodiment 7, wherein the staple cartridge is replaceable.
(9) The surgical instrument according to embodiment 1, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.
(10) The surgical instrument according to embodiment 9, wherein the shaft comprises a shaft frame extending through the inner opening, and the end effector frame is rotatably coupled to the shaft frame.

(11) The shaft includes a first longitudinal portion and a second longitudinal portion, and the shaft radius of the outer housing is the first shaft radius in the first longitudinal portion and the second longitudinal portion. A second shaft radius in a longitudinal portion of the surgical instrument, wherein the first shaft radius is different from the second shaft radius.
(12) A shaft assembly,
A shaft,
The proximal end,
The distal end,
A longitudinal axis extending between the proximal end and the distal end;
An outer housing having a shaft radius defined with respect to the longitudinal axis;
And a shaft,
An end effector comprising an end effector frame rotatably connected to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis defining the longitudinal direction. An end effector positioned laterally offset with respect to the axis,
An articulation drive coupled to the end effector frame in a mounting position, the articulation drive being proximally movable to rotate the end effector in a first direction; Is movable distally to rotate the end effector in a second direction opposite to the first direction, and a lateral moment arm is disposed between the mounting position and the fixed articulation axis. An articulation drive being defined, wherein the lateral moment arm is orthogonal to the longitudinal axis and the shaft assembly is configured such that the ratio of the shaft radius to the lateral moment arm is minimized. Comprises a shaft assembly.
(13) The shaft assembly according to embodiment 12, wherein the ratio is less than 1.4.
(14) The shaft assembly according to embodiment 12, wherein the ratio is less than 1.1.
(15) The shaft assembly of embodiment 12, further comprising a staple cartridge that includes staples removably stored therein.

(16) The shaft assembly according to embodiment 15, wherein the staple cartridge is replaceable.
(17) The shaft assembly according to embodiment 12, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening.
(18) The shaft includes a first longitudinal portion and a second longitudinal portion, and the shaft radius of the outer housing is equal to the first shaft radius in the first longitudinal portion and the second longitudinal portion. A second shaft radius in a longitudinal portion of the shaft assembly, wherein the first shaft radius is different from the second shaft radius.
(19) A surgical instrument,
A shaft having an outer housing including a shaft radius,
An end effector comprising an end effector frame rotatably connected to the shaft about an articulation pivot, the articulation pivot defining an articulation axis, the articulation axis being a centerline of the shaft. An end effector positioned laterally offset with respect to,
An articulation drive coupled to the end effector frame in a mounting position, the articulation drive proximally for rotating the end effector in a first direction to a first full articulation position. Movable in the distal direction to rotate the end effector in the second direction to the second full articulation position, the joint drive being movable in the distal direction. A joint drive wherein a lateral moment arm is defined with respect to the axis of motion, the lateral moment arm is orthogonal to the centerline of the shaft, and the ratio of the shaft radius to the lateral moment arm is 1 to 1.4. And a surgical instrument comprising:

Claims (19)

A surgical instrument,
A shaft,
The proximal end,
The distal end,
A longitudinal axis extending between the proximal end and the distal end;
An outer housing having a shaft radius defined with respect to the longitudinal axis;
And a shaft,
An end effector comprising an end effector frame rotatably connected to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis defining the longitudinal direction. An end effector positioned laterally offset with respect to the axis,
An articulation drive coupled to the end effector frame in a mounting position, the articulation drive being proximally movable to rotate the end effector in a first direction; Is movable distally to rotate the end effector in a second direction opposite to the first direction, and a lateral moment arm is disposed between the mounting position and the fixed articulation axis. An articulation drive being defined, wherein the lateral moment arm is orthogonal to the longitudinal axis and the ratio of the shaft radius to the lateral moment arm is less than 1.4. The surgical instrument of claim 1, wherein the ratio is less than 1.3. The surgical instrument of claim 1, wherein the ratio is less than 1.2. The surgical instrument according to claim 1, wherein the ratio is less than 1.1. The end effector is rotatable by a first distance in the first direction and a second distance in the second direction, wherein the first distance and the second distance are equal. The surgical instrument according to 1. The end effector being rotatable in the first direction over a first range and in the second direction over a second range, wherein the first range and the second range are unequal. Item 2. The surgical instrument according to Item 1. The surgical instrument of claim 1, further comprising a staple cartridge including staples removably stored therein. The surgical instrument of claim 7, wherein the staple cartridge is replaceable. The surgical instrument of claim 1, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening. The surgical instrument of claim 9, wherein the shaft comprises a shaft frame extending through the inner opening and the end effector frame is rotatably coupled to the shaft frame. The shaft includes a first longitudinal portion and a second longitudinal portion, the shaft radius of the outer housing being equal to the first shaft radius at the first longitudinal portion and the second longitudinal direction. A second instrument radius in a portion, wherein the first shaft radius is different than the second shaft radius. A shaft assembly,
A shaft,
The proximal end,
The distal end,
A longitudinal axis extending between the proximal end and the distal end;
An outer housing having a shaft radius defined with respect to the longitudinal axis;
And a shaft,
An end effector comprising an end effector frame rotatably connected to the shaft about an articulation pivot, the articulation pivot defining a fixed articulation axis, the fixed articulation axis defining the longitudinal direction. An end effector positioned laterally offset with respect to the axis,
An articulation drive coupled to the end effector frame in a mounting position, the articulation drive being proximally movable to rotate the end effector in a first direction; Is movable distally to rotate the end effector in a second direction opposite to the first direction, and a lateral moment arm is disposed between the mounting position and the fixed articulation axis. An articulation drive being defined, wherein the lateral moment arm is orthogonal to the longitudinal axis and the shaft assembly is configured such that the ratio of the shaft radius to the lateral moment arm is minimized. Comprises a shaft assembly. The shaft assembly according to claim 12, wherein the ratio is less than 1.4. The shaft assembly according to claim 12, wherein the ratio is less than 1.1. 13. The shaft assembly of claim 12, further comprising a staple cartridge that includes staples removably stored therein. The shaft assembly according to claim 15, wherein the staple cartridge is replaceable. 13. The shaft assembly of claim 12, wherein the outer housing defines an inner opening and the shaft radius is defined by the inner opening. The shaft includes a first longitudinal portion and a second longitudinal portion, the shaft radius of the outer housing being equal to the first shaft radius at the first longitudinal portion and the second longitudinal direction. A shaft assembly according to claim 12, including a second shaft radius in a portion, wherein the first shaft radius is different than the second shaft radius. A surgical instrument,
A shaft having an outer housing including a shaft radius,
An end effector comprising an end effector frame rotatably connected to the shaft about an articulation pivot, the articulation pivot defining an articulation axis, the articulation axis being a centerline of the shaft. An end effector positioned laterally offset with respect to,
An articulation drive coupled to the end effector frame in a mounting position, the articulation drive proximally for rotating the end effector in a first direction to a first full articulation position. Movable in the distal direction to rotate the end effector in the second direction to the second full articulation position, the joint drive being movable in the distal direction. A joint drive wherein a lateral moment arm is defined with respect to the axis of motion, the lateral moment arm is orthogonal to the centerline of the shaft, and the ratio of the shaft radius to the lateral moment arm is 1 to 1.4. And a surgical instrument comprising:

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