BR112018016127B1 - SURGICAL INSTRUMENT WITH ARTICULABLE AND AXIALLY TRANSLABLE END ACTUATOR - Google Patents

Abstract

It is a surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. The surgical instrument includes a surgical end actuator having a distal end and a proximal end. The proximal end is pivotally coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical end actuator is selectively pivoted about the hinge axis from a non-hinged position, where the distal end of the surgical end actuator is situated a non-hinged distance from the hinge axis, to hinged positions, in that the distal end of the surgical end actuator is located at a corresponding articulated distance from the articulation axis, which is less than the disarticulated distance.

Description

BACKGROUND OF THE INVENTION

[001] The present invention relates to surgical instruments and, in various embodiments, to surgical stapling and cutting instruments, as well as staple cartridges for use therewith.

[002] A stapling instrument may include a pair of cooperating elongated claw members, each claw member may be adapted to be inserted into a patient and positioned relative to the tissue to be stapled and/or cut. In various embodiments, one of the claw members may support a staple cartridge with at least two laterally spaced rows of staples contained therein, and the other claw member may support an anvil with staple-forming pockets aligned with the rows of staples. in the staple cartridge. In general, the stapling instrument may additionally include a push bar and a knife blade that are sliding relative to the gripper member to sequentially eject staples from the staple cartridge through cam surfaces on the push bar and/or surfaces cam over a wedge rail that is pushed by the push bar. In at least one embodiment, the cam surfaces may be configured to activate a plurality of staple drivers carried by the cartridge and associated with the staples to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue trapped between the claw limbs. In at least one embodiment, the knife blade may follow the cam surfaces and cut the fabric along a line between the staple rows.

[003] The aforementioned discussion is intended only to illustrate various aspects of the related art in the field of the invention at the moment and should not be taken as a denial of the scope of the embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

[004] Various characteristics of the modalities described here, together with their advantages, can be understood according to the description presented below, considered together with the attached drawings, as set out below:

[005] Figure 1 is a perspective view of an embodiment of a surgical instrument and an elongated drive shaft assembly;

[006] Figure 2 is an exploded assembly view of the handle or housing portion of the surgical instrument of Figure 1;

[007] Figure 3 is an exploded assembly view of a portion of an elongated drive shaft assembly;

[008] Figure 4 is another exploded assembly view of another portion of the elongated drive shaft assembly of Figure 3;

[009] Figure 5 is an exploded assembly view of a portion of a surgical end actuator embodiment and a closure sleeve embodiment;

[0010] Figure 6 is a partial cross-sectional view of a portion of the surgical end actuator and closure sleeve arrangement of Figure 5;

[0011] Figure 7 is a perspective view of the arrangement of the surgical end actuator and the closing sleeve of Figures 5 and 6, with the anvil thereof in an open position or configuration;

[0012] Figure 8 is another perspective view of the arrangement of the surgical end actuator and the closing sleeve of Figures 5 to 7, with the anvil thereof in a closed position or configuration;

[0013] Figure 9 is a perspective view of an embodiment of a surgical end actuator and elongated drive shaft assembly with some portions thereof omitted for clarity;

[0014] Figure 10 is a top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figure 9, with the surgical end actuator in a hinged position or configuration;

[0015] Figure 11 is a partial exploded assembly view of portions of the embodiment of the surgical end actuator and the elongated drive shaft assembly of Figures 9 and 10;

[0016] Figure 12 is an exploded perspective assembly view of the surgical end actuator and elongated drive shaft assembly of Figures 9 to 11;

[0017] Figure 13 is a perspective view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 9 to 12, with the surgical end actuator in a hinged position or configuration;

[0018] Figure 14 is a top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 9 to 13, with the surgical end actuator in a hinged configuration and with some of its components shown in cross section for clarity;

[0019] Figure 15 is a perspective view of a portion of another embodiment of the elongated drive shaft assembly;

[0020] Figure 16 is another perspective view of the embodiment of the elongated drive shaft assembly of Figure 15, with the closure sleeve and closure sleeve components omitted for clarity;

[0021] Figure 17 is a top view of portions of the embodiment of the elongated drive shaft assembly of Figures 15 and 16;

[0022] Figure 18 is a side elevation and cross-sectional view of the embodiment of the elongated drive shaft assembly of Figures 15 to 17, with a surgical staple cartridge mounted on the surgical end actuator portion;

[0023] Figure 19 is another side elevation and cross-sectional view of the elongated drive shaft assembly of Figures 15 to 18, with a surgical staple cartridge mounted on the surgical end actuator portion;

[0024] Figure 20 is a top view of portions of the surgical end actuator and elongated drive shaft assembly of Figures 15 to 19, with the surgical end actuator in a hinged position or configuration;

[0025] Figure 20A is a side elevation view of a portion of another embodiment of the surgical end actuator and closing sleeve;

[0026] Figure 21 is a perspective view of another embodiment of the surgical end actuator and elongated drive shaft assembly with some portions thereof omitted for clarity;

[0027] Figure 22 is an exploded assembly view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figure 21;

[0028] Figure 23 is a top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 21 and 22;

[0029] Figure 24 is another top view of portions of the embodiment of the surgical end actuator and the elongated drive shaft assembly of Figures 21 to 23 with some of its portions omitted for clarity;

[0030] Figure 25 is another top view of portions of the embodiment of the surgical end actuator and the elongated drive shaft assembly of Figures 21 to 24, with the surgical end actuator in a hinged position or configuration;

[0031] Figure 26 is an exploded perspective view of a portion of another embodiment of the elongated drive shaft assembly;

[0032] Figure 27 is an exploded assembly view of portions of another embodiment of the surgical end actuator and the elongated drive shaft assembly;

[0033] Figure 28 is a partial perspective view of a portion of the embodiment of the elongated drive shaft assembly of Figure 27, with portion thereof omitted for clarity;

[0034] Figure 29 is another partial perspective view of portions of the embodiment of the elongated drive shaft assembly of Figures 27 and 28, with various portions of the omitted for clarity;

[0035] Figure 30 is another partial perspective view of portions of the embodiment of the elongated drive shaft assembly of Figures 27 to 29 with some of its portions omitted for clarity;

[0036] Figure 31 is a top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 27 to 30 with some portions thereof omitted for clarity;

[0037] Figure 32 is another top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 27 to 31 with some of its portions omitted for clarity and with the surgical end actuator in an articulated position or configuration;

[0038] Figure 33 is a side elevation view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 27 to 32 with some portions thereof omitted for clarity;

[0039] Figure 34 is a perspective view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 27 to 33 with some portions thereof omitted for clarity;

[0040] Figure 35 is another partial perspective view of portions of the embodiment of the surgical end actuator and the elongated drive shaft assembly of Figures 27 to 34 with some of its portions omitted for clarity;

[0041] Figure 36 is an exploded assembly view of portions of an embodiment of a set of distal firing bars and embodiments of lateral load-bearing members;

[0042] Figure 37 is a perspective view of the assembly of distal firing bars and lateral load-bearing members of Figure 36;

[0043] Figure 38 is an enlarged cross-sectional view of portions of the assembly of distal firing bars and lateral load-bearing members of Figures 36 and 37;

[0044] Figure 39 is another cross-sectional view of the assembly of distal firing bars and lateral load-bearing members of Figures 36 to 38;

[0045] Figure 40 is a side elevation view of a portion of an embodiment of the set of distal firing bars attached to an embodiment of the firing member;

[0046] Figure 41 is a top view of a portion of the embodiment of the distal firing bar assembly and the embodiment of the firing member of Figure 40;

[0047] Figure 42 is a cross-sectional view of a portion of the embodiment of the set of distal firing bars of Figures 40 and 41, with lateral load-bearing members seated thereon and with the embodiment of the set of firing bars. distal firing in a flexed position or configuration;

[0048] Figure 43 is a perspective view of the embodiment of the set of distal firing bars and the embodiment of the lateral load-bearing members of Figure 42;

[0049] Figure 44 is a perspective view of portions of another embodiment of the surgical end actuator and the embodiment of the elongated drive shaft assembly, with portions thereof omitted for clarity and with the surgical end actuator in a position or articulated configuration;

[0050] Figure 45 is a top view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 44;

[0051] Figure 46 is another top view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 45, with portions of the pivot link shown in cross section;

[0052] Figure 47 is a partial perspective view of portions of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly with some of its portions omitted for clarity;

[0053] Figure 48 is a top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 47 with some portions thereof omitted for clarity;

[0054] Figure 49 is another top view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 48;

[0055] Figure 50 is a top perspective view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figures 47 to 49 with some of their portions omitted for clarity and the surgical end in a hinged position or configuration;

[0056] Figure 51 is another top perspective view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 50;

[0057] Figure 52 is an enlarged perspective view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 51;

[0058] Figure 53 is a top view of portions of another embodiment of the surgical end actuator and the embodiment of the elongated drive shaft assembly with some of its portions omitted for clarity and illustrating the surgical end actuator in a position or non-hinged configuration and in a hinged position or configuration;

[0059] Figure 54 is a top view of a portion of the elongated drive shaft assembly embodiment of Figure 53, with the articulation system in a neutral or non-articulated position or configuration, and with portions of the drive shaft assembly elongated drive omitted for clarity;

[0060] Figure 55 is another top view of a portion of the embodiment of the elongated drive shaft assembly of Figure 54, with the articulation system in a first position or articulated configuration;

[0061] Figure 56 is another top view of a portion of the embodiment of the elongated drive shaft assembly of Figures 54 and 55, with the articulation system in a second position or articulated configuration;

[0062] Figure 57 is a partial perspective view of other portions of the embodiment of the elongated drive shaft assembly of Figures 53 to 56 and portions of the embodiment of the surgical end actuator in a non-hinged position or configuration with some of its portions omitted for clarity;

[0063] Figure 58 is another partial perspective view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 57 with some portions thereof omitted for clarity;

[0064] Figure 59 is a top view of a portion of another embodiment of the elongated drive shaft assembly with some of its portions omitted for clarity;

[0065] Figure 60 is a top view of another embodiment of the articulation system in a neutral or non-articulated position;

[0066] Figure 61 is a top view of an embodiment of the articulation disc driving the articulation system of Figure 60;

[0067] Figure 62 is a top view of an embodiment of the driven articulation disc of the articulation system of Figure 60;

[0068] Figure 63 is another top view of the embodiment of the articulation system of Figure 60 in a position or configuration after a articulation control movement is applied thereto;

[0069] Figure 64 is another top view of the embodiment of the articulation system of Figure 63 in a first position or articulated configuration;

[0070] Figure 65 is another top view of the embodiment of the articulation system of Figures 63 and 64 in an articulated position or configuration;

[0071] Figure 66 is a perspective view of another embodiment of the surgical end actuator and the closing sleeve with the claws thereof in a closed position or configuration;

[0072] Figure 67 is another perspective view of the embodiment of the surgical end actuator and closing sleeve of Figure 66 with the claws thereof in an open position or configuration;

[0073] Figure 68 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figures 66 and 67 with the closing claws shown in cross section and the claws thereof in an open position or configuration;

[0074] Figure 69 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figures 66 to 68 shown in cross section and with the claws thereof in an open position or configuration;

[0075] Figure 70 is an exploded assembly view of the surgical end actuator and closing sleeve embodiment of Figures 66 to 69;

[0076] Figure 71 is an exploded assembly view of another embodiment of the surgical end actuator and closing sleeve;

[0077] Figure 72 is a perspective view of another embodiment of the surgical end actuator and closing sleeve with the claws thereof in an open position or configuration;

[0078] Figure 73 is another perspective view of the embodiment of the surgical end actuator and closing sleeve of Figure 72 with the claws thereof in a closed position or configuration;

[0079] Figure 74 is an exploded perspective assembly view of the surgical end actuator and closing sleeve embodiment of Figures 72 and 73;

[0080] Figure 75 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figures 72 to 74, with its claws in a closed position or configuration;

[0081] Figure 76 is a rear perspective view of the surgical end actuator embodiment of Figures 72 to 75 with the embodiment of the closing claws thereof shown in imaginary lines for greater clarity;

[0082] Figure 77 is a side cross-sectional view of the embodiment of the surgical end actuator and closing sleeve of Figures 72 to 76 with the claws thereof in a closed position or configuration;

[0083] Figure 78 is another side cross-sectional view including one of the cam plates of the surgical end actuator embodiment and closing sleeve of Figures 72 to 77 with the claws thereof in a closed position or configuration;

[0084] Figure 79 is another side cross-sectional view including one of the cam plates of the surgical end actuator embodiment and closing sleeve of Figures 72 to 78 with the claws thereof in an open position or configuration;

[0085] Figure 80 is a partial perspective view of another embodiment of the surgical end actuator and closing sleeve with the claws thereof in an open position or configuration;

[0086] Figure 81 is a partial perspective view of the embodiment of the surgical end actuator and closing sleeve of Figure 80 with the claws thereof in a closed position or configuration;

[0087] Figure 82 is an exploded perspective assembly view of the embodiment of the surgical end actuator and closing sleeve of Figures 80 and 81;

[0088] Figure 83 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figures 80 to 82, with its claws in a closed position or configuration;

[0089] Figure 84 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figures 80 to 83 with a portion of the closing sleeve shown in cross section and with the claws thereof in a position or configuration open;

[0090] Figure 85 is an exploded perspective assembly view of another embodiment of the surgical end actuator and closure sleeve;

[0091] Figure 86 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figure 85 with the claws thereof in a closed position or configuration;

[0092] Figure 87 is a side elevation view of the embodiment of the surgical end actuator and closing sleeve of Figures 85 and 86 with the claws thereof in an open position or configuration with a portion of the closing sleeve shown in cross section ;

[0093] Figure 88 is a perspective view of a portion of another embodiment of the elongated drive shaft assembly;

[0094] Figure 89 is another perspective view of the embodiment of the elongated drive shaft assembly of Figure 88 with some of its components omitted for clarity;

[0095] Figure 90 is another perspective view of the elongated drive shaft assembly of Figures 88 and 89 with the surgical end actuator in a hinged position or configuration;

[0096] Figure 91 is an exploded assembly view of the elongated drive shaft assembly of Figures 88 to 90;

[0097] Figure 92 is a top view of the elongated drive shaft assembly of Figures 88 to 91 with some components omitted for clarity and the surgical end actuator of the same articulated in one direction;

[0098] Figure 93 is another top view of the elongated drive shaft assembly of Figures 88 to 92 with some of its components omitted for clarity and with the surgical end actuator articulated in another direction;

[0099] Figure 94 is a perspective view of a surgical staple cartridge embodiment;

[00100] Figure 95 is a perspective view of another embodiment of surgical staple cartridge;

[00101] Figure 96 is a perspective view of a portion of another elongated drive shaft assembly coupled to a surgical end actuator;

[00102] Figure 97 is another perspective view of the elongated drive shaft assembly and surgical end actuator of Figure 96, in a non-hinged orientation and with portions thereof omitted for clarity;

[00103] Figure 98 is a top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly of Figures 96 and 97, with the surgical end actuator in a hinged orientation;

[00104] Figure 99 is another top view of portions of the embodiment of the surgical end actuator and the elongated drive shaft assembly of Figures 21 to 23, with some of its portions omitted for clarity;

[00105] Figure 100 is another top perspective view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 99 in a hinged orientation;

[00106] Figure 101 is another top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 100 in a non-hinged orientation;

[00107] Figure 102 is another top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 101, with the surgical end actuator articulated in a first articulation direction;

[00108] Figure 103 is another top view of portions of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 102, with the surgical end actuator pivoted in a second pivot direction;

[00109] Figure 104 is a top view of another embodiment of the surgical end actuator and another embodiment of the elongated drive shaft assembly, in a non-hinged orientation;

[00110] Figure 105 is another top view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 104, with the surgical end actuator in a hinged orientation;

[00111] Figure 106 is a top view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with some portions thereof omitted for clarity;

[00112] Figure 107 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 106, in a first hinged orientation;

[00113] Figure 108 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 107, in a second hinged orientation;

[00114] Figure 109 is a top view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with some portions thereof omitted for clarity;

[00115] Figure 110 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 109, in a first hinged orientation;

[00116] Figure 111 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 110, in a second hinged orientation;

[00117] Figure 112 is a top view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with some portions thereof omitted for clarity;

[00118] Figure 113 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 112, in a first hinged orientation;

[00119] Figure 114 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 113, in a second hinged orientation;

[00120] Figure 115 is a top view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with some portions thereof omitted for clarity;

[00121] Figure 116 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 115, in a first hinged orientation;

[00122] Figure 117 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 116, in a second hinged orientation;

[00123] Figure 118 is a top view of a portion of another embodiment of the surgical end actuator and the embodiment of the elongated drive shaft assembly in a non-hinged orientation, with some portions thereof omitted for clarity;

[00124] Figure 119 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 118, in a first hinged orientation;

[00125] Figure 120 is a partial perspective view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with certain portions thereof omitted for clarity. ;

[00126] Figure 121 is a top view of the surgical end actuator and elongated drive shaft assembly of Figure 120 in a non-hinged orientation;

[00127] Figure 122 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 121, in a first hinged orientation;

[00128] Figure 123 is a partial perspective view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with certain portions thereof omitted for clarity. ;

[00129] Figure 124 is another perspective view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figure 123 in a non-hinged orientation;

[00130] Figure 125 is an exploded perspective assembly view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figures 123 and 124;

[00131] Figure 126 is a top view of the surgical end actuator embodiment and the elongated drive shaft assembly embodiment of Figures 123 to 125 in a non-hinged orientation;

[00132] Figure 127 is another top view of the surgical end actuator and the elongated drive shaft assembly of Figures 123 to 126, in a first hinged orientation;

[00133] Figure 128 is another top view of the surgical end actuator and elongated drive shaft assembly of Figures 123 to 128, in a second hinged orientation;

[00134] Figure 129 is a partial perspective view of a portion of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, with certain portions thereof omitted for clarity. ;

[00135] Figure 130 is a top view of the surgical end actuator and elongated drive shaft assembly of Figure 129 in a non-hinged orientation;

[00136] Figure 131 is another top view of the surgical end actuator and elongated drive shaft assembly of Figures 129 and 130, in a first hinged orientation;

[00137] Figure 132 is a partial perspective view of portions of a central column of an embodiment of an elongated drive shaft and firing bar coupler assembly;

[00138] Figure 132A is a partial cross-sectional view of portions of a central column of an elongated drive shaft assembly, another firing bar coupler and a latch arrangement;

[00139] Figure 133 is a top view of the central column embodiment and firing bar coupler of Figure 132, with a firing bar embodiment installed therein;

[00140] Figure 134 is a top view of a proximal end of a firing bar embodiment;

[00141] Figure 135 is a top view of a proximal end of another embodiment of firing bar;

[00142] Figure 136 is a top view of another embodiment of the surgical end actuator and embodiment of the elongated drive shaft assembly in a non-hinged orientation, and with various components omitted for clarity;

[00143] Figure 137 is another top view of the surgical end actuator and elongated drive shaft assembly of Figure 136, in a first hinged orientation;

[00144] Figure 138 is a partial perspective view of another embodiment of the surgical end actuator and elongated drive shaft assembly, in a non-hinged orientation and with components omitted for clarity;

[00145] Figure 139 is an exploded perspective assembly view of the surgical end actuator and elongated drive shaft assembly of Figure 138;

[00146] Figure 140 is another exploded perspective view of portions of the surgical end actuator and the elongated drive shaft assembly of Figure 139;

[00147] Figure 141 is another perspective view of the surgical end actuator and elongated drive shaft assembly of Figures 138 to 140, in a first hinged orientation;

[00148] Figure 142 is another perspective view of the surgical end actuator and elongated drive shaft assembly of Figures 138 to 141, in a second hinged orientation;

[00149] Figure 143 is a top view of a portion of another elongated drive shaft assembly;

[00150] Figure 144 is a partial exploded assembly view of the elongated drive shaft assembly of Figure 143 and a portion of a surgical end actuator;

[00151] Figure 145 is a perspective view of another embodiment of the surgical end actuator and an embodiment of the elongated drive shaft assembly, in a non-hinged orientation;

[00152] Figure 146 is a top view of the wire member and pulley arrangement of the surgical end actuator and the elongated drive shaft assembly of Figure 145;

[00153] Figure 147 is an exploded assembly view of portions of the surgical end actuator and the elongated drive shaft assembly of Figure 145;

[00154] Figure 148 is a side elevation view of a portion of another elongated drive shaft assembly;

[00155] Figure 149 is an exploded assembly view of the elongated drive shaft assembly of Figure 148;

[00156] Figure 150 is a top view of portions of another elongated drive shaft assembly, with components thereof omitted for clarity;

[00157] Figure 151 is a partial cross-sectional view of a portion of a wire member of an elongated drive shaft assembly and a tensioning screw arrangement for introducing tension into the wire member;

[00158] Figure 152 is a cross-sectional perspective view of a closure sleeve embodiment;

[00159] Figure 153 is a cross-sectional perspective view of another embodiment of closing sleeve;

[00160] Figure 154 is a cross-sectional view of portions of another embodiment of closing sleeve;

[00161] Figure 155 is a cross-sectional view of portions of another embodiment of closing sleeve;

[00162] Figure 156 is a cross-sectional view of portions of another embodiment of closing sleeve;

[00163] Figure 157 is a cross-sectional perspective view of portions of another elongated drive shaft assembly; It is

[00164] Figure 158 is another cross-sectional view of portions of the elongated drive shaft assembly of Figure 157.

[00165] Corresponding reference characters indicate corresponding parts across the various views. The exemplifications described herein illustrate various embodiments of the invention, in one form, and such exemplifications should not be considered as limiting the scope of the invention in any way.

DETAILED DESCRIPTION

[00166] The applicant of this application holds the following patent applications that were filed on the same date as this application and which are each incorporated herein by reference in their respective entireties:

[00167] - US Patent Application serial no., entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS", attorney document no. END7851USNP/150530;

[00168] - US Patent Application serial no., entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS", attorney document no. END7854USNP/150533;

[00169] - US Patent Application serial no., entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS", attorney document no._END7852USNP/150531;

[00170] - US Patent Application serial no., entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY", attorney document no. END7850USNP/150529;

[00171] - US Patent Application serial no., entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT", attorney document no. END7849USNP/150528;

[00172] - US Patent Application serial no., entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS", attorney document no. END7848USNP/150527;

[00173] - US Patent Application serial no., entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS", attorney document no. END7853USNP/150532; It is

[00174] US Patent Application serial no., entitled “SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS”, attorney document no. END7855USNP/150534.

[00175] The applicant of this application holds the following patent applications that were filed on June 18, 2015 and which are each incorporated herein by reference in their respective entireties:

[00176] - US Patent Application Serial No. 14/742,925, entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS";

[00177] - US Patent Application Serial No. 14/742,941, entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES";

[00178] - US Patent Application Serial No. 14/742,933, entitled "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING";

[00179] - US Patent Application Serial No. 14/742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS";

[00180] - US Patent Application Serial No. 14/742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT"; It is

[00181] - US Patent Application Serial No. 14/742,876, entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS".

[00182] The applicant of this application holds the following patent applications that were filed on March 6, 2015 and which are each incorporated herein by reference in their respective entireties:

[00183] - US Patent Application Serial No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT";

[00184] - US Patent Application Serial No. 14/640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS";

[00185] - US Patent Application Serial No. 14/640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES";

[00186] - US Patent Application Serial No. 14/640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION";

[00187] - US Patent Application Serial No. 14/640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS";

[00188] - US Patent Application Serial No. 14/640,859, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES";

[00189] - US Patent Application Serial No. 14/640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS";

[00190] - US Patent Application Serial No. 14/640,844, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE";

[00191] - US Patent Application Serial No. 14/640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING";

[00192] - US Patent Application Serial No. 14/640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER";

[00193] - US Patent Application Serial No. 14/640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT"; It is

[00194] - US Patent Application Serial No. 14/640,780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING".

[00195] - The applicant of this application holds the following patent applications that were filed on February 27, 2015 and which are each incorporated herein by reference in their respective entireties:

[00196] - US Patent Application Serial No. 14/633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION";

[00197] - US Patent Application Serial No. 14/633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND";

[00198] - US Patent Application Serial No. 14/633,576, entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES";

[00199] - US Patent Application Serial No. 14/633,566, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY";

[00200] - US Patent Application Serial No. 14/633,555, entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED";

[00201] - US Patent Application Serial No. 14/633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT";

[00202] - US Patent Application Serial No. 14/633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT";

[00203] - US Patent Application Serial No. 14/633,526, entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE";

[00204] - US Patent Application Serial No. 14/633,541, entitled "MODULAR STAPLING ASSEMBLY"; It is

[00205] - US Patent Application Serial No. 14/633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER".

[00206] - The applicant of this application holds the following patent applications that were filed on December 18, 2014 and which are each incorporated herein by reference in their respective entireties:

[00207] - US Patent Application Serial No. 14/574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING";

[00208] - US Patent Application Serial No. 14/574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS";

[00209] - US Patent Application Serial No. 14/575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS";

[00210] - US Patent Application Serial No. 14/575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS";

[00211] - US Patent Application Serial No. 14/575,130, entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE";

[00212] - US Patent Application Serial No. 14/575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS";

[00213] - US Patent Application Serial No. 14/575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS";

[00214] - US Patent Application Serial No. 14/575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS";

[00215] - US Patent Application Serial No. 14/574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM"; It is

[00216] - US Patent Application Serial No. 14/574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM".

[00217] - The applicant of this application holds the following patent applications that were filed on March 1, 2013 and which are each incorporated herein by reference in their respective entireties:

[00218] - US Patent Application Serial No. 13/782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION", now US Patent Application Publication No. 2014/0246471;

[00219] - US Patent Application Serial No. 13/782,323, entitled "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246472;

[00220] - US Patent Application Serial No. 13/782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0249557;

[00221] - US Patent Application Serial No. 13/782,499, entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT", now US Patent Application Publication No. 2014/0246474;

[00222] - US Patent Application Serial No. 13/782,460, entitled "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246478;

[00223] - US Patent Application Serial No. 13/782,358, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246477;

[00224] - US Patent Application Serial No. 13/782,481, entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH EXCHANGE", now US Patent Application Publication No. 2014/0246479;

[00225] - US Patent Application Serial No. 13/782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now US Patent Application Publication No. 2014/0246475;

[00226] - US Patent Application Serial No. 13/782,375, entitled "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM", now US Patent Application Publication No. 2014/0246473; It is

[00227] - US Patent Application Serial No. 13/782,536, entitled "SURGICAL INSTRUMENT SOFT STOP", now Patent Application Publication No. 2014/0246476.

[00228] - The applicant of this application also holds the following patent applications that were filed on March 14, 2013 and which are each incorporated herein by reference in their respective entireties:

[00229] - US Patent Application Serial No. 13/803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now US Patent Application Publication No. 2014/0263542;

[00230] - US Patent Application Serial No. 13/803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now Patent Application Publication No. 2014/0263537;

[00231] - US Patent Application Serial No. 13/803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263564;

[00232] - US Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now US Patent Application Publication No. 2014/0263541;

[00233] - US Patent Application Serial No. 13/803,210, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263538;

[00234] - US Patent Application Serial No. 13/803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263554;

[00235] - US Patent Application Serial No. 13/803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263565;

[00236] - US Patent Application Serial No. 13/803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263553;

[00237] - US Patent Application Serial No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263543; It is

[00238] - US Patent Application Serial No. 13/803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0277017.

[00239] The applicant of this application also holds the following patent application which was filed on March 7, 2014 and is incorporated herein by reference in its entirety:

[00240] - US Patent Application Serial No. 14/200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263539.

[00241] The applicant of this application also holds the following patent applications that were filed on March 26, 2014 and which are each incorporated herein by reference in their respective entireties:

[00242] - US Patent Application Serial No. 14/226,106, entitled "POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2015/0272582;

[00243] - US Patent Application Serial No. 14/226,099, entitled "STERILIZATION VERIFICATION CIRCUIT", now US Patent Application Publication No. 2015/0272581;

[00244] - US Patent Application Serial No. 14/226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT", now US Patent Application Publication No. 2015/0272580;

[00245] - US Patent Application Serial No. 14/226,117, entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now US Patent Application Publication No. 2015/0272574;

[00246] - US Patent Application Serial No. 14/226,075, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now US Patent Application Publication No. 2015/0272579;

[00247] - US Patent Application Serial No. 14/226,093, entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2015/0272569;

[00248] - US Patent Application Serial No. 14/226,116, entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now US Patent Application Publication No. 2015/0272571;

[00249] - US Patent Application Serial No. 14/226,071, entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR", now US Patent Application Publication No. 2015/0272578;

[00250] - US Patent Application Serial No. 14/226,097, entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now US Patent Application Publication No. 2015/0272570;

[00251] - US Patent Application Serial No. 14/226,126, entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2015/0272572;

[00252] - US Patent Application Serial No. 14/226,133, entitled "MODULAR SURGICAL INSTRUMENT SYSTEM", now US Patent Application Publication No. 2015/0272557;

[00253] - US Patent Application Serial No. 14/226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now US Patent Application Publication No. 2015/0277471;

[00254] - US Patent Application Serial No. 14/226,076, entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION", now US Patent Application Publication No. 2015/0280424;

[00255] - US Patent Application Serial No. 14/226,111, entitled "SURGICAL STAPLING INSTRUMENT SYSTEM", now US Patent Application Publication No. 2015/0272583; It is

[00256] - US Patent Application Serial No. 14/226,125, entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", now US Patent Application Publication No. 2015/0280384.

[00257] The applicant of this application also holds the following patent applications that were filed on September 5, 2014 and which are each incorporated herein by reference in their respective entireties:

[00258] - US Patent Application Serial No. 14/479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE";

[00259] - US Patent Application Serial No. 14/479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION";

[00260] - US Patent Application Serial No. 14/478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION";

[00261] - US Patent Application Serial No. 14/478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION";

[00262] - US Patent Application Serial No. 14/479,110, entitled "USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE";

[00263] - US Patent Application Serial No. 14/479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION";

[00264] - US Patent Application Serial No. 14/479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE"; It is

[00265] - US Patent Application Serial No. 14/479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION".

[00266] The applicant of this application also holds the following patent applications that were filed on April 9, 2014 and which are each incorporated herein by reference in their respective entireties:

[00267] - US Patent Application Serial No. 14/248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now US Patent Application Publication No. 2014/0305987;

[00268] - US Patent Application Serial No. 14/248,581, entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now Patent Application Publication No. 2014/0305989;

[00269] - US Patent Application Serial No. 14/248,595, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305988;

[00270] - US Patent Application Serial No. 14/248,588, entitled "POWERED LINEAR SURGICAL STAPLER", now US Patent Application Publication No. 2014/0309666;

[00271] - US Patent Application Serial No. 14/248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0305991;

[00272] - US Patent Application Serial No. 14/248,584, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now US Patent Application Publication No. 2014/0305994 ;

[00273] - US Patent Application Serial No. 14/248,587, entitled "POWERED SURGICAL STAPLER", now US Patent Application Publication No. 2014/0309665;

[00274] - US Patent Application Serial No. 14/248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now Patent Application Publication No. 2014/0305990; It is

[00275] - US Patent Application Serial No. 14/248,607, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", now US Patent Application Publication No. 2014/0305992.

[00276] The applicant of this application also holds the following patent applications that were filed on April 16, 2013 and which are each incorporated herein by reference in their respective entireties:

[00277] - US Provisional Patent Application serial no. 61/812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";

[00278] - US Provisional Patent Application serial no. 61/812,376, entitled "LINEAR CUTTER WITH POWER";

[00279] - US Provisional Patent Application serial no. 61/812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP";

[00280] - US Provisional Patent Application serial no. 61/812,385, entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL"; It is

[00281] - US Provisional Patent Application serial no. 61/812,372, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

[00282] Numerous specific details are presented to provide a complete understanding of the structure, function, manufacture and general use of the embodiments described in the specification and illustrated in the accompanying drawings. Well-known operations, components and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated in the present invention are non-limiting examples and, therefore, it can be understood that the specific structural and functional details described in the present invention may be representative and illustrative. Variations and changes can be made to this, without deviating from the scope of the achievements.

[00283] The terms "comprises" (and any form of understands, such as "comprises" and "which understands"), "has" (and any form of has, such as "has" and "which has"), "includes" (and any form of includes, such as "includes" and "which includes") and "contains" (and any form of contains, such as "contains" and "which contains") are unrestricted linking verbs. As a result, a system, device or surgical apparatus that "comprises", "has", "includes" or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements . Likewise, an element of a surgical system, device or apparatus that "comprises", "has", "includes" or "contains" one or more features possesses those one or more features, but is not limited to possessing only those one or more features. or more resources.

[00284] The terms "proximal" and "distal" are used in the present invention with reference to a doctor who manipulates the handle portion of the surgical instrument. The term "proximal" refers to the portion closest to the physician, and the term "distal" refers to the portion located in the direction away from the physician. It will also be understood that, for the sake of convenience and clarity, spatial terms such as "vertical", "horizontal", "up" and "down" may be used in the present invention with respect to the drawings. However, surgical instruments can be used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

[00285] Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily understand that the various methods and devices described in the present invention can be used in numerous surgical procedures and applications, including, for example, in connection with open surgical procedures. As this Detailed Description continues, the reader will further understand that the various instruments described herein can be inserted into a body in any manner, such as through a natural orifice, through an incision or perforation formed in tissue, etc. The functional portions or end actuator portions of the instruments can be inserted directly into a patient's body, or can be inserted through an access device that has a working channel through which the end actuator and the end actuator can be advanced. elongated drive shaft of a surgical instrument.

[00286] The surgical stapling system may comprise a drive shaft and an end actuator extending from the drive shaft. The end actuator comprises a first claw and a second claw. The first gripper comprises a staple cartridge. The staple cartridge is insertable into, and removable from, the first claw; however, other embodiments are envisioned in which a staple cartridge is not removable, or at least readily replaceable, from the first clamp. The second gripper comprises an anvil configured to deform staples ejected from the staple cartridge. The second claw pivots in relation to the first claw around a geometric axis of the lid; however, other embodiments are envisaged in which the first claw is pivotable in relation to the second claw. The surgical stapling system further comprises a pivot joint configured to allow the end actuator to be rotated or pivoted relative to the drive shaft. The end actuator is rotatable about a pivot axis extending through the pivot joint. Other embodiments are envisioned that do not include an articulation joint.

[00287] The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a platform extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the fabric to be stapled and the anvil is positioned on a second side of the fabric. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the platform. After that, the staples removably stored in the cartridge body can be implanted into the tissue. The cartridge body includes staple cavities defined therein, with staples being removably stored in the staple cavities. The clamp cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of clamp cavities and clamps may be possible.

[00288] The staples are supported by staple drivers in the cartridge body. The actuators are movable between a first position, or unfired position, and a second position, or fired position, to eject the staples from the staple cavities. The actuators are retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and retain the retainer in the cartridge body. The triggers are movable between their non-fired positions and their fired positions by a slider. The slider is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The slider comprises a plurality of inclined surfaces configured to slide under the drivers and lift the drivers, and the clips supported thereon, toward the anvil.

[00289] In addition to the above, the slider is moved distally by a firing member. The firing member is configured to contact the slider and push the slider toward the distal end. The 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 that engages the first claw and a second cam that engages the second claw. As the firing member is advanced distally, the first cam and second cam can control the distance, or tissue gap, between the staple cartridge platform and the anvil. The firing member also comprises a knife configured to make an incision in tissue captured between the anvil and the staple cartridge. It is desirable that the knife be positioned at least partially proximal to the inclined surfaces so that the staples are ejected in front of the knife.

[00290] Figures 1 to 4 represent a motor-driven surgical instrument 10 for cutting and fixing, which may or may not be reused. In the illustrated embodiment, the instrument 10 includes a housing 12 comprising a handle 14 that is configured to be picked up, manipulated and actuated by the practitioner. Housing 12 is configured for operative attachment to an elongated drive shaft assembly 200 that has a surgical end actuator 300 operatively coupled thereto that is configured to perform one or more surgical tasks or procedures. The elongated drive shaft assembly 200 may be interchangeable with other drive shaft assemblies in the various ways disclosed, for example, in U.S. Patent Application Serial No. 14/226,075, entitled "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES." , now US Patent Application Publication No. 2015/0272579, the disclosure of which is incorporated herein by reference in its entirety. In other embodiments, the elongated drive shaft assembly may not be interchangeable with other drive shaft assemblies and essentially comprise a dedicated non-removable portion of the instrument.

[00291] As this Detailed Description continues, it will be understood that the various forms of interchangeable drive shaft assemblies disclosed herein can also be effectively employed in connection with robotically controlled surgical systems. Thus, the term "compartment" may also encompass a compartment or similar portion of a robotic system that houses or otherwise operationally supports at least one drive system configured to generate and apply at least one control movement that can be used to drive the interchangeable elongated drive shaft assemblies described in the present invention and their respective equivalents. The term "frame" may refer to a portion of a hand-held surgical instrument. The term "structure" may also represent a portion of a robotically controlled surgical instrument and/or a portion of the robotic system that can be used to operatively control the surgical instrument. For example, the drive shaft assemblies described herein can be used with various robotic systems, instruments, components and methods described in US Patent Application Serial No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now US Patent No. 9,072,535, which is incorporated herein by reference in its entirety.

[00292] The housing 12 illustrated in Figure 1 is shown in connection with the elongated drive shaft assembly 200, which includes a surgical end actuator 300 that comprises a surgical cutting and clamping device that is configured to bear operatively therein. a surgical staple cartridge 304. Compartment 12 may be configured for use in connection with drive shaft assemblies that include end actuators that are adapted to support different sizes and types of staple cartridges, have different lengths, sizes and types of drive shafts, etc. Furthermore, housing 12 can also be used effectively with a variety of other interchangeable drive shaft assemblies including those assemblies that are configured to apply other motions and forms of energy such as radio frequency (RF) energy, ultrasonic energy and/or movement to end actuator arrangements adapted for use in various applications and surgical procedures. Additionally, end actuators, drive shaft assemblies, cables, surgical instruments, and/or surgical instrument systems may use any one or more suitable fasteners to secure tissue. For example, a fastener cartridge comprising a plurality of fasteners removably stored therein may be removably inserted into and/or secured to the end actuator of a drive shaft assembly.

[00293] Figure 1 illustrates the housing 12 or handle 14 of the surgical instrument 10 with an interchangeable elongated drive shaft assembly 200 operatively coupled thereto. As can be seen in Figure 1, the cable 14 may comprise a pair of interconnectable cable housing segments 16 and 18 which may be interconnected by screws, press-fit elements, adhesive, etc. In the illustrated arrangement, the handle housing segments 16 and 18 cooperate to form a pistol grip portion 19 that can be wielded and manipulated by the practitioner. As will be discussed in more detail below, the cable 14 operatively supports, within it, a plurality of drive systems that are configured to generate and apply various control movements to corresponding portions of the interchangeable drive shaft assembly that is operatively attached to the same.

[00294] Now referring to Figure 2, cable 14 may also include a structure 20 that operatively supports a plurality of drive systems. For example, structure 20 may operatively support a "first" drive system, or closing drive system, generally designated as 30, which may be employed to apply closing and opening movements to the drive shaft assembly. elongate 200 that is fixed or operatively coupled thereto. In at least one form, the closing drive system 30 may include an actuator in the form of a closing trigger 32, pivotally supported by the frame 20. More specifically, as illustrated in Figure 2, the closing trigger 32 is pivotally coupled to the housing 14 by a pin 33. This arrangement allows the closing trigger 32 to be manipulated by a physician so that when the physician grips the pistol grip portion 19 of the grip 14, the closing trigger 32 can be easily rotated from an initial or "non-actuated" position to an "actuated" position and, more particularly, to a fully compressed or fully actuated position. The closing trigger 32 may be biased to the non-actuated position by means of a spring or other bias arrangement (not shown). In various forms, the closing drive system 30 additionally includes a set of closing links 34, which is pivotally coupled to the closing trigger 32. As can be seen in Figure 2, the set of closing links 34 can include a first closing link 36 and a second closing link 38 which are pivotally coupled to the closing trigger 32 by a pin 35. The second closing link 38 may also be referred to herein as a "clamping member" and include a transverse fixing pin 37.

[00295] Still referring to Figure 2, it can be seen that the first closing link 36 may have therein a locking wall or end 39, configured to cooperate with a closing release assembly 60 that is pivotably coupled to structure 20. In at least one form, the closure release assembly 60 may comprise a release button assembly 62 that has a distally projecting locking tab 64 formed thereon. The release button assembly 62 can be rotated counterclockwise by a release spring (not shown). When the practitioner presses the closing trigger 32 from its non-actuated position toward the pistol grip portion 19 of the grip 14, the first closing link 36 rotates upward to a point where the locking tab 64 drops into a retaining engagement with the locking wall 39 on the first closing link 36, thus preventing the closing trigger 32 from returning to the non-actuated position. Thus, the closing release assembly 60 serves to lock the closing trigger 32 in the fully actuated position. When the practitioner wishes to unlock the closing trigger 32 to allow it to be tilted to the non-actuated position, the practitioner simply rotates the closing release button assembly 62 so that the locking tab 64 is moved out of the way. engagement with the locking wall 39 at the first closing link 36. When the locking pawl 64 has been moved out of engagement with the first closing link 36, the closing trigger 32 can rotate back to the non-actuated position. Other arrangements for locking and releasing the closing trigger may also be employed.

[00296] When the closing trigger 32 is moved from its non-actuated position to its actuated position, the closing release button 62 is rotated between a first position and a second position. The rotation of the closing release button 62 may be designated as an upward rotation; however, at least a portion of the close release button 62 is being rotated toward the circuit board 100. Still referring to Figure 2, the close release button 62 may include an arm 61 extending therefrom. and a magnetic element 63, such as a permanent magnet, for example, mounted on the arm 61. When the closing release button 62 is rotated from its first position to its second position, the magnetic element 63 can move toward the plate. circuit board 100. Circuit board 100 may include at least one sensor that is configured to detect movement of magnetic element 63. In at least one embodiment, a Hall effect sensor may be mounted on the bottom surface of circuit board 100 The Hall effect sensor may be configured to detect changes in a magnetic field surrounding the Hall effect sensor caused by movement of the magnetic element 63. The Hall effect sensor may be in signal communication with a microcontroller, for example, which can determine whether the close release button 62 is in its first position, which is associated with the unactuated position of the close trigger 32, and the open configuration of the end actuator, in its second position, which is associated with the actuated position. of the closing trigger 32 and the closed configuration of the end actuator, and/or in any position between the first position and the second position.

[00297] Also in the illustrated arrangement, the cable 14 and the structure 20 can operatively support another drive system, called, in the present invention, the firing drive system 80, which is configured to apply firing movements to corresponding portions of the interchangeable drive shaft assembly fixed to it. The firing drive system 80 may also be referred to in the present invention as a "second drive system." The firing drive system 80 may employ an electric motor 82 located in the pistol grip portion 19 of the handle assembly 14. In various forms, the motor 82 may be a brushed DC drive motor with a maximum rotational speed. of approximately 25,000 RPM, for example. In other arrangements, the motor may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 82 may be powered by a power supply 90 which, in one form, may comprise a removable power source 92. As can be seen in Figure 2, for example, the battery 92 may comprise a proximal compartment portion 94 which is configured for attachment to a distal compartment portion 96. The proximal compartment portion 94 and the distal compartment portion 96 are configured to operatively support a plurality of batteries 98. Each of the batteries 98 may comprise, for example, a lithium-ion ("LI") or other suitable battery. The distal housing portion 96 is configured for removable operative attachment to a control circuit board assembly 100 that is also operatively coupled to the motor 82. Multiple batteries 98, which may be connected in series, may be used as the power source. for the surgical instrument 10. Furthermore, the power source 90 may be replaceable and/or rechargeable.

[00298] As described above in connection with other various forms, the electric motor 82 includes a rotary drive shaft (not shown), in operational interface with a gear reducer assembly 84, which is mounted in engagement with an assembly, or rack, of drive teeth 122 on a longitudinally movable drive member 120. In use, a voltage polarity supplied by the power supply 90 can operate the electric motor 82 clockwise, with the voltage polarity applied to the electric motor by the battery can be reversed so as to operate the electric motor 82 in a counterclockwise direction. When the electric motor 82 is rotated in one direction, the drive member 120 will be axially driven in the distal direction DD. When the motor 82 is driven in an opposite rotary direction, the drive member 120 will be axially driven in the PD proximal direction. The handle 14 may include a switch that may be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. As with the other forms described in the present invention, the handle 14 may also include a sensor configured to detect the position of the drive member 120 and/or the direction in which the drive member 120 is being moved.

[00299] The actuation of the motor 82 is controlled by a trigger 130 that is pivotally supported on the cable 14. The trigger 130 can be rotated between a non-actuated position and an actuated position. The firing trigger 130 may be biased to the non-actuated position by means of a spring 132 or other biasing arrangement so that, when the practitioner releases the firing trigger 130, it may be rotated or otherwise returned. to the position not actuated by means of spring 132 or the propensity arrangement. In at least one form, the firing trigger 130 may be positioned "distant" from the closing trigger 32, as discussed above. In at least one form, a firing trigger safety button 134 may be pivotally mounted to the closing trigger 32 by pin 35. The safety button 134 may be positioned between the firing trigger 130 and the closing trigger 32 and having a pivot arm 136 projecting therefrom. See Figure 2. When the closing trigger 32 is in the non-actuated position, the safety button 134 is contained within the handle 14, where the clinician cannot readily access it and move it between a safety position, which prevents actuation of the firing trigger 130, and a firing position at which the firing trigger 130 can be fired. When the physician presses the closing trigger 32, the safety button 134 and the firing trigger 130 pivot downward to a position in which they can then be manipulated by the physician.

[00300] As discussed above, the handle 14 includes a closing trigger 32 and a firing trigger 130. The firing trigger 130 may be pivotably mounted to the closing trigger 32. When the closing trigger 32 is moved from its non-actuated position to its actuated position, the firing trigger 130 may move downward as described above. After the safety button 134 has been moved to its firing position, the firing trigger 130 can be pressed to operate the surgical instrument firing system motor. In various circumstances, the cable 14 may include a tracking system configured to determine the position of the closing trigger 32 and/or the position of the firing trigger 130.

[00301] As indicated above, in at least one form, the longitudinally movable drive member 120 has a rack of drive teeth 122 formed thereon for meshed engagement with a corresponding drive gear 86 of the gear reducer assembly 84. At least One form also includes a manually actuable "rescue" assembly 140, which is configured to enable the practitioner to manually retract the longitudinally movable drive member 120 if the motor 82 ceases to operate. The rescue assembly 140 may include a lever or a rescue cable assembly 142 that is configured to be manually rotated for ratchet engagement with the teeth 124 also provided on the drive member 120. In this way, the practitioner can manually retract the member 120. drive member (120) using the rescue cable assembly (142) to engage the drive member (120) in the PD proximal direction. US Patent Application Publication No. 2010/0089970, now US Patent No. 8,608,045, discloses rescue arrangements and other components, arrangements and systems that may also be employed with the various instruments described herein. US Patent Application Serial No. 12/249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now US Patent No. 8,608,045, is incorporated herein by reference in its entirety.

[00302] Now referring to Figures 1 and 3, the elongated drive shaft assembly 200 includes a surgical end actuator 300 comprising an elongated channel 302 that is configured to operatively support within it a staple cartridge 304. The actuator end actuator 300 may additionally include an anvil 310 that is pivotally supported relative to the elongated channel 302. As will be further discussed below in more detail, the surgical end actuator 300 may be pivoted relative to the elongated drive shaft assembly in 3 and 4, the drive shaft assembly 200 may additionally include a proximal housing or nozzle 201 comprised of nozzle portions 202 and 203. The drive shaft assembly 200 further includes a closing sleeve 260, which can be used to close and/or open an anvil 310 of the end actuator 300. As can be seen in Figure 4, the drive shaft assembly 200 includes a center column 210, which can be configured to attachably support a frame portion of the drive shaft 212 of an articulation lock 350. Details concerning the construction and operation of the articulation lock 350 are set forth in U.S. Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now US Patent Application Publication No. 2014/0263541, the description of which is incorporated herein, by reference, in its entirety. The central column 210 is configured to, firstly, slideably support a firing member 220 therein and, secondly, slideably support the closing sleeve 260 extending around the central column 210. central column 210 also slidingly supports a proximal pivot driver 230. The proximal pivot driver 230 has a distal end 231 that is configured to operatively engage the pivot lock 350. In one arrangement, the pivot lock 350 interfaces with a pivot frame 352 adapted to operatively engage a drive pin (not shown) in the end actuator frame (not shown).

[00303] In the illustrated arrangement, the central column 210 may comprise a proximal end 211 that is pivotably supported on a chassis 240. In one arrangement, for example, the proximal end 211 of the central column 210 has a thread 214 formed therein for attachment. threaded to a center column bearing 216 configured to be supported within the chassis 240. See Figure 3. This arrangement facilitates rotary attachment of the center column 210 to the chassis 240 so that the center column 210 can be selectively rotated around an SA-SA geometric axis of the drive shaft relative to the chassis 240. The drive shaft assembly 200 also includes a movable closure member 250, which is slidably supported within the chassis 240 so that it can be moved axially in relation to the same. As can be seen in Figure 3, the movable closing member 250 includes a pair of proximally projecting hooks 252 that is configured to be attached to the securing pin 37, which is attached to the second closing link 38, as will be discussed further. details below. See Figure 2. A proximal end 261 of closure tube 260 is coupled to movable closure member 250 for rotation relative thereto. For example, a U-shaped connector 263 is inserted into an annular slot 262 in the proximal end 261 of closure sleeve 260 and is retained within vertical slots 253 in movable closure member 250. See Figure 3. This arrangement serves to fixing the closing sleeve 260 to the movable closing element 250 for axial displacement therewith, while enabling the closing sleeve 260 to rotate relative to the movable closing element 250 around the SA-SA geometric axis of the drive shaft. A closing spring 268 is seated on the closing sleeve 260 and serves to bias the closing sleeve 260 in the PD proximal direction, which may serve to rotate the closing trigger to the non-actuated position when the drive shaft assembly 200 is operationally coupled to cable 14.

[00304] Also as indicated above, the elongated drive shaft assembly 200 additionally includes a firing member 220 that is supported for axial displacement in the central column 210 of the drive shaft. The firing member 220 includes a firing drive shaft intermediate portion 222, which is configured to connect to a distal cutting portion or firing bar 280. The firing member 220 may also be referred to in the present invention as a " second drive shaft" and/or a "second drive shaft assembly". As can be seen in Figure 4, the firing drive shaft intermediate portion 222 may include a longitudinal slot 223 at its distal end, which may be configured to receive a tab 284 at the proximal end 282 of the distal firing bar 280. longitudinal slot 223 and the proximal end 282 may be sized and configured to permit relative movement therebetween and may comprise a sliding joint 286. The sliding joint 286 may allow the firing drive shaft intermediate portion 222 of the firing drive 220 is moved to pivot the surgical end actuator 300 without moving, or at least without substantially moving, the firing bar 280. Once the surgical end actuator 300 has been properly oriented, the intermediate portion of the firing drive shaft 222 may be advanced distally until a proximal side wall of the longitudinal slot 223 contacts the flap 284 to advance the distal firing bar 280 and fire a staple cartridge that may be supported in the end actuator 300. As can further be seen In Figure 4, the central column 210 of the drive shaft has an elongated opening or window 213 therein to facilitate assembly and insertion of the intermediate firing drive shaft portion 222 into the frame of the drive shaft 210. After the intermediate portion of firing drive shaft 222 is inserted into the frame, an upper segment of frame 215 may be engaged with the frame of drive shaft 212 to enclose within it the intermediate portion of firing drive shaft 222 and the firing bar 280. A more detailed discussion of the operation of firing member 220 can be seen in US Patent Application Publication No. 13/803,086, now US Patent Application Serial No. 2014/0263541.

[00305] In addition to the foregoing, the illustrated drive shaft assembly 200 includes a clutch assembly 400 that may be configured to selectively and releasably couple the pivot driver 230 to the firing member 220. In one form, the assembly clutch 400 comprises a locking ring or sleeve 402 positioned around the firing member 220, the locking sleeve 402 being rotatable between an engaged position, wherein the locking sleeve 402 couples the pivot driver 360 to the member firing member 220, and a disengaged position, in which the pivot driver 360 is not operably coupled to the firing member 200. When the locking sleeve 402 is in its engaged position, the distal movement of the firing member 220 may move distally the pivot driver 230 and, correspondingly, proximal movement of the trigger member 220 can move the proximal pivot driver 230 proximally. When the locking sleeve 402 is in its disengaged position, movement of the trigger member 220 cannot is transmitted to the proximal hinge driver 230 and, as a result, the firing member 220 can move independently of the proximal hinge driver 230. In various circumstances, the proximal hinge driver 230 can be held in position by the hinge lock. 350, when the proximal pivot actuator 230 is not being moved in the proximal or distal direction by the firing member 220.

[00306] As can be seen further in Figure 4, the locking sleeve 402 may comprise a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening 403 defined therein, configured to receive the firing member 220. The locking sleeve 402 locking lugs 402 may comprise diametrically opposed inwardly facing locking protrusions 404 and an outwardly facing locking member 406. The locking protrusions 404 may be configured to be selectively engaged with the firing member 220. More particularly, when the locking sleeve 402 is in its engaged position, the locking protuberances 404 are positioned within a drive notch 224 defined in the firing member 220 so that a distal pushing force and/or a proximal pulling force can be transmitted from the firing member 220. trigger 220 to the locking sleeve 402. When the locking sleeve 402 is in its engaged position, the second locking member 406 is received within a drive notch 232 defined in the proximal pivot driver 230, such that the force of distal pushing and/or proximal pulling force applied to the locking sleeve 402 can be transmitted to the pivot driver 230. In effect, the firing member 220, the locking sleeve 402 and the proximal pivot driver 230 will move in assembly when locking sleeve 402 is in its engaged position. On the other hand, when the locking sleeve 402 is in its disengaged position, the locking protuberances 404 may not be positioned within the drive notch 224 of the firing member 220 and, as a result, a distal pushing force and/or a proximal pulling force may not be transmitted from the firing member 220 to the locking sleeve 402. Correspondingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal pivot driver 230. In these Under circumstances, the firing member 220 may be slid proximally and/or distally relative to the locking sleeve 402 and the proximal pivot driver 230.

[00307] As can also be seen in Figure 4, the elongated drive shaft assembly 200 additionally includes a switching cylinder 500 that is rotatably received in the closing sleeve 260. The switching cylinder 500 comprises a switching shaft segment. hollow drive 502 having a drive shaft projection 504 formed thereon, intended to receive within it an outwardly projecting actuation pin 410. In various circumstances, the actuation pin 410 extends through a slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when it is engaged with the proximal pivot actuator 230 A rotatable torsion spring 420 is configured to engage the drive shaft boss 504 with the switching cylinder 500 and a portion of the nozzle housing 203 to apply a biasing force to the switching cylinder 500. The switching cylinder 500 may comprise additionally at least partially circumferential openings 506 defined therein, which, with reference to Figures 5 and 6, may be configured to receive circumferential bezels extending from the nozzle portions 202, 203, and permitting relative rotation, but not translation, between switching cylinder 500 and proximal nozzle 201. Bezels also extend through openings 266 in closing sleeve 260 to be seated in recesses in the center column of drive shaft 210. However, rotation of the nozzle 201 to a point where the bezels reach the end of their respective slots 506 in the switching cylinder 500 will result in rotation of the switching cylinder 500 around the SA-SA axis of the drive shaft. Rotation of the switching cylinder 500 will ultimately result in rotation of the actuation pin 410 and locking sleeve 402 between their engaged and disengaged positions. Thus, in essence, the nozzle 201 can be employed to operatively engage and disengage the linkage drive system with the firing drive system in the various ways described in more detail in U.S. Patent Application Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541.

[00308] As also illustrated in Figures 3 to 4, the elongated drive shaft assembly 200 may comprise a slip ring assembly 600 that may be configured to conduct electrical power to and/or from the end actuator 300 and/or communicate signals to and/or from the surgical end actuator 300, for example. The slip ring assembly 600 may comprise a proximal connector flange 604 mounted to a chassis flange 242 extending from the chassis 240 and a distal connector flange 601 positioned within a slot defined in the drive shaft housings 202 , 203. The proximal connector flange 604 may comprise a first face and the distal connector flange 601 may comprise a second face that is positioned adjacent to and is movable with respect to the first face. The distal connector flange 601 can rotate relative to the proximal connector flange 604 around the geometric axis of the SA-SA drive shaft. The proximal connector flange 604 may comprise a plurality of concentric or at least substantially concentric conductors 602 defined on its first face. A connector 607 may be mounted on the proximal side of the distal connector flange 601 and may have a plurality of contacts (not shown), each contact corresponding to and in electrical contact with one of the conductors 602. This arrangement allows for relative rotation between the proximal connector flange 604 and the distal connector flange 601, and still maintains electrical contact between them. The proximal connector flange 604 may include an electrical connector 606 that may place the conductors 602 in signal communication with a drive shaft circuit board 610 mounted on the drive shaft chassis 240, for example. In at least one case, an electrical harness comprising a plurality of conductors may extend between the electrical connector 606 and the drive shaft circuit board 610. The electrical connector 606 may extend proximally through an opening in the connector. 243 set on chassis mounting flange 242. See Figure 7. US Patent Application Serial No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed March 13, 2013, now Publication of Application of US Patent No. 2014/0263552, is incorporated herein, by reference, in its entirety. US Patent Application Serial No. 13/800,025, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed March 13, 2013, now US Patent Application Publication No. 2014/0263551, is incorporated herein by reference , in its entirety. Additional details regarding the slip ring assembly 600 can be found in US Patent Application Publication Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541.

[00309] As discussed above, the elongated drive shaft assembly 200 may include a proximal portion that is attachably mounted to the handle 14, and a distal portion that is rotatable about a longitudinal axis SA-SA of the drive shaft. drive. The distal rotatable portion of the drive shaft may be rotated relative to the proximal portion around the slip ring assembly 600 as discussed above. The distal connector flange 601 of the slip ring assembly 600 may be positioned on the distal rotary drive shaft portion. Furthermore, in addition to the above, the switching cylinder 500 may also be positioned within the distal rotating portion of the drive shaft. When the distal rotary drive shaft portion is rotated, the distal connector flange 601 and the switching cylinder 500 can be rotated synchronously with each other. Furthermore, the switching cylinder 500 may be rotated between a first position and a second position relative to the distal connector flange 601. When the switching cylinder 500 is in its first position, the linkage drive system (i.e., the proximal pivot actuator 230) may be operatively disengaged from the firing drive system and thus operation of the firing drive system may not pivot the end actuator 300 of the drive shaft assembly 200. switching 500 is in its second position, the linkage drive system (i.e., the proximal linkage driver 230) can be operatively engaged with the firing drive system and, in this way, the operation of the firing drive system can articulate the end actuator 300 of the drive shaft assembly 200. When the switching cylinder 500 is moved between its first position and its second position, the switching cylinder 500 is moved relative to the distal connector flange 601. In various cases, the drive shaft assembly 200 may comprise at least one sensor configured to detect the position of the switching cylinder 500.

[00310] Again referring to Figure 4, the closing sleeve assembly 260 includes a double-hinged closing sleeve assembly 271. In various forms, the double-hinged closing sleeve assembly 271 includes a closing sleeve of end actuator 272 having upper and lower terminals 273, 274 that project distally. An upper double pivot link 277 includes upwardly projecting distal and proximal pivot pins that engage, respectively, an upper distal hole in the proximally projecting upper connecting terminal 273 and an upper proximal hole in a terminal. distally projecting upper connection 264 in closure sleeve 260. A lower double pivot link 278 includes upwardly projecting distal and proximal pivot pins that respectively engage a lower distal hole in the lower connecting terminal. proximally projecting 274 and a lower proximal hole in the lower connecting terminal that projects distally 265. See also Figure 6.

[00311] Figures 5 to 8 illustrate an embodiment of surgical end actuator 300 that is configured to be operatively attached to an elongated drive shaft assembly of a surgical instrument of the type described above or other surgical instruments that include a closure configured to generate control movements to axially move a closure member that is configured to apply closing and opening movements to portions of the surgical end actuator. In the illustrated example, as will be further discussed below in more detail, the surgical end actuator is configured to be pivoted relative to a proximal portion of the elongated drive shaft assembly about a hinged joint, generally designated as 339. Other Arrangements , however, may not be capable of articulation. As can be seen in Figure 6, the hinged joint 339 defines a B-B pivot axis around which the surgical end actuator 300 can be selectively hinged. In the illustrated example, the B-B pivot axis is substantially transverse to the SA-SA axis of the drive shaft of the elongated drive shaft assembly.

[00312] The illustrated surgical end actuator 300 comprises a first claw 308 and a second claw 309 that is selectively movable relative to the first claw 308 between an open position (Figure 7) and a closed position (Figure 8). In the illustrated embodiment, the first claw 308 comprises an elongated channel 302 that is configured to operatively support a surgical staple cartridge 304 therein, and the second claw 309 comprises an anvil 310. However, other surgical claw arrangements may be employed without that deviates from the character and scope of the present invention. As can be seen in Figure 5, a support tray 305 can be attached to the surgical staple cartridge 304 to provide additional support thereto, as well as to prevent the staple drivers (not shown), which are supported in the staple pockets, from falling. 306 formed in the surgical staple cartridge 304, fall out of the surgical staple cartridge before use. As can be seen in Figure 5, the elongated channel 302 has a proximal end portion 320 that includes two vertical side walls 322. The anvil 310 includes an anvil body 312 that has a lower clip-forming surface 313 formed thereon. . A proximal end 314 of the anvil body is bifurcated by a firing member slot 315 that defines a pair of anvil attachment arms 316. Each anvil attachment arm 316 includes an inclined upper surface 321 and includes an anvil swivel pin. laterally projecting 317, and a cam slot 318 that defines a cam surface or "slit cam surface" 319. See Figure 5. One of the cam slots 318 may be referred to herein as a "first cam slot." with its cam surface being called the "first cam surface". Similarly, the other cam slot 318 may be referred to as a "second cam slot", with its cam surface being referred to herein as the "second cam surface". A swivel pin hole 324 is provided in each side wall 322 of the elongated channel 302 to receive therein a corresponding pin from among the anvil swivel pins 317. This arrangement serves to movably affix the anvil 310 to the elongated channel 302 for displacement. selective pivoting around an axis A-A of the anvil, which is defined by the pivot pin holes 324 and which is transverse to the axis SA-SA of the drive shaft. See Figure 6.

[00313] In the illustrated arrangement, the anvil 310 is pivotably moved relative to the elongated channel 302, and the surgical staple cartridge 304 supported within it is moved to an open position by a pair of opening cams 354 that can be removably supported, removably attached, permanently attached, or integrally formed in an anvil actuating member. In the illustrated embodiment, the anvil actuating member comprises the end actuator closing sleeve 272. See Figure 5. Each opening cam 354 includes an outer body portion 356 that has a cam flap 358 that projects inwardly from the anvil. from the outer body portion. The outer body portion 356 is, in at least one arrangement, configured to be snap-fit into a removable engagement within a corresponding cam hole 355 formed in the end actuator closing sleeve 272. For example, the body portion outer portion 356 may include a beveled stop portion 357 that is configured to engage, by press fit, a corresponding portion of the wall of the end actuator closing sleeve that defines the cam hole 355. A further portion of the outer body 356 may have a steeply angled feature 359 formed thereon that is configured to be received within a portion of the end actuator closing sleeve 272 adjacent to the cam hole 355. Other press-fit tab arrangements may may also be employed to detachably affix the outer body portion 356 to the end actuator closing sleeve 272. In other embodiments, for example, the outer body portion may not be configured for press-fit engagement with the end actuator sleeve 272. closure of end actuator 272. In such arrangements, the outer body portions may be held in position by an annular crimp ring extending around the outer circumference of the end actuator closing sleeve above the outer body portions of the end actuator. opening cams and be crimped into place. The crimp ring serves to secure the outer body portions against the outer surface of the end actuator closing sleeve. To provide the end actuator closing sleeve with a relatively smooth or uninterrupted outer surface, which can advantageously prevent damage to the adjacent tissue and/or the tissue/fluid assembly, etc., between these components, the crimp ring can actually be crimped into an annular recess that is formed in the end actuator closing sleeve.

[00314] When opening cams 350 are installed in the closing sleeve of the end actuator 272, each cam flap 358 extends through an elongated slot 326 in the corresponding side wall 322 of the elongated channel 302 in order to be received in a corresponding cam slot 318 in the anvil 310. See Figure 6. In this arrangement, the opening cams 350 are diametrically opposed to each other in the end actuator closing sleeve. In use, the closing sleeve 260 is translated distally (DD direction) to close the anvil 310, for example, in response to actuation of the closing trigger 32. The anvil 310 is closed as the closing tube 260 is translated in distal direction DD, so as to place the distal end 275 of the end actuator closing sleeve 272 in contact with a closing lip 311 on the anvil body 312. In particular, the distal end 275 of the end actuator closing sleeve 272 slides over the upper surfaces 321 of the anvil clamping arms 316 as the closing sleeve 260 is moved distally in order to begin pivoting the anvil 310 into a closed position. In one arrangement, for example, closing of the anvil 310 is caused exclusively by the contact of the end actuator closing sleeve 272 with the anvil 310 and is not caused by the interaction of the opening cams with the anvil. In other embodiments, however, the opening cams could be arranged to also apply closing movements to the anvil as the closing sleeve 260 is moved distally. The anvil 310 is operated by proximally translating the closing sleeve 260 in the PD proximal direction, which causes the cam flaps 358 to move in the PD proximal direction within the cam slots 318 over the cam surfaces 319 in order to of pivoting the anvil 310 to the open position, as shown in Figures 6 and 7.

[00315] The surgical end actuator embodiment 300 employs two opening cams to effect positive opening of the end actuator jaws, even when under a load. Other arrangements could possibly employ only one opening cam or more than two opening cams without deviating from the character and scope of the present invention. In the illustrated example, the opening cams are removably affixed to the end actuator closing sleeve, which facilitates assembly or attachment of the surgical end actuator components to the elongated drive shaft assembly, as well as their disassembly. . Such configurations also allow the use of more compact or shorter hinged joint arrangements, which allow the surgical end actuator to be more easily manipulated within the confined internal spaces of a patient. To facilitate separation of the opening cams which are secured in place by press-fitting, the end actuator closing sleeve may be provided with additional holes, strategically positioned to enable a lever member to be inserted through them to force the opening cams out of the end actuator closing sleeve. In still other embodiments, the one or more opening cams may be formed integrally in the anvil actuating member or closing sleeve of the end actuator. For example, each of the one or more opening cams may comprise a tab that is cut or otherwise formed into the wall of the anvil actuating member or closing sleeve of the end actuator and then flexed, crimped or permanently deformed inward so as to engage the corresponding cam surface on the second claw. For example, the flap may be flexed inward at a ninety degree (90°) angle relative to the outer wall of the end actuator closure sleeve. Such arrangements eliminate the need for separate opening cam components. Other variations may employ one or more pins that are attached to the second claw and configured to slide over corresponding cam surfaces on the first claw. The one or more pins may be pressed into the first claw, knurled, and then pressed into and/or welded to the first claw, for example. Although the opening cam arrangements discussed above have been described in the context of a surgical end actuator that is configured to support a surgical staple cartridge and includes an anvil that is configured to move relative to the surgical staple cartridge, the reader will recognize that opening cam arrangements may also be employed with other end actuator arrangements that have jaws movable relative to each other.

[00316] Figures 9 and 10 illustrate an elongated drive shaft assembly designated as 200' that employs many of the features of the elongated drive shaft assembly 200 described above. In the illustrated example, the elongated drive shaft assembly 200' includes a double pivot link arrangement designated as 800 that employs a pivot lock 810 that is similar to the pivot lock 350 described above. Components of the linkage lock 810 that differ from the components of the linkage lock 350 and that may be necessary to understand the operation of the linkage lock 350 will be discussed below in more detail. Additional details relating to the 350 joint lock can be found in US Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now US Patent Application Publication No. 2014/0263541, the description of which is incorporated herein by reference in its entirety. The pivot lock 810 may be configured and operated to selectively lock the surgical end actuator 300 in various pivot positions. This arrangement allows the surgical end actuator 300 to be rotated, or pivoted, relative to the drive shaft closing sleeve 260 when the pivot lock 810 is in its unlocked state.

[00317] As discussed previously, when the proximal hinge driver 230 is operatively engaged with the trigger member 220 via the clutch system 400, the trigger member 220 can move the proximal hinge driver 230 proximally and /or distal. For example, proximal movement of trigger member 220 may move proximal hinge driver 230 proximally, and similarly, distal movement of trigger member 220 may move proximal hinge driver 230 distally. Movement of the proximal hinge actuator 230, whether proximal or distal, can unlock the hinge lock 810, as described in more detail below. As can be seen in Figure 9, for example, the elongated drive shaft assembly 200' includes a drive shaft structure 812 that is somewhat coextensive with a first distal hinge driver 820. A first distal hinge driver 820 is supported within the elongated drive shaft assembly 200' for longitudinal selective displacement in a distal direction DD and a proximal direction PD in response to corresponding joint control movements applied thereto. The drive shaft structure 812 includes a distal end portion 814 having thereon a downwardly projecting pivot pin (not shown) that is adapted to be pivotally received within a pivot hole 328 formed in the proximal end portion 320 of the elongated channel 302. See, for example, the similar arrangement depicted in Figure 5. This arrangement facilitates pivoting displacement of the elongated channel 302 of the surgical end actuator 300 relative to the drive shaft structure 812 around of a pivot B-B axis that is defined by pivot hole 328. As indicated above, the pivot B-B axis is transverse to the SA-SA axis of the drive shaft that is defined by the elongated drive shaft assembly 200' .

[00318] Again referring to Figure 9, the first distal hinge actuator 820 includes a first, or distal, locking cavity 822 and a second, or proximal, locking cavity 824, the first locking cavity 822 and the second locking cavity 824 may be separated by an intermediate frame member 825. The pivot lock 810 may additionally include at least one first locking element 826 at least partially positioned within the first locking cavity 822, which may be configured to inhibit or prevent proximal movement of the first distal hinge actuator 820. In the embodiment illustrated in Figure 9, for example, there are three first locking elements 826 positioned within the first locking cavity 822, which may all act in a similar manner. , in parallel, and can act cooperatively as a single locking element. Other embodiments are contemplated that may use more or less than three first locking elements 826. Similarly, the pivot lock 810 may additionally include at least one second locking element 828 at least partially positioned within the second locking cavity 824. which may be configured to inhibit or prevent distal movement of the first distal hinge actuator 820. With respect to the particular embodiment illustrated in Figure 9, there are three second locking elements 828 positioned within the second locking cavity 824, which may all act in a similar way, in parallel, and can act cooperatively as a single blocking element. Other embodiments are contemplated that may use more or less than three second locking elements 828.

[00319] In addition to the above, referring mainly to Figure 9, each first locking element 826 is slidably supported on a frame rail 830 and includes locking tab 827. Each of the first locking elements 826 has a locking opening therein (not shown) to receive the frame rail 830 therethrough. The locking tang 827 may be disposed within the first locking cavity 822 and the locking opening may be slidably engaged with a rail of the frame 830 mounted on the drive shaft frame 812. The first locking elements 826 are not oriented in a perpendicular arrangement with the frame rail 830; instead, the first locking elements 826 are arranged and aligned at a non-perpendicular angle to the frame rail 830 so that the edges or side walls of the locking openings are engaged with the frame rail 830. Additionally , the interaction between the side walls of the locking openings and the frame rail 830 may create a resistance or frictional force therebetween that may inhibit relative movement between the first locking elements 826 and the frame rail 830 and, as a result, resist a proximal pushing force P applied to the first distal hinge actuator 820. Put another way, the first locking elements 826 may prevent, or at least inhibit, rotation of the surgical end actuator 300 in one direction indicated by arrow 821. If a torsional force is applied to end actuator 300 in the direction of arrow 821, a proximal pushing force P will be transmitted to the distal hinge actuator 820. The proximal pushing force P will only serve to reinforce the engagement between the first locking elements 826 and the frame rail 830. More particularly, the proximal pushing force P may be transmitted to the terminals 827 of the first locking elements 826, which may cause the first locking elements 826 rotate and decrease the angle defined between the first locking elements 826 and the frame rail 830, thereby increasing the tightness between the side walls of the locking openings and the frame rail 830. Finally, then, the first elements locking mechanism 826 can lock the movement of the first distal hinge actuator 820 in one direction.

[00320] To release the first locking elements 826 and allow the surgical end actuator 300 to be rotated in the direction indicated by the arrow 821, the proximal hinge actuator 230 can be pulled proximally to straighten, or substantially straighten, the first locking elements. locking 826 in a perpendicular, or at least substantially perpendicular, position. In this position, the pinch, or resisting force, between the side walls of the locking openings and the frame rail 830 can be sufficiently reduced, or eliminated, so that the first distal hinge actuator 820 can be moved proximally. To straighten the first locking elements 826, the proximal hinge driver 230 may be pulled proximally so that a distal arm 233 of the proximal hinge driver 230 contacts the first locking elements 826 to pull and rotate the first locking elements. locking 826 to its straightened position. In various circumstances, the proximal hinge driver 230 may continue to be pulled proximally until a proximal arm 235 extending therefrom contacts or adjoins a proximal drive wall 832 of the first distal hinge driver 820. and pull the distal hinge actuator 820 proximally to pivot the surgical end actuator 300. Essentially, a proximal pulling force can be applied from the proximal hinge actuator 230 to the distal hinge actuator 820, through the interaction between the proximal arm 235 and the proximal drive wall 832, which pulling force may be transmitted via the first distal drive member 820 to the end actuator 300, as will be described in more detail below, in order to pivot the end actuator 300 at the direction indicated by arrow 821. After the surgical end actuator 300 has been properly pivoted in the direction of arrow 821, the first distal pivot actuator 820 may be released, in various circumstances, to allow the pivot lock 810 to relock the first distal hinge actuator 820 and the surgical end actuator 300 in position.

[00321] Concurrently with the above, again with reference to Figures 9, the second locking elements 828 may remain in an angled position while the first locking elements 826 are locked and unlocked as described above. The reader will recognize that, although the second locking elements 828 are arranged and aligned at an angled position with respect to the drive shaft rail 830, the second locking elements 828 are not configured to prevent, or at least substantially prevent, movement. of the first distal hinge driver 820. When the first distal hinge driver 820 and the hinge lock 810 slide proximally as described above, the second locking elements 828 may slide distally along the frame rail 830 without, at various circumstances, alter, or at least substantially alter, their angled alignment with respect to the frame rail 830. Although the second locking elements 828 can perform proximal movement of the first distal pivot actuator 820 and the pivot lock 810, the second elements locking devices 828 may be configured to selectively prevent, or at least inhibit, distal movement of the first distal hinge actuator 820, as discussed in more detail below.

[00322] Each second locking member 828 may comprise a locking opening (not shown) and a locking tang 829. The locking tang 829 may be disposed within the second locking cavity 824 and the locking opening may be engaged accordingly. sliding manner with the frame rail 830 mounted on the drive shaft frame 812. The frame rail 830 extends through the openings in the second locking elements 828. The second locking elements 828 are not oriented in a perpendicular arrangement with the 830 frame rail; instead, the second locking elements 828 are arranged and aligned at a non-perpendicular angle to the frame rail 830 so that the edges or side walls of the locking openings are engaged with the frame rail 830. Additionally , the interaction between the side walls of the locking openings and the frame rail 830 may create a resistance or frictional force therebetween that may inhibit relative movement between the second locking elements 828 and the frame rail 830 and, as a result, resisting a distal force D applied to the first distal hinge actuator 820. Put another way, the second locking elements 828 may prevent, or at least inhibit, rotation of the surgical end actuator 300 in a direction indicated by the arrow 823. If a torsional force is applied to end actuator 300 in the direction of arrow 823, a distal pulling force D will be transmitted to the first distal hinge actuator 820. The distal pulling force D will only serve to cushion the locking between the second locking elements 828 and the frame rail 830. More particularly, the distal pulling force D may be transmitted to the terminals 829 of the second locking elements 828, which may cause the second locking elements 828 rotate and decrease the angle defined between the second locking elements 828 and the frame rail 830, thereby increasing the tightness between the side walls of the locking openings and the frame rail 830. Finally, then, the second locking elements locking 828 may lock the movement of the first distal hinge actuator 820 in one direction.

[00323] To release the second locking elements 828 and allow the surgical end actuator 300 to be pivoted in the direction indicated by arrow 823, the proximal hinge actuator 230 may be pushed distally to straighten, or substantially straighten, the second locking elements. locking 828 in a perpendicular, or at least substantially perpendicular, position. In this position, the pinch, or resisting force, between the side walls of the locking openings and the frame rail 830 can be sufficiently reduced, or eliminated, so that the first distal pivot actuator 820 can be moved distally. To straighten the second locking elements 828, the proximal hinge driver 230 may be pushed distally so that the proximal arm 235 of the proximal hinge driver 230 contacts the second locking elements 828 to push and rotate the second locking elements. locking 828 to its straightened position. In various circumstances, the proximal hinge driver 230 may continue to be pushed distally until the distal arm 233 extending therefrom contacts or adjoins a distal drive wall 833 of the first distal hinge driver 820. and push the first distal hinge actuator 820 distally to pivot the surgical end actuator 300. Essentially, a distal pushing force can be applied from the proximal hinge actuator 230 to the first distal hinge actuator 820, through the interaction between the arm distal 233 and the distal drive wall 833, this pushing force may be transmitted through the first distal hinge actuator 820 in order to pivot the end actuator 300 in the direction indicated by the arrow 823. After the surgical end 300 has been properly hinged in the direction of arrow 823, the first distal hinge actuator 820 may be released, in various circumstances, to allow the hinge lock 810 to relock the first distal hinge actuator 820 and the end actuator. surgical 300 in position.

[00324] Simultaneously with the above, the first locking elements 826 may remain in an angled position while the second locking elements 828 are locked and unlocked as described above. The reader will recognize that, although the first locking elements 826 are arranged and aligned at an angled position relative to the drive shaft rail 830, the first locking elements 826 are not configured to prevent, or at least substantially prevent, movement. of the first distal hinge driver 820. When the first distal hinge driver 820 and the hinge lock 810 slide distally as described above, the first locking elements 826 may slide distally along the frame rail 830 without, in several circumstances, alter, or at least substantially alter, their angled alignment with respect to the frame rail 830. Although the first locking elements 826 may perform distal movement of the first distal pivot actuator 820 and the pivot lock 810, the first elements locking devices 826 are configured to selectively prevent, or at least inhibit, proximal movement of the first distal hinge actuator 820, as discussed above.

[00325] In view of the above, the joint lock 810, in a locked condition, can be configured to oppose the proximal and distal movements of the first distal joint actuator 820. In terms of resistance, the joint lock 810 can be configured to impede, or at least substantially impede, the proximal and distal movements of the first distal hinge actuator 820. Collectively, the proximal movement of the first distal hinge actuator 820 is blocked by the first locking elements 826, when the first locking elements 826 are in their locked orientation, and the distal movement of the first distal hinge actuator 820 is blocked by the second locking elements 828, when the second locking elements 828 are in their locked orientation, as described above. Stated otherwise, the first locking elements 826 comprise a first unidirectional latch, and the second locking elements 828 comprise a second unidirectional latch, which lock in opposite directions.

[00326] Discussed in connection with the exemplary embodiment illustrated in Figures 9 and 10, an initial proximal movement of the proximal hinge driver 230 may unlock the proximal movement of the first distal hinge driver 820 and the hinge lock 810, whereas a Further proximal movement of the proximal hinge driver 230 may drive the first distal hinge driver 820 and the hinge lock 810 proximally. Similarly, an initial distal movement of the proximal hinge actuator 230 may unlock the distal movement of the first distal hinge actuator 820 and the hinge lock 810, whereas a further distal movement of the proximal hinge actuator 230 may actuate the first distal articulation driver 820 and the articulation lock 810 in the distal direction. This general concept is discussed in connection with several additional exemplary embodiments presented below. To the extent that this discussion is duplicative, or generally cumulative, with the discussion provided above, this discussion will not be reproduced for the sake of brevity.

[00327] Still referring to Figures 9 and 10, the double pivot link arrangement 800 is configured to establish a "push/pull" arrangement when a hinge force is applied to that arrangement via the first distal hinge driver. 820. As can be seen in these figures, the first distal hinge driver 820 has a first drive rack 842 formed therein. A first pivot rod 844 projects distally outward from the first distal pivot driver 820 and is attached to a first movable coupler 850 which is attached to the first distal pivot driver 820 by a first ball joint 852. The first coupler 850 is also pivotally pinned to the proximal end portion 320 of the elongated channel 302 by a first pin 854, as seen in Figure 9. The double hinge link arrangement 800 further comprises a second distal hinge driver 860 having a second drive rack 862 formed therein. The second distal pivot driver 860 is movably supported within the elongated drive shaft assembly 200' for longitudinal displacement in the distal direction DD and in the proximal direction PD. A second pivot rod 864 projects distally outward from the second distal pivot driver 860 and is attached to a second movable coupler 870 which is attached to the second distal pivot driver 860 by a second ball joint 872. The second coupler 870 is also pivotably pinned to the proximal end portion 320 of the elongated channel 302 by a second pin 874, as can be seen in Figure 9. As can be seen in Figure 9, the first coupler 850 is attached to the elongated channel 302 on one side side of the axis SA of the drive shaft, and the second coupler 870 is fixed to the elongated channel 302 on a lateral side opposite the axis of the drive shaft. In this way, by simultaneously pulling one of the couplers 850, 870 and pushing the other coupler 850, 870, the surgical end actuator 300 will be pivoted around the B-B pivot axis relative to the elongated drive shaft assembly 200'. In the illustrated arrangements, although the couplers 850, 870 that facilitate relative movement between the first and second distal hinge actuators 820, 860, respectively, and the elongated channel 302 are manufactured from relatively rigid components, other embodiments may employ coupler arrangements. relatively "flexible". For example, cables, etc., may extend through one or both of the distal hinge drivers 820, 860, couplers 850, 870 and the ball joints 852, 872, to be coupled to the elongated channel to facilitate the transfer of articulation with them.

[00328] As can be seen in Figures 9 and 10, a proximal pinion gear 880 and a distal pinion gear 882 are centrally disposed between the first drive rack 842 and the second drive rack 862, and are in meshed engagement with these. In alternative embodiments, only one pinion gear, or more than two pinion gears, may be used. This way, at least one pinion gear is used. The proximal pinion gear 880 and the distal pinion gear 882 are rotatably supported on the drive shaft frame 812 for free rotation relative thereto, so that when the first distal linkage driver 820 is moved in the distal direction DD, the pinion gears 870, 872 serve to drive the second distal linkage driver 860 in the proximal PD direction. Similarly, when the first distal hinge driver 820 is pulled in the proximal PD direction, the pinion gears 880, 882 drive the second distal hinge driver 860 in the distal DD direction. Thus, to pivot the end actuator 300 about the pivot B-B axis in the direction of arrow 821, the pivot actuator 230 is operatively engaged with the firing member 220 via the clutch system 400, so that the firing member 220 moves or pulls the proximal hinge driver 230 in the proximal PD direction. Movement of the proximal hinge driver 230 in the proximal direction moves the first distal hinge driver 820 also in the proximal direction. As the first distal hinge driver 820 moves in the proximal direction, pinion gears 880, 882 serve to drive the second distal hinge driver 860 in the distal "DD" direction. This movement of the first and second distal hinge actuators 820, 860 causes the surgical end actuator 300 and, more specifically, the elongated channel 302 of the surgical end actuator 300 to rotate about the B-B hinge axis in the direction of arrow pivot 821. On the other hand, to pivot the end actuator 300 in the direction of arrow 823, the firing member 220 is actuated to push the first distal pivot actuator 820 in the distal direction DD. When the first distal hinge driver 820 moves in the distal direction, the pinion gears 880, 882 serve to drive the second distal hinge driver 860 in the PD proximal direction. This movement of the first and second distal hinge actuators 820, 860 causes the surgical end actuator 300 and, more specifically, the elongated channel 302 of the surgical end actuator 300 to rotate about the B-B hinge axis in the direction arrow joint 823.

[00329] The arrangement of rigid double articulation links 800 and variations thereof can give the surgical end actuator a greater range of articulation compared to other articulating surgical end actuator configurations. In particular, the rigid link dual articulation arrangements disclosed herein can facilitate articulation ranges that exceed ranges of 45 to 50° that are commonly achieved by other articulating end actuator arrangements. The use of at least one pinion gear to interface the distal linkage drivers allows the end actuator to be "pushed" and "pulled" into position, and may also reduce the amount of "backlash" or undesirable movement or unintended release of the end actuator during use. The rigid double linkage link arrangements disclosed herein also comprise a linkage system that has improved strength characteristics compared to other linkage system arrangements.

[00330] As briefly discussed above, the firing drive shaft intermediate portion 222 is configured to be in operational interface with a distal cutting or firing rod 280. The distal firing bar 280 may comprise a laminated structure. This arrangement allows the distal firing bar 280 to flex sufficiently when the surgical end actuator 300 is pivoted about the B-B hinge axis. The distal firing bar 280 is supported for axial movement within the drive shaft assembly 200' and is slidably supported by two vertical side support walls 330 formed at the proximal end of the elongate channel 302. Referring to Figure 11, the Distal trigger bar 280 is attached to a trigger member 900 that includes a vertically extending trigger member body 902 that has thereon a tissue cutting surface or blade 904. Additionally, a wedge slider 910 may be mounted within the surgical staple cartridge 304 for driving contact with the firing member 900. As the firing member 900 is driven distally through the cartridge body 304, the wedge surfaces 912 of the wedge slider 910 come into contact with the staple drivers for actuating upwardly the actuators and the surgical clips supported therein in the cartridge body 304.

[00331] End actuators that use firing bars or firing members and that are capable of articulation over a range of, for example, forty-five degrees (45°) may have numerous challenges to overcome. To facilitate operational articulation of these end actuators, the firing member or firing bar must be sufficiently flexible to accommodate this articulation range. However, the firing bar or firing member also needs to avoid deformation when encountering the firing compressive loads. To provide additional support to the firing bar or firing member, various "support" or "erupt" plate arrangements have been developed. Several of these provisions are set forth in U.S. Patent No. 6,964,363, titled SURGICAL STAPLING INSTRUMENT HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING A FIRING BAR and in U.S. Patent No. 7,213,736, titled SURGICAL STAPLING INSTRUMENT INCORPORATING AN ELECTROACTIVE POLYMER ACTUATED FIRING BAR TRACK THROUGH AN ARTICULATION JOINT, the entire description of which is incorporated herein by reference. Rash plates that provide substantial resistance to deformation are difficult to flex in general, which adds to the forces that the hinge joint system must accommodate. Other firing bar support arrangements are disclosed in US Patent Application Serial No. 14/575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS", the disclosure of which is incorporated herein by reference in its entirety.

[00332] Referring to Figures 11 to 15, the elongated drive shaft assembly 200' further comprises a set of multiple support links 920 to provide lateral support to the distal firing bar 280 as the surgical end actuator 300 is pivoted in around the geometric axis B-B of articulation. As can be seen in Figure 11, the multiple support link assembly 920 comprises an intermediate support member 922 that is movably coupled to the surgical end actuator 300 as well as the elongated drive shaft assembly 200'. For example, the intermediate support member 922 is pivotally pinned to the proximal end 320 of the elongate channel 302, pivotally thereto about a pivot axis PA. As can be seen in Figure 11, the intermediate support member 922 includes a distally projecting tab 923 that has therein a distal pivot hole 924 for receiving a vertical support pin 332 that is formed over the proximal end portion. 320 of the elongated channel 302. As can further be seen in Figure 11, the intermediate support member 922 further includes a proximally projecting flap 926 that has an elongated proximal slot 928 therein. The proximal slot 928 is configured to slidingly receive a central support pin 816 which is formed on the frame portion 812. This arrangement allows the intermediate support member 922 to rotate and move axially relative to said shaft assembly. 200' elongated drive, for example. As can be seen in Figures 11 to 13, the intermediate support member 922 further includes a centrally disposed slot 930 for movably receiving the distal firing bar 280 therethrough.

[00333] Still referring to Figures 11 to 15, the assembly of multiple support links 920 further comprises a proximal support link 940 and a distal support link 950. The proximal support link 940 includes an elongated proximal body 942 that has a rounded proximal tip portion 943 and a rounded distal tip portion 944. The proximal support link 940 further includes a pair of opposing downwardly projecting proximal support walls 945, 946 that define a proximal slot 947 therebetween. Similarly, the distal support link 950 includes an elongated distal body 952 that has a rounded proximal end portion 953 and a rounded distal end portion 954. The distal support link 950 further includes a pair of opposing distal support walls. downwardly projecting 955, 956 which define a distal slit 957 therebetween. As can be seen in Figure 14, the flexible distal firing bar 280 is configured to extend between the proximal support walls 945, 946 of the proximal support link 940 and the distal support walls 955, 956 of the distal support link 950 The proximal support wall 945 includes an inwardly facing proximal arcuate surface 948, and the proximal support wall 946 includes an inwardly facing proximal arcuate support surface 949 opposite said inwardly facing proximal arcuate surface 948. The support surfaces Proximal arches 948, 949 serve to provide lateral support to the lateral side portions of a proximal portion of the flexible distal firing bar 280 as it flexes during articulation of the end actuator and passes through the hinged joint. Surfaces with rounded edges may correspond to the outer radius of the distal firing bar 280, depending on the direction of articulation. Similarly, the distal support wall 955 includes an inwardly facing distal arcuate surface 958, and the distal support wall 956 includes an inwardly facing distal arcuate support surface 959 opposite said distal arcuate surface 958. The support surfaces Distal arches 958, 959 serve to provide lateral support to the lateral side portions of a distal portion of the distal firing bar 280 as it flexes during articulation of the surgical end actuator 300 and passes through the pivot joint. The distal arcuate surfaces 958, 959 may correspond to the outer radius of the distal firing bar 280 depending on the direction of articulation. As can be seen in Figures 12 and 13, the distal end 217 of the central column 210 of the drive shaft includes an arcuate central column pocket facing the distal end 218 into which the rounded proximal tip portion 943 of the support link proximal 940 extends. The rounded distal end portion 944 of the proximal support link 940 is pivotally received in an arcuate proximal pocket 932 in the intermediate support member 922. Additionally, the rounded proximal end portion 953 of the distal support link is received in a arched distal support member pocket 934 at the distal end of the intermediate support member 922. The rounded distal tip portion 954 of the distal support link 950 is movably received within a V-shaped channel cavity 334 formed in the walls vertical side support brackets 330 formed at the proximal end 320 of the elongated channel 302.

[00334] The assembly of multiple support links can provide greater lateral support to the flexible laminates of the firing bar when the bar is flexed at greater hinge angles. These arrangements also prevent the firing bar from deforming under high firing loads and at relatively high articulation angles. The elongated support links, in connection with the intermediate support member, serve to provide improved lateral support to the firing bar in the pivot zone, as compared to many prior art support arrangements. In alternative arrangements, the support links may be configured to actually interlock with the intermediate support member at various pivot angles. U-shaped support links facilitate installation and serve to provide support to the flexible support bars on each lateral side as well as the top of the firing bar to prevent the firing bar from bending upward during firing. while it is being articulated.

[00335] In embodiments where the firing member includes a tissue cutting surface, it may be desirable for the elongated drive shaft assembly to be configured so as to prevent accidental advancement of the firing member unless a cartridge unused staples is adequately supported in the elongated channel 302 of the surgical end actuator 300. If, for example, there is no staple cartridge present and the firing member is advanced distally through the end actuator, the tissue would be cut, but not stapled. Similarly, if a used staple cartridge (i.e., a staple cartridge in which at least some staples have already been fired) is present in the end actuator and the firing member is advanced, the tissue would be cut, but may not be cut. be completely stapled, if it were stapled. It will be recognized that such occurrences could lead to undesirable catastrophic results during the surgical procedure. Each of US Patent No. 6,988,649 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT", US Patent No. 7,044,352 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING", and the US No. 7,380,695 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING" discloses various firing member locking arrangements, each of which is incorporated herein by reference in its entirety.

[00336] Such locking arrangements can be effectively employed with a variety of surgical stapling instruments. These arrangements, however, may not be particularly suitable for use in connection with various surgical stapling instruments described herein that employ relatively compact and short hinged joint configurations. For example, Figures 15 to 19 illustrate a surgical end actuator 300 that is operatively attached to an elongated drive shaft assembly 200' by a pivot joint 270'. The elongated drive shaft assembly 200' defines an SA-SA geometric axis of the drive shaft and the pivot joint 270' facilitates selective articulation of the surgical end actuator 300 relative to the elongated drive shaft assembly 200' around a geometric axis B-B of articulation that is transverse to the geometric axis SA-SA of the drive shaft. In the illustrated embodiment, a double hinge arrangement with rigid links 800 (as described above) may be employed to selectively apply hinge movements to the surgical end actuator 300. The elongated drive shaft assembly 200' comprises a distal firing bar 280 of the type described above that is selectively movable in the axial direction within the surgical end actuator 300 from a starting position to an ending position upon application of triggering movements thereto. The distal firing bar 280 extends through the pivot joint 270' and is configured to flex about the B-B hinge axis to accommodate the articulation of the surgical end actuator 300 in the various ways described herein. In the illustrated embodiment, the pivot joint 270' includes an intermediate support member 922 that is movably attached to the distal end 814 of the drive shaft structure 812 and the proximal end 320 of the elongated channel 302. intermediate support member 922 includes a distally projecting tab 923 that has therein a distal pivot hole 924 for receiving a vertical support pin 332 formed over the proximal end portion 320 of the elongated channel 302. The intermediate support member 922 includes additionally a proximally projecting flap 926, having an elongated proximal slot 928 therein. The proximal slot 928 is configured to slidingly receive a central support pin 816 formed on the frame portion 812. The central support 922 further includes a centrally disposed slot 930 for axially receiving the distal firing bar 280 therethrough. The intermediate support member 922 provides lateral support to the distal firing bar 280 during distal articulation of the surgical end actuator 300 about the pivot B-B axis and, at the same time, facilitates axial passage of the distal firing bar 280 through of the same during shooting.

[00337] In the illustrated embodiment, a firing bar locking assembly 980 is employed to prevent the distal firing bar 280 from being accidentally advanced from the start position to the end position, unless an unfired surgical staple cartridge 304 has been operatively seated in the cartridge support member or elongated channel 302. As can be seen in Figures 15 to 19, the firing bar lock assembly 980 in one form includes a locking cam or detent 281 that is formed in the bar distal firing port 280 so as to project upwardly from the upper surface thereof. A propensity member 984 is supported on, and secured to, the intermediate support member 922. As can be seen in Figure 16, for example, the propensity member 984 is substantially planar and includes a window 985 that is configured to accommodate the cam. of locking member 281 within it during articulation of the surgical end actuator 300. Thus, when the surgical end actuator 300 is hinged about the pivot axis B-B, the propensity member 984 does not apply any force or propensity load. to the distal firing bar 280. This feature can avoid increasing the amount of articulation forces that need to be generated to articulate the surgical end actuator 300 about the hinge axis B-B. The propensity member 984 may be adhesion welded to the intermediate support member 922, or be secured thereto by other fastening methods such as screws, pins, adhesive, etc. The window 985 may also define a locking strip or portion 986 that serves to contact the locking cam 281 when the distal firing bar 280 is in the home position. The locking cam 281 may be formed with a distally facing ramped surface 283 and a proximally facing ramped surface 285 to reduce the amounts of firing force and retraction force required to axially move the distal firing bar 280 See Figure 19.

[00338] As described above, the distal firing bar 280 is operatively attached to a firing member 900 that includes a tissue cutting surface 904 on the firing member body 902. In alternative arrangements, the tissue cutting surface may be secured to or otherwise formed on or supported directly by a portion of the distal firing bar 280. In the illustrated arrangement, a laterally extending base 905 is formed at the bottom of the firing member body 902. firing member 902 further includes a wedge slider engagement member 906 that is configured to engage a wedge slider in the surgical staple cartridge 304, as will be discussed below in more detail.

[00339] Figure 18 illustrates a "non-exhausted" or "non-fired" surgical staple cartridge 304 that has been properly installed in the elongated channel 302. As can be seen in that Figure, the wedge slider 910 is situated in a "non-fired" position. fired" (most proximal) on the surgical staple cartridge 304. The wedge slider 910 includes a proximally facing ramped surface 914 that is configured to engage the wedge slider engagement member 906 with the firing member 900 to thereby In this way, tilt the firing member 900 in an upward direction represented by the arrow 988, so that the bottom portion and the base 905 of the firing member 900 are free to pass a locking wall 307 formed by a locking opening 303 in the bottom of the elongated channel 302. When in this position, the distal firing bar 280 and firing member 900 can be advanced distally within the elongated channel 302 and, more precisely, the surgical staple cartridge 304 mounted therein from the illustrated starting position. in Figure 18 to the final position with the surgical staple cartridge 304, all surgical staples that were operatively supported in the surgical staple cartridge 304 being ejected by the wedge slider 910. In such arrangements, after the firing member 900 is completely fired (i.e., completely advanced from its initial position to its final position within the surgical staple cartridge 304), the firing member 900 is retracted back to the initial position shown in Figure 19. As the wedge slider 910 was advanced distally to the end position in the staple cartridge 304 by the firing member 900 and the firing member 900 is not secured to the wedge slider 910, when the firing member 900 is retracted back to the starting position, the wedge slider 910 remains in the final position within the surgical staple cartridge 304 and does not return with the firing member 900 to the initial position. By this, the 304 Surgical Staple Cartridge is said to be in a "used", "expended", or "fired" state. As can be seen in Figure 19, when there is no wedge slider present in an unfired state, the bottom of the body portion 902, as well as the base 905 of the firing member 900, extend into the locking opening 303. at the bottom of the elongated channel 302, due to the propensity movement applied by the locking band 986 of the propensity member 984 to the locking cam 281 on the distal firing bar 280. When in that position, if the physician unintentionally attempted to refire the spent surgical staple cartridge , the body portion 902 and/or the base 905 would come into contact with the wall 307 in the elongated channel 302 and would be prevented from moving from the starting position to the ending position. In this way, the firing bar locking assembly 980 prevents advancement of the distal firing bar 280 as well as the firing member 900 from the start position to the end position unless an unfired or unused surgical staple cartridge has been removed. been properly/operationally installed in the elongated channel of the surgical end actuator. It will also be recognized that the firing bar locking assembly 980 also prevents advancement of the distal firing bar 280 when no staple cartridge has been installed in the elongated channel 302. In addition to accommodating the pivot of the surgical end actuator 300 around of the B-B hinge axis without applying additional load to the distal firing bar, which could result in the need for greater hinge forces to pivot the surgical end actuator, the 980 firing bar lock assembly does not apply any additional load over the firing member and/or the distal firing bar after being advanced distally beyond the blocking wall, regardless of whether the end actuator jaws are open or closed.

[00340] Figure 20A illustrates another embodiment of pivotable surgical end actuator 300' that employs a firing bar locking assembly 980' comprising a propensity member 984' that is mounted within the end actuator closure sleeve. 272. As can be seen in this figure, for example, the biasing member 984' applies a biasing force to a ramped or tapered portion 283' of the distal firing bar 280'. The firing bar locking assembly 980' operates in the same manner as described above with respect to the firing bar locking assembly 980. More specifically, the biasing member 984' applies a biasing force to the distal firing bar. 280' which forces the distal firing bar 280', and the firing member attached thereto, downward into the elongated channel. Unless an undepleted surgical staple cartridge with a wedge slider or other staple ejector member in a non-fired position has been suitably installed within the elongated channel or cartridge bearing member so as to operatively engage the firing member or firing bar to move the firing member/firing bar out of engagement with the locking wall, the firing member/firing bar will be prevented from being axially advanced from the starting position to the ending position.

[00341] Figures 21 to 25 illustrate a portion of another elongated drive shaft assembly 1200 that is similar to the elongated drive shaft assembly 200 described above, with the exception of several differences discussed below in more detail. Components of the elongated drive shaft assembly 1200 that have previously been discussed in detail are designated by similar reference numerals and, for the sake of brevity, will not be discussed further in more detail than may be necessary to understand the operation of the assembly. of drive shaft 1200 when, for example, employed with portions of the surgical instrument 10 as described above. As can be seen in Figure 21, the elongated drive shaft assembly 1200 includes a pivot lock 1810 that is substantially similar to the pivot lock 810 and functions in essentially the same manner. As can be seen in Figure 22, the elongated drive shaft assembly 1200 includes a drive shaft frame 1812 that has a proximal cavity 1815 that is configured to movably support the proximal portion 1821 of a first distal hinge driver 1820. inside. The first distal joint actuator 1820 is movably supported within the elongated drive shaft assembly 1200 for longitudinal selective displacement in a distal direction DD and a proximal direction PD in response to joint control movements applied thereto. The drive shaft structure 1812 further includes a distal end portion 1814 that has a pivot pin 1818 formed thereon. Pivot pin 1818 is adapted to be pivotally received within a pivot hole (not shown) in a proximal end portion 1320 of an elongated channel 1302 of a surgical end actuator 1300. This arrangement facilitates pivoting displacement ( that is, the pivot) of the elongated channel 1302 of the surgical end actuator 1300 in relation to the drive shaft frame 1812 about a hinge axis B-B defined by the pivot hole and the pin 1818. The drive shaft frame 1812 further includes a centrally disposed cavity 1817 and a distal notch 1819 that is situated between the distal end 1814 and the centrally disposed cavity 1817.

[00342] The drive shaft assembly 1200 additionally includes a second distal pivot driver 1860 comprising an endless member 1862 that is rotatably seated on a proximal pulley 1840 and a distal pulley 1340. Still referring to Figure 22, the pulley The proximal end 1840 is rotatably seated on a pulley spindle 1842 that is mounted within the centrally disposed cavity 1817 within the drive shaft structure 1812. The distal pulley 1340 is supported or non-rotarily formed over the proximal end 1320 of the elongated channel. 1302 of the surgical end actuator 1300. In one form, the endless element 1862 comprises a wire that is manufactured from stainless steel, tungsten, aluminum, titanium, etc., for example. The yarn may be of braided or multi-strand construction with varying numbers of strands to obtain desired levels of tensile strength and flexibility. In various arrangements, for example, wire 2382 may have a diameter in the range of 0.08 centimeter to 0.2 centimeter (0.03 inch to 0.08 inch) and, more preferably, in the range of 0.1 to 0. .2 centimeter (0.05 to 0.08 inch). A preferred wire may, for example, be manufactured from half-hard to full-hard 300 series stainless steel. In various arrangements, the wire may also be coated with, e.g. Teflon®, copper, etc., for improved lubricity and/or to reduce stretching, e.g. A first tab 1863 is attached to one end of the wire and a second tab 1864 is attached to the other end of the wire by, e.g. The wire is stretched under tension while the ends and/or tabs 1863, 1864 are welded, glued, mechanically fastened, etc., to each other to form the endless member 1862. cam that engages the proximal pulley 1840 to move it proximally. Other forms of tensioning arrangements, such as track tensioners, tensioner arrangements, etc., may also be used to tension the endless member 1862.

[00343] Still referring to Figure 22, the endless member 1862 is coupled to a distal end 1821 of the first distal hinge driver 1820 by a coupler assembly 1830. The coupler assembly 1830 comprises an upper coupler portion 1832 formed in distal end 1822 of the first distal hinge driver 1820 and a lower coupler portion 1834. The lower coupler portion 1834 is formed with two recesses 1835 that are configured to receive tabs 1862, 1864 therein. A pair of securing pins 1836 are configured to be pressed into holes 1837 in the upper portion of the coupler 1832 in order to secure the two portions 1832 and 1834 of the coupler to each other. Other arrangements of fasteners, screws, rivets, adhesive, etc., may be employed. When the endless member 1862 is seated over the pulleys 1840 and 1340, the coupler assembly 1830 is free to move axially within the distal notch 1819 in the drive shaft structure 1812, in response to the axial movement of the first distal pivot driver. 1820. The hinge movements generated by the axial movement of the first distal hinge driver 1820 are transferred to the second distal hinge driver 1860 or to the endless member 1862. A ball or tab 1866 is attached to the endless member 1862 and is received in a groove or pocket 1342 formed in the distal pulley 1340. In this way, the movement of the endless member 1862 is transferred to the surgical end actuator 1300 and, more specifically, to the elongated channel 1302 of the surgical end actuator 1300 to articulate the surgical end actuator 1300. end around the geometric axis B-B of articulation. Thus, when the first distal hinge actuator 1820 is moved in the distal direction DD, the worm member 1862 causes the surgical end actuator 1300 to be hinged about the hinge axis B-B in the hinge direction represented by arrow 823. See Figure 21. Similarly, when the first distal hinge actuator 1820 is moved in the proximal PD direction, the worm member 1862 causes the surgical end actuator 1300 to pivot about the B-B hinge axis in the PD direction. of pivot represented by arrow 821. See Figures 21 and 25. As shown in Figure 21, pivot direction 823 is opposite to pivot direction 821.

[00344] Figures 26 to 31 illustrate portions of another elongated drive shaft assembly 2200 that is similar to the elongated drive shaft assembly 200 described above, with the exception of several differences discussed below in more detail. Components of the elongated drive shaft assembly 2200 that have previously been discussed in detail are designated by similar reference numbers and, for the sake of brevity, will not be discussed further in more detail than may be necessary to understand the operation of the assembly. of elongated drive shaft 2200 when, for example, employed with portions of the surgical instrument 10 as described above. As can be seen in Figure 26, the elongated drive shaft assembly 2200 includes a proximal housing or nozzle 201 comprised of nozzle portions 202 and 203. The elongated drive shaft assembly 2200 further includes an anvil actuator member in the form of a closing sleeve 2260 that can be used to close and/or open the anvil 2310 of the surgical end actuator 2300 that is operatively secured thereto. As can be seen in Figure 26, the elongated drive shaft assembly 2200 includes a proximal center column 2210 that is configured to operatively interface with a pivot lock 2350. The proximal center column 2210 is configured to, a, slideably support a firing member 2220 therein and, two, slideably support the closing sleeve 2260 extending around the proximal center column 2210. The proximal center column 2210 also slideably supports a proximal pivot driver 2230. Proximal pivot actuator 2230 has a distal end 2231 that is configured to operatively engage pivot lock 2350.

[00345] In the illustrated arrangement, the central column 2210 comprises a proximal end 2211 that is pivotably supported on a chassis 240. In one arrangement, for example, the proximal end 2211 of the central column 2210 has a thread 2214 formed therein for threaded attachment. to a center column bearing configured to be supported within the chassis 240. This arrangement facilitates rotary attachment of the proximal center column 2210 to the chassis 240 so that the proximal center column 2210 can be selectively rotated about a geometric axis. SA of the drive shaft in relation to the chassis 240. The proximal end of the closing sleeve 2260 is fixed to a reciprocating closing element supported on the chassis, as described in detail above. When the elongated drive shaft assembly 2200 is operatively coupled to the surgical instrument handle or housing 10, operation of the closing trigger distally advances the closing sleeve 2260.

[00346] Also as indicated above, the elongated drive shaft assembly 2200 additionally includes a firing member 2220 that is supported for axial displacement in the central column 2210 of the drive shaft. The firing member 2220 includes a firing drive shaft intermediate portion 2222, which is configured to connect to a set of distal cutting or firing bars 2280. See Figure 27. The firing drive shaft intermediate portion 2222 may include a longitudinal slit 2223 at its distal end, which may be configured to receive a tab at the proximal end of the distal firing bar assembly 2280. The longitudinal slit 2223 and the proximal end of the distal firing bar assembly 2280 may be sized and configured to allow relative movement between them, and may comprise a sliding joint. The sliding joint may allow the firing drive shaft intermediate portion 2222 of the firing drive 2220 to be moved to pivot the end actuator 300 without moving, or at least without substantially moving, the set of distal firing bars 2280. When the surgical end actuator 2300 has been properly oriented, the firing drive shaft intermediate portion 2222 may be advanced distally until a proximal side wall of the longitudinal slot 2223 contacts the tab to advance the distal firing bar assembly 2280 and firing a staple cartridge that can be supported on the end actuator 300. The proximal center column 2210 is also coupled to a distal center column 2212.

[00347] Similar to the elongated drive shaft assembly 200, the illustrated elongated drive shaft assembly 2200 includes a clutch assembly 2400, which may be configured to selectively and releasably couple the proximal hinge driver 2230 to the limb. firing member 2220. In one form, the clutch assembly 2400 comprises a locking ring or sleeve 2402 positioned around the firing member 2220, the locking sleeve 2402 being rotatable between an engaged position, wherein the locking sleeve 2402 couples the proximal pivot driver 2230 to the firing member 2220, and a disengaged position, in which the proximal pivot driver 2230 is not operatively coupled to the firing member 2220. When the locking sleeve 2402 is in its engaged position, Distal movement of firing member 2220 can move proximal pivot driver 2230 distally, and correspondingly, proximal movement of trigger member 2220 can move proximal pivot driver 2230 proximally. When locking sleeve 2402 is In its disengaged position, movement of the trigger member 2220 is not transmitted to the proximal hinge driver 2230 and, as a result, the trigger member 2220 can move independently of the proximal hinge driver 2230. In various circumstances, the trigger The proximal hinge driver 2230 may be held in position by the hinge lock 2350 when the proximal hinge driver 2230 is not being moved in the proximal or distal direction by the firing member 2220.

[00348] As discussed above, the locking sleeve 2402 may comprise a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening 2403 defined therein, configured to receive the firing member 2220. The locking sleeve 2402 may comprise protuberances diametrically opposed locking member 2404 facing inwardly and a locking member 2406 facing outwardly. The locking protrusions 2404 may be configured to be selectively engaged with the firing member 2220. More particularly, when the locking sleeve 2402 is in its engaged position, the locking protrusions 2404 are positioned within a drive notch 2224 defined in the firing member 2220, so that a distal pushing force and/or a proximal pulling force can be transmitted from the firing member 2220 to the locking sleeve 2402. When the locking sleeve 2402 is in its engaged position, the second locking member 2406 is received within a drive notch 2232 defined in the pivot driver 2230 so that the distal pushing force and/or the proximal pulling force applied to the locking sleeve 2402 can be transmitted to the pivot driver. proximal 2230. In effect, the firing member 2220, the locking sleeve 2402 and the proximal pivot driver 2230 will move together when the locking sleeve 2402 is in its engaged position. On the other hand, when the locking sleeve 2402 is in its disengaged position, the locking protuberances 2404 may not be positioned within the drive notch 2224 of the firing member 2220 and, as a result, a distal pushing force and/or a proximal pulling force may not be transmitted from the firing member 2220 to the locking sleeve 2402. Correspondingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal pivot driver 2230. In these Under circumstances, the firing member 2220 may be slid proximally and/or distally relative to the locking sleeve 2402 and the proximal pivot driver 2230.

[00349] As also discussed above, the elongated drive shaft assembly 2200 additionally includes a switching cylinder 2500 that is rotatably received in the closing sleeve 2260. The switching cylinder 2500 comprises a hollow drive shaft segment 2502 that has a drive shaft projection 2504 formed thereon, intended to receive within it an outwardly projecting actuation pin 2410. In various circumstances, the actuating pin 2410 extends through a slot into a longitudinal slot provided in the locking sleeve 2402 to facilitate axial movement of the locking sleeve 2402 when it is engaged with the pivot driver 2230. A Rotatable torsion spring 2420 is configured to engage with the projection 2504 on the switching cylinder 2500 and a portion of the nozzle housing 203 to apply a biasing force to the switching cylinder 2500. The switching cylinder 2500 may additionally comprise openings at least partially circumferential bezels 2506 defined therein, which may be configured to receive circumferential bezels extending from the nozzle halves 202, 203 and permit relative rotation, but not translation, between the switching cylinder 2500 and the proximal nozzle 201. As described above, rotation of the switching cylinder 2500 will ultimately result in rotation of an actuation pin 2410 and locking sleeve 2402 between their engaged and disengaged positions. Thus, in essence, the nozzle 201 can be employed to operatively engage and disengage the linkage drive system with the firing drive system in the various ways described above and also in U.S. Patent Application Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541.

[00350] Referring to Figure 27, the closing sleeve assembly 2260 includes a double-hinged closing sleeve assembly 2271. In various forms, the double-hinged closing sleeve assembly 2271 includes a double-hinged closing sleeve assembly 2271. 2272 end actuator that has top and bottom flaps that project distally. An upper double pivot link 2277 includes upwardly projecting distal and proximal pivot pins that engage, respectively, an upper distal hole in the proximally projecting upper connecting terminal and an upper proximal hole in a connecting terminal. upper connecting terminal that projects distally in closure sleeve 2260. A lower double pivot link 2278 includes upwardly projecting distal and proximal pivot pins that engage, respectively, a lower distal pin hole in the lower connecting terminal that projects proximally and into a lower proximal pin hole in the lower connection terminal that projects distally.

[00351] The elongated drive shaft assembly 2200 also includes a surgical end actuator 2300, which is similar to the surgical end actuator 300 described above. As can be seen in Figure 27, the surgical end actuator 2300 includes an elongated channel 2302 that is configured to operatively support within it a surgical staple cartridge 2304. The elongated channel 2302 has a proximal end portion 2320 that includes two walls vertical sides 2322. The surgical end actuator 2300 additionally includes an anvil 2310 that has an anvil body 2312 with a lower clip-forming surface 2313 formed thereon. The proximal end 2314 of the anvil body 2312 is bifurcated by a firing member slot 2315 to form two anvil attachment arms 2316. Each anvil attachment arm 2316 includes a laterally projecting anvil swivel pin 2317. A slot of rotating pin 2324 is arranged on each side wall 2322 of the elongated channel 2302, to receive within it one of the corresponding anvil rotating pins 2317. This arrangement serves to movably affix the anvil 2310 to the elongated channel 2302 for selective pivoting displacement between the open and closed, or pinched, positions. The anvil 2310 is moved to a closed position by distally advancing the closing sleeve 2260 and, more particularly, the end actuator closing sleeve 2272 above the tapered clamping arms 2316, which causes the anvil 2310 to move distally while being hinged to the closed position. A horseshoe-shaped opening 2273 is provided in the end actuator closing sleeve 2272 that is configured to engage a vertical tab 2318 with the anvil 2310 of the end actuator 2300. To open the anvil 2310, the closing sleeve 2260, and more particularly, the closing sleeve of the end actuator 2272 is moved in the proximal direction. In this way, a central flap portion defined by the horseshoe-shaped opening 2273 cooperates with the flap 2318 on the anvil 2310 to pivot the anvil 2310 back to an open position.

[00352] Referring to Figures 26, 28 and 29, as mentioned above, the elongated drive shaft assembly 2200 includes a pivot lock 2350 that is substantially similar to the pivot locks 350 and 810 that were previously described. Components of the 2350 linkage lock that differ from the components of the 350 linkage lock and that are necessary to understand the operation of the 350 linkage lock will be discussed below in more detail. As discussed above, the pivot lock 2350 may be configured and operated to selectively lock the end actuator 2300 in position. This arrangement allows the surgical end actuator 2300 to be rotated, or pivoted, relative to the drive shaft closing sleeve 2260, when the pivot lock 2350 is in its unlocked state. When the proximal hinge driver 2230 is operatively engaged with the firing member 2220 via the clutch system 2400, in addition to the above, the trigger member 2220 can move the proximal hinge driver 2230 in a proximal and/or distal direction. Movement of the proximal hinge actuator 2230, whether proximal or distal, can unlock the hinge lock 2350 as described above. This embodiment includes a proximal locking adapter element 2360 that is movably supported between the proximal central column 2210 and the distal central column 2212. The proximal locking adapter 2360 includes a locking cavity 2362 for receiving first locking elements therein. 2364 and second locking members 2366 that are seated on the frame rail 2368 that extends between the proximal frame 2210 and the distal frame 2212. The pivot lock 2350 operates in the various ways as described above and, for the sake of brevity, will not be discussed in further detail here.

[00353] As can be seen in Figures 26, 28 and 29, a first distal hinge driver 2370 is attached to the proximal locking adapter 2360. The first distal hinge driver 2370 is operatively attached to a second distal hinge driver 2380 that The second distal pivot actuator 2380 comprises a wire 2382 that is rotatably seated on a proximal pulley 2383 and a distal pulley 2392. The distal pulley 2392 is non-rotarily supported or integrally formed into an end actuator mounting assembly 2390 and includes a detent or pocket 2396. In the illustrated example, the end actuator mounting assembly 2390 is non-movably secured to the proximal end 2320 of the elongated channel 2302 by a spring pin 2393 extending through a hole in the end actuator mounting assembly 2390 and holes 2394 in the proximal end 2320 of the elongated channel 2302. The proximal pulley 2383 is pivotably supported on the distal center post 2212. The end distal center column 2212 has a pivot pin 2213 formed thereon that is configured to be rotatably received within a pivot hole 2395 formed in the end actuator mounting member 2390. This arrangement facilitates pivoting displacement ( i.e., the articulation) of the elongated channel 2302 relative to the distal central column 2212 about a pivot axis B-B defined by the pivot hole 2395 and the pin 2213.

[00354] In one form, wire 2382 may be manufactured from stainless steel, tungsten, aluminum, titanium, etc., for example. The yarn may be of braided construction or multiple strands with varying amounts of strands to obtain desired levels of tensile strength and flexibility. In various arrangements, for example, wire 2382 may have a diameter in the range of 0.08 centimeter to 0.2 centimeter (0.03 inch to 0.08 inch) and, more preferably, in the range of 0.1 to 0.2 centimeter (0.05 to 0.08 inch). A preferred wire may, for example, be manufactured from half-hard to full-hard 300 series stainless steel. In various arrangements, the wire may also be coated with, for example, Teflon®, copper, etc., for improved lubricity and/or to reduce stretching, for example. In the illustrated example, wire 2382 has a pin 2384 attached to one of its ends and a pin 2385 attached to the other end, for example, by crimping. The first distal hinge driver 2370 includes a pair of spaced clips 2372, 2374 with a distance therebetween sufficient to accommodate pins 2384, 2385 therebetween. For example, the proximal clip 2372 includes a proximal slot 2373 for receiving a portion of the wire 2382 adjacent to the pin 2384, and the distal clip 2374 includes a distal slot 2375 for receiving a corresponding portion of the wire 2382 adjacent to the pin 2385. The slots 2373 and 2375 are sized relative to pins 2384, 2385, respectively, so as to prevent pins 2384, 2385 from being pulled therethrough. The proximal slot 2375 is oriented at an angle compared to the distal slot 2375 so as to securely hold the corresponding portion of the wire 2382 therein. See Figure 30. An attachment ball or tab 2398 is attached to the endless member 2382 and is received in the detent or pocket 2396 formed in the distal pulley 2392. See Figure 31. Thus, when the first distal pivot driver 2370 is axially retracted in the proximal direction PD, in the ways described above, the worm member 2382 will pivot the end actuator 2300 in the direction represented by the arrow 2376 in Figure 31. On the other hand, when the first distal hinge actuator 2370 is axially advanced in the direction distal DD, the surgical end actuator 2300 is pivoted in the direction represented by the arrow 2399 in Figure 31. Additionally, the proximal and distal clips 2372, 2374 are sufficiently spaced to accommodate the tabs 2384, 2385 between them. A tensioning strut 2378 is used as shown in Figures 29 to 32 to apply sufficient tension to the wire 2382 so that when the wire is actuated, it will apply a pivoting movement to the end actuator 2300. In the alternative arrangement shown in Figure 35, the proximal clip 2374 ' is initially not attached to the first hinge driver 2370. The proximal clip 2374' is positioned on the first distal hinge driver 2370 so as to capture tabs 2384 and 2385 between the distal clip 2372 and the proximal clip 2374'. The proximal clip 2374' is moved toward the distal clip 2372 until a sufficient amount of tension is generated in the wire 2382, and then the proximal clip 2374' is attached to the first distal hinge driver 2370. For example, the proximal clip 2374' is moved toward the distal clip 2372. 2374' may be attached to the first distal hinge driver 2370 by laser welding or other suitable form of attachment means or fastener arrangement.

[00355] Referring to Figures 36 to 39, the surgical instrument includes, for example, a central firing bar support member 2286 that is configured to extend through a hinged joint to provide support for a flexible firing bar assembly. 2280. In one form, the central support member of the trigger bar 2286 comprises a flexible plate or band member and includes a downwardly projecting attachment tab 2287 that is attached to the surgical end actuator, and an end portion proximal upwardly extending 2288 which is attached to the elongated drive shaft assembly. In at least one arrangement, the distal securing tab 2287 is secured to the end actuator mounting assembly 2390 by tension pin 2393 and the proximal end portion 2288 is pinned to the distal center column 2212 by pins (not shown). . The central firing bar support member 2286 is situated along the centerline or geometric axis of the drive shaft of the device, and serves to provide support for the firing bar during articulation. This arrangement is different from those which employ "erupt" plates or side support plates which are situated on the lateral sides of the firing bar and which are thereby displaced from the geometric axis of the drive shaft, increasing tension and pulling forces. compression to which they are subjected during articulation. In the illustrated example, the longitudinally movable flexible firing rod assembly 2280 comprises a laminated rod structure that includes at least two layers of rods, at least one layer of rods being configured to pass in position adjacent to a lateral side of the member. of the firing bar central support member, and at least one other rod support member is configured to pass in position adjacent to another lateral side of the firing bar central supporting member. In the illustrated example, two layers of laminates 2282 and 2284 are configured to pass in adjacent position to each side of the flexible tension-bearing member. See, for example, Figures 35 and 36. In various embodiments, the laminate layers 2282 and 2284 may comprise, for example, stainless steel bands that are interconnected, for example, by welding or pinning at their proximal ends, while that their respective distal ends are not connected to allow the laminates or bands to spread relative to each other when the end actuator is hinged. Each pair of laminated layers or bands 2282, 2284 is represented as a side firing band assembly 2285 of the firing bar assembly 2280. Thus, as shown in Figure 36, a side firing band assembly 2285 is supported on each lateral side of the central pivot bar 2286 for axial displacement relative thereto by a series of lateral load-bearing members 2290. Each lateral load-bearing member 2290 may be manufactured from, for example, stainless steel, aluminum, titanium, liquid crystal polymeric material, plastic material, nylon, acrylonitrile-butadiene-styrene (ABS), polyethylene, etc., and be formed with opposing arched ends 2292. Each lateral load-bearing member 2290 also has an axial passage 2294 extending therethrough to receive the assembly of the side firing band assemblies 2285 and the central pivot bar 2286. As can be seen particularly in Figure 38, each axial passage is defined by two opposing arched surfaces 2295 that facilitate movement. of the lateral load-bearing members 290 on the longitudinally movable flexible firing bar assembly 2280. The lateral load-bearing members 2290 are arranged in series on the lateral firing band assemblies 2285 and the central pivot bar 2286 so that the opposing arched ends 2292 are contiguous with corresponding arched ends 2292 of adjacent lateral load-bearing members 2290. See, for example, Figures 36 and 37.

[00356] Again referring to Figure 37, it can be seen that the central pivot bar 2286 of the proximal end portion 2288 extends downwardly for attachment to the distal central column 2212. The distal end 2287 of the assembly of firing 2280 is attached to a firing member 2900 of the type and construction described above, for example. As can be seen in the figure, the trigger member 2900 includes a vertically extending trigger member body 2902 that has thereon a fabric cutting surface or blade 2904. Additionally, a wedge slider 2910 may be mounted on the interior of the surgical staple cartridge 2304 for driving contact with the firing member 2900. As the firing member 2900 is driven distally through the cartridge body 2304, the wedge surfaces 2912 of the wedge slider 2910 come into contact with the actuators. of clamps for actuating upwardly the triggers and the surgical clamps supported therein in the cartridge body 2304. The trigger bar assembly 2280 is operated in the various ways described above. When the firing rod assembly 2280 is advanced distally around the pivot joint, the lateral load-bearing members 2290 can help resist deformation loads on the firing rod assembly 2280. The lateral load-bearing members 2290 They can also reduce the amount of force required to pivot the end actuator and also accommodate larger pivot angles compared to other articulated joint arrangements. The fixed central support member of the firing bar 2286 serves to support the tension loads that are generated during articulation and firing.

[00357] As described above, the firing bar assembly comprises a laminated rod structure that includes at least two layers of rods. When the firing bar assembly is advanced distally (during firing), the firing bar assembly is essentially bifurcated by the firing bar central support member, such that portions of the firing bar assembly (i.e., layers blades) pass on both sides of the central support member of the firing bar.

[00358] Figures 40 to 43 illustrate a portion of another set of firing bars 2280' that is attached to a firing member 2900. As can be seen in these figures, the firing bar assembly 2280 comprises a laminated structure that includes two outer side bars or layers 2282', each of which has a thickness that is designated as "a", and four central layers 2284', each of which has a thickness that is designated as "b". In at least one arrangement, for example, "a" may be approximately 0.01 to 0.02 centimeters (0.005 to 0.008 inches) and, more preferably, 0.02 centimeters (0.008 inches), and "b" may be approximately 0.02 to 0.030 centimeters (0.008 to 0.012 inches) and, more preferably, 0.025 centimeters (0.010 inches). However, other thicknesses can be used. In the illustrated example, "a" is smaller than "b". In other embodiments, "a" is greater than "b". In alternative arrangements, for example, the laminates may be formed in three different thicknesses "a", "b", "c", where "a" = 0.02 centimeter (0.006 inch), "b" = 0.025 centimeter ( 0.008 inch) and "c" = 0.025 centimeter (0.010 inch) (with the thickest laminate or strip in the center of the assembly). In various arrangements, there may be an odd number of laminates or bands, where "c" is the single thickest laminate in the center.

[00359] The composition of the laminates is relevant due to the amount of stress that is applied to a set of bars based on their thickness and their distance from the center line of bending. Thicker laminates or bands that are closer to the centerline can experience the same stress levels as thinner ones that are further from the centerline because the former need to flex more due to being stacked together. The radius of curvature is more accentuated on the inner side of the curve the further it is from the center line. Thicker laminates or bands tend to experience more internal stress than thinner laminates, for the same radius of curvature. Therefore, laminates or bands with thinner sides that have the smallest radius of curvature can have the same probability of plastic deformation as thicker ones that are closer to the center line. Put another way, when the end actuator pivots in one direction, the laminates or bands in the direction opposite to the pivot direction have the largest bending radius, and the laminates or bands closest to the pivot direction have the smallest bending radius. flexion. However, when the end actuator is pivoted in the opposite direction, the opposite occurs. Laminates on the inner side of the laminate stack experience the same deflection, but their bending radius will always be within the range of the outer laminates. Therefore, to maintain flexibility, it may be desired to locate the thinner laminates on the outside of the stack. However, to maximize hardness and resistance to deformation, thicker materials on the inner side provide an additional benefit. Alternatively, if the end actuator only needs to hinge in a single direction, laminates or bands lying in the opposite direction to the hinge direction will have the largest bending radius, and laminates or bands lying in the hinge direction will have the smallest bending radius. . However, as the end actuator does not pivot in an opposite direction, the reverse is no longer true and therefore the laminate stack does not need to be symmetrical. In this arrangement, it would therefore be desirable for the thinnest laminate or strip to be the one that would experience the smallest bending radius (the laminate or strip on the side of the joint direction).

[00360] In still other embodiments, laminates or bands can be manufactured from different metals with different strengths and moduli. For example, the outer laminates or bands could have the same thickness as the inner laminates or bands, with the inner laminates or bands being made from 300 series stainless steel and the outer laminates or bands being made from titanium or nitinol.

[00361] As can be seen in Figures 42 and 43, the set of distal firing bars 2280' can be effectively employed with the series of lateral load-bearing members 2290 described above. It will be recognized that the set of distal firing bars 2280 may also be used in connection with a central pivot bar 2286 in the manner described above, so that some of its layers or side bars (or bands, or laminates) advance axially along the sides of the center pivot bar. In some embodiments, the layers advancing on each side of the central pivot bar 2286 may have the same thickness, composition, shape, and configuration. In other embodiments, the layer or layers passing along one side of the central pivot bar may have a different thickness and/or composition and/or shape than the thickness and/or composition and/or shape of the layer or layers passing along on the opposite side of the central pivot bar, to achieve a desired range of travel and flexibility while maintaining a desired amount of hardness to prevent deformation during firing.

[00362] Figures 44 to 46 illustrate a portion of another elongated drive shaft assembly 3200 that includes a surgical end actuator 300 of the type and construction described above. Other forms of surgical end actuators may also be employed. The elongated drive shaft assembly 3200 also includes a set of longitudinally movable flexible firing bars 3280 that is secured to a firing member 900. In alternative arrangements, the distal end of the firing bar assembly 3280 may be configured to perform various actions within the surgical end actuator without the need to attach a firing member to it. The flexible firing bar assembly 3280 may comprise an array of laminated bars from among the various types described herein. In one arrangement, at least two compression bands are employed to provide lateral support to the flexible firing bar assembly 3280 as it passes through the hinged joint. The illustrated embodiment employs a total of four compression bands to provide lateral support to the flexible firing bar as it passes through the hinged joint. For example, the elongated drive shaft assembly 3200 additionally includes a central column 3210 that includes a distal end 3217 that has two distal cavities, or notches, 3219, and two proximal cavities, or notches, 3219', formed therein. A distal cavity 3219 accommodates a first proximal end 3904 of a first compression band 3900 situated on a lateral side 3281 of said set of flexible firing bars 3280, and the other distal cavity 3219 accommodates a second proximal end 3905 of a second compression band. compression band 3901 located on another lateral side 3283 of the flexible firing bar assembly 3280. The first compression band 3900 includes a first distal end 3902 that is mounted within a corresponding vertical lateral support wall 330 formed at the proximal end 320 of the channel. elongate 302 of the surgical end actuator 300. Similarly, the second compression band 3901 includes a second distal end 3907 that is also mounted within a corresponding vertical side support wall 330 formed at the proximal end 320 of the elongated channel 302 of the surgical end actuator 300. The first and second distal compression bands 3900, 3901 may be manufactured from spring steel, or the like, and the proximal ends 3904, 3905 may be bent into a U-shape to form a propensity portion configured to be received movably within the distal notches 3219 as shown. This arrangement allows the first and second distal compression bands 3900, 3901 to flex in response to the articulation of the surgical end actuator 300, while retaining the proximal ends 3904, 3905 within their corresponding distal notches 3219.

[00363] As can be seen in Figures 44 to 46, the elongated drive shaft assembly 3200 further includes a third compression band 3910 and a fourth compression band 3911. As well as the first and second compression bands 3900 , 3901, the third and fourth compression bands 3910, 3911 may be manufactured from spring steel. As can be seen in Figures 44 to 46, the third compression band 3910 may be situated between the first compression band 3900 and the lateral side 3281 of the flexible firing bar assembly 3280, and the fourth compression band 3911 may be situated between the second compression band 3901 and the other lateral side 3283 of the set of flexible firing bands 3280. Each of the third proximal end 3914 of the third compression band 3910 and the fourth proximal end 3915 of the fourth compression band 3911 may be bent in a U-shape to form a propensity portion that is movably received within a corresponding proximal cavity 3219' in the central column 3210. The third distal end 3912 of the third compression band 3910 and the fourth distal end 3917 of the fourth band 3911 are mounted to a corresponding side support wall 330 on the surgical end actuator 300.

[00364] The elongated drive shaft assembly 3200 further comprises a set of movable support links 3920 to provide additional lateral support to the flexible firing bar assembly 3280 when the end actuator 300 is pivoted about the pivot shaft. As can be seen in Figures 44 to 46, the movable support link assembly 3920 comprises an intermediate support member 3922 that is movably coupled to the surgical end actuator 300 as well as the elongated drive shaft assembly 3200. In In one embodiment, the intermediate support member 3922 is pivotally pinned to the proximal end 320 of the elongated channel 302. The intermediate support member 3922 further includes a proximally projecting flap 3926 having an elongated proximal slot 3928 therein. . The proximal slot 3928 is configured to slidingly receive a central support pin 3211 formed in the central column 3210. This arrangement allows for relative pivoting and axial movement between the intermediate support member 3922 and the central column 3210 of the drive shaft assembly. elongated 3200 so as to accommodate a larger pivot range and at the same time be able to move dynamically so as to maintain adequate lateral support on the firing bar assembly 3280. As can be seen in Figures 44 to 46 , the intermediate support member 3922 further includes a centrally disposed slot 3930 for axially receiving the firing bar assembly 3280 therethrough.

[00365] As can further be seen in Figures 44 to 46, the assembly of movable support links 3920 further comprises an elongated movable pivot link 3940. The pivot link 3940 includes a central body portion 3942 that has a tip portion proximally projecting proximal end portion 3943 and a distally projecting distal tip portion 3944. The hinge link 3940 further includes a first downwardly projecting lateral support wall 3945 and a second downwardly projecting lateral support wall 3946 which define a slot of bar 3947 therebetween. As can be seen in Figure 46, the trigger bar assembly 3280 is configured to extend between the first and second side support walls 3945, 3946 during actuation of the trigger bar assembly 3280 and the end actuator pivot. surgical 300. Additionally, in the illustrated arrangement, for example, the first compression band 3900 extends between the first side support wall 3945 and the third compression band 3910, and the second compression band 3901 extends between the second side support wall 3946 and the fourth compression band 3911. The first side support wall 3945 includes a second inwardly facing arcuate surface 3948 and the second side support wall 3946 includes a second inwardly facing arcuate surface 3949. The first and The second arched surfaces 3948, 3949 serve to provide lateral support to the trigger bar assembly 3280 as it flexes during articulation of the end actuator 300. The rounded edged surfaces may correspond to the outer radius of the trigger bar assembly 3280 and the compression bands 3900, 3901, 3910, 3911 depending on the direction and degree of articulation. As can be seen in Figures 44 and 45, the distal end 3217 of the central column 3210 includes a pair of right and left opposing drive shaft notches 3218 into which the proximally projecting rounded tip portion 3943 of the link of articulation 3940 extends depending on the direction in which the surgical end actuator is articulated about the articulation axis. Similarly, right and left opposing support notches 3932 are provided in the central support 3922 to accommodate the distally projecting tip portion 3944 of the pivot link 3940 depending on the direction in which the end actuator is pivoted. Such notch arrangements serve to properly align the pivot link 3940 in a suitable orientation to accommodate the pivot direction while providing lateral support to the pivot link 3940.

[00366] Figures 47 to 51 illustrate another elongated drive shaft assembly 4200 that is, in some respects, similar to the elongated drive shaft assembly 2200 described above, with the exception of several differences discussed below in more detail. The components of the elongated drive shaft assembly 2200 that have previously been discussed in detail contain component reference numbers that are similar and, for the sake of brevity, will not be discussed further in more detail than may be necessary to understand the operation. of the elongated drive shaft assembly 4200 when, for example, employed with portions of the surgical instrument 10 as described above. As can be seen in Figure 47, in at least one example, the elongated drive shaft assembly 4200 includes a pivot lock 2350. As discussed in more detail previously, the pivot lock assembly 2350 includes a proximal lock adapter 2360 which is coupled (e.g., pinned) to a first distal hinge driver 4370. As can be seen in Figures 47 and 50, the first distal hinge driver 4370 includes a first proximal rack segment 4371 and a first distal rack 4373 formed at a distal end 4372 thereof. The elongated drive shaft assembly 4200 also includes a second distal pivot driver 4380 that includes a second proximal rack segment 4381 and a second distal rack segment 4383 that is formed at a distal end 4382 thereof.

[00367] The first distal hinge driver 4370 and the second distal hinge driver 4380 are configured to move axially relative to the distal central column assembly 4212 in the proximal direction PD and in the distal direction DD. As can be seen in Figure 50, the first proximal rack segment 4371 and the second proximal rack segment 4381 are in mesh engagement with a proximal power transfer gear 4390 that is rotatably supported by the distal center column assembly 4212. Similarly, the first distal rack segment 4373 and the second distal rack segment 4383 are in meshed engagement with a distal power transfer gear assembly 4392. In particular, in at least one arrangement, the distal power transfer gear assembly 4392 includes a pinion gear 4393 that is in meshed engagement with the first distal rack segment 4373 and the second distal rack segment 4383. The distal power transfer gear assembly 4392 further includes a drive gear 4394 that is disposed in meshed engagement with an idler gear 4395. The idler gear 4395 is in turn supported in meshed engagement with a driven gear 4306 that is formed over the proximal end portion 4320 of the elongated channel 4302 of a surgical end actuator 4300. The surgical end actuator 4300 may otherwise be similar to the surgical end actuator 2300 and include an anvil 4310 that may be opened and closed in the various ways described above. Referring to Figures 48, 49 and 51, the distal center column assembly 4212 may comprise an upper center column portion 4212A and a lower center column portion 4212B. Each of the distal power transfer gear assembly 4392, the idler gear 4395, and the driven gear portion 4306 of the elongated channel 4302 is pivotably fixed or supported on the bottom portion 4212B of the distal center column assembly 4212.

[00368] The elongated drive shaft assembly 4200 depicted in Figure 47 includes a firing bar assembly 3280 that is attached to a firing member (not shown). The firing bar assembly 3280 may comprise an array of laminated bars of the types described herein. The operation of the firing member has been described in detail above and will not be repeated for the sake of brevity. As can be seen in Figure 47, a firing bar support member 4400 of the type disclosed in US Patent Application Serial No. 14/575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS", the description is incorporated herein by reference in its entirety, is employed to provide support to the set of firing bars 3280 during articulation of the surgical end actuator 4300. Figure 52 illustrates the use of a set of distal firing bars 2280 in an assembly of elongated drive shaft 4200. As can be seen in this figure, a plurality of lateral load-bearing members 2290 are employed in the manner described above to provide support to the distal firing bar assembly 2280 when the surgical end actuator 4300 is hinged. .

[00369] Figures 53 to 58 illustrate another elongated drive shaft assembly 5200 that is, in some respects, similar to the elongated drive shaft assembly 2200 described above, with the exception of several differences discussed below in more detail. Components of the elongated drive shaft assembly 5200 that have previously been discussed in detail with respect to the elongated drive shaft assembly 2200 will be identified with similar reference numbers and, for the sake of brevity, will not be further discussed in more detail beyond the which may be necessary to understand the operation of the elongated drive shaft assembly 5200 when, for example, employed with portions of the surgical instrument 10 as described above.

[00370] Similar to the elongated drive shaft assembly 2200, the illustrated elongated drive shaft assembly 5200 includes a clutch assembly 2400 that is configured to operatively engage a linkage system 5600 that is configured to apply linkage movements of pushing and pulling to the surgical end actuator 300 that is operatively coupled thereto. In this embodiment, the clutch assembly 2400 includes a lock ring, or locking sleeve 2402, which is positioned around the firing member 2220, wherein the locking sleeve 2402 can be rotated between an engaged position in which the locking sleeve 2402 locking 2402 operatively engages the linkage system 5600 to the firing member 2220, and a disengaged position in which the linkage system 5600 is not operatively coupled to the firing member 2220. With specific reference to Figures 54 to 56, in the illustrated example, the The pivot system 5600 comprises a pivot disk or pivot member 5602 that is supported for rotational movement within the nozzle 201. The pivot disk 5602 is rotatably driven by a drive connection assembly 5610. In the illustrated example, the pivot assembly drive connection 5610 includes a drive pin 5612 that is secured to the pivot disc 5602. A pivot drive link 5614 is operatively connected to the drive pin 5612 by a connector 5616 that facilitates a certain movement of the pivot drive link 5614 relative to to drive pin 5612. See Figures 54 through 56. Pivot drive link 5614 includes a drive coupler 5618 that is configured to actuably engage the outward-facing locking member 2406 to the locking sleeve 2402. See Figure 53.

[00371] As discussed above, the locking sleeve 2402 may comprise a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening 2403 defined therein, configured to receive the firing member 2220. See Figure 53. The locking sleeve 2402 locking 2402 may comprise diametrically opposed locking protrusions 2404 facing inwardly and an outwardly facing locking member 2406. The locking protrusions 2404 may be configured to be selectively engaged with the firing member 2220. More particularly, when the locking sleeve 2402 is in its engaged position, the locking protrusions 2404 are positioned within a drive notch 2224 defined in the firing member 2220, so that a distal pushing force and/or a proximal pulling force can be transmitted from the firing member 2220 to the locking sleeve 2402. When the locking sleeve 2402 is in its engaged position, the element outward-facing locking sleeve 2406 is received within a drive notch 5619 in drive coupler 5618, as shown in Figure 53, so that the distal pushing force and/or the proximal pulling force applied to the locking sleeve 2402 can be transmitted to the articulation drive link 5614. In effect, the firing member 2220, the locking sleeve 2402 and the articulation drive link 5614 will move together when the locking sleeve 2402 is in its engaged position. On the other hand, when the locking sleeve 2402 is in its disengaged position, the locking protuberances 2404 may not be positioned within the drive notch 2224 of the firing member 2220 and, as a result, a distal pushing force and/or a proximal pulling force may not be transmitted from the firing member 2220 to the locking sleeve 2402. Correspondingly, a driving force DF may not be applied to the pivot disc 5602. In these circumstances, the firing member 2220 may be slid proximally and/or distally relative to the locking sleeve 2402 and the proximal pivot driver 2230.

[00372] As also discussed above, the drive shaft assembly 5200 additionally includes a switching cylinder 2500 that is rotatably received in the closing sleeve 2260. See Figure 53. The switching cylinder 2500 comprises a drive shaft segment. hollow drive 2502 having a drive shaft projection 2504 formed thereon, intended to receive within it an outwardly projecting actuation pin 2410. In various circumstances, the actuating pin 2410 extends into a longitudinal slot 2401 provided in the locking sleeve 2402 to facilitate axial movement of the locking sleeve 2402 when it is engaged with the pivot drive link 5614. Swivel twist 2420 is configured to engage with the projection 2504 on the switching cylinder 2500 and a portion of the nozzle housing 201 to apply a biasing force to the switching cylinder 2500. As discussed above, the switching cylinder 2500 may additionally comprise openings at least partially circumferential dimensions defined therein, which may be configured to receive circumferential bezels extending from the nozzle halves and permitting relative rotation, but not translation, between the switching cylinder 2500 and the nozzle housing 201. According described above, rotation of the switching cylinder 2500 will ultimately result in rotation of an actuation pin 2410 and locking sleeve 2402 between their engaged and disengaged positions. Thus, in essence, the nozzle housing 201 can be employed to operatively engage and disengage the linkage system 5600 with the firing drive system in the various ways described above and also in U.S. Patent Application Serial No. 13/803,086 , now US Patent Application Publication No. 2014/0263541.

[00373] Again referring to Figures 53 to 56, the articulation system 5600 of the illustrated example further includes a "first" (or right) articulation coupling 5620 and a "second" (or left) articulation coupling 5640. The first pivot coupling 5620 includes a first pivot link 5622 that includes a first pivot pin 5624 that is movably received within a first pivot slot 5604 in the pivot disk 5602. The first pivot link 5622 is secured by movably pin to a first pivot connector 5626 that is configured to engage a pivot lock 2350. As discussed above, the pivot lock 2350 may be configured and operated to selectively lock the surgical end actuator 300 in position. This arrangement allows the surgical end actuator 300 to be rotated, or pivoted, relative to the drive shaft closing sleeve 2260 when the pivot lock 2350 is in its unlocked state. When the articulation drive link 5614 is operatively engaged with the firing member 2220 by means of the clutch system 2400, in addition to the above, the firing member 2220 may rotate the articulation disc 6502 to move the first articulation coupling 5620 in proximal and/or distal direction. Movement of the first hinge connector 5626 of the first hinge coupling 5620, whether proximal or distal, may unlock the hinge lock 2350 as described above. The proximal locking adapter 2360 includes a locking cavity 2362 for receiving therein first locking elements 2364 and second locking elements 2366 that are seated on the frame rail extending between the proximal frame 2210 and the distal frame. Operation of the 2350 linkage lock is in the various ways described above and for the sake of brevity will not be discussed in further detail here. As can be seen in Figure 53, a first distal hinge actuator 5370 is attached to the proximal locking adapter 2360. The first distal hinge actuator 5370 is operatively secured to the proximal end 320 of the elongated channel 302 of the surgical end actuator 300.

[00374] Also as indicated above, the articulation system 5600 of the illustrated example further includes a "second" (or left) articulation coupling 5640. As can be seen in Figures 54 to 56, the second articulation coupling 5640 includes a second pivot link 5642 that includes a second pivot pin 5644 that is movably received within a second pivot slot 5606 in the pivot disk 5602. The second pivot link 5642 is pinned to a second pivot bar 5646 which is attached to the proximal end 320 of the elongated channel 302 of the surgical end actuator 300. Referring to Figure 54, the hinge system 5600 further includes a first hinge bias member 5628 which is received within the first hinge slot 5604 , and a second hinge propensity member 5648 that is received within the second hinge slot 5606. Figure 54 illustrates the hinge system 5600 in a neutral or non-articulated configuration. As can be seen in that Figure, the first pivot pin 5624 is in contact with the first propensity member 5628 of the joint, and the second pivot pin 5644 is in contact with the second propensity member 5648 of the joint. When in that neutral position, however, the first and second propensity members 5628, 5648 of the joint may not be in a compressed state. Figure 55 illustrates the application of the drive force DF to the pivot disk 5602 in the proximal direction PD by the joint drive link 5614 in the manner described above. Application of the drive force FA in the proximal direction PD results in rotation of the pivot disk 5602 in the direction of rotation represented by the arrow 5601. When the pivot disk 5602 rotates in the direction of rotation 5601, the end of the second pivot slot comes into contacts the second pivot pin 5644 and applies a pushing force to the second pivot coupling 5640 and ultimately the second pivot bar 5646. On the other hand, the first pivot bias member 5628 forces the first pivot pin 5624 in the direction of arrow 5601 within the first hinge slot 5604 so that a pulling force is applied to the first hinge coupling 5620 in the proximal PD direction. This proximal pulling force is transmitted to the first distal hinge actuator 5370 through the hinge lock 2350. These "push and pull movements" applied to the surgical end actuator cause the surgical end actuator 300 to pivot around the pivot axis in the direction represented by arrow 5300. See Figure 53. When the pivot disk 5602 is in the position illustrated in Figure 55, the second bias member 5648 of the pivot may be in a compressed state, and the first bias member 5648 of the joint may not be compressed. In this way, when the application of the driving force DF to the articulation drive link 5614 ceases, the second propensity member 5648 of the articulation can tilt the articulation disc 5602 back to the neutral position shown in Figure 54, for example.

[00375] On the other hand, when the driving force DF is applied to the articulation drive link 5614 in the distal direction DD, as shown in Figure 56, the articulation disc 5602 rotates in the direction of rotation represented by the arrow 5603. When the disc pivot 5602 rotates in the direction of rotation 5603, the end of the first pivot slot 5604 contacts the first pivot pin 5624 and applies a pushing force to the first pivot coupling 5620 and ultimately the first pivot driver distal 5370 by means of pivot lock 2350. Furthermore, the second pivot bias member 5648 forces the second pivot pin 5644 in the direction of arrow 5603 within the second pivot slot 5606, so that a pulling force is applied to the second joint coupling 5640 in the PD proximal direction. This proximal pulling force is transmitted to the second pivot bar 5646. These "push and pull movements" applied to the surgical end actuator 300 cause the surgical end actuator 300 to pivot about the pivot axis in the direction represented by arrow 5302. See Figure 53. When the hinge disk 5602 is in a position illustrated in Figure 56, the first hinge propensity member 5628 may be in a compressed state and the second hinge propensity member 5648 may not be compressed. . In this way, when the application of the driving force DF to the articulation drive link 5614 ceases, the first propensity member 5628 of the articulation can tilt the articulation disc 5602 back to the neutral position shown in Figure 54, for example.

[00376] Figure 57 illustrates the attachment of the distal end portion 814 of the drive shaft structure 812 to the surgical end actuator 300 which is operatively coupled to the elongated drive shaft assembly 5200. As described above, the distal end portion 814 has thereon a downwardly projecting pivot pin (not shown) that is adapted to be pivotally received within a pivot hole (not shown) that is formed in the proximal end portion 320 of the elongated channel 302 This arrangement facilitates pivoting displacement of the elongated channel 302 relative to the drive shaft structure 812 around a pivot axis B-B defined by the pivot hole. As can be seen in Figure 57, the first distal hinge driver 5370 is attached to a first coupler 850 by a first ball joint 852. The first coupler 850 is also pivotally pinned to the proximal end portion 320 of the elongated channel 302 by a first pin 854, as seen in Figure 57. Similarly, the second pivot bar 5646 is secured to a second coupler 870 by a second ball joint 872. The second coupler 870 is also pivotally pinned to the proximal end 320 of the elongated channel 302 by a second pin 874, as can be seen in Figure 57.

[00377] Referring to Figures 53 and 58, the elongated drive shaft assembly 5200 may also include a firing bar assembly 2280 that is attached to a firing member 900 of the type described above. The firing bar assembly 2280 is secured to the firing member 2220 and can be axially advanced and retracted in the various ways described above. The elongated drive shaft assembly 5200 may further comprise a set of multiple support links 920 to provide lateral support to the distal firing bar 2280 as the surgical end actuator 300 is pivoted about the pivot axis B-B. As can be seen in Figure 58, the multiple support link assembly 920 comprises an intermediate support member 922 that is pivotally pinned to the proximal end 320 of the elongated channel 302 in the manners described above. The intermediate support member 922 further includes a centrally disposed slot 930 for axially receiving the distal firing bar 2280 therethrough. The assembly of multiple support links 920 further comprises a proximal support link 940 and a distal support link 950. The proximal support link 940 includes a body portion 942 that has a rounded proximal end 943 and a rounded distal end 944. The proximal support link 940 further includes a pair of downwardly projecting side support walls 945 that define a proximal slot therebetween. Similarly, the distal support link 950 includes a body portion 952 that has a rounded proximal end 953 and a rounded distal end 954. The distal support link 950 further includes a pair of downwardly projecting side support walls. 955 which define a distal slit between them. As can be seen in Figure 58, the distal firing bar 2280 is configured to extend between the lateral support walls 945 of the proximal support link 940 and the lateral support walls 955 of the distal support link 950. Each support wall 945 and 955 includes an inwardly facing arched surface as described above. The support surfaces serve to provide lateral support to the distal firing bar 2280 as it flexes during articulation of the surgical end actuator 300. Additionally, the closure sleeve assembly 2260 may include a double-hinged closure sleeve assembly. of the type described above, which is configured to operably interact with the anvil on the surgical end actuator 300. Operation of the closing sleeve assembly 2260 results in the opening and closing of the anvil of the surgical actuator in the various ways described above.

[00378] Figure 59 illustrates a portion of another elongated drive shaft assembly 5700 that may be substantially similar to the elongated drive shaft assembly 5200, with the exception of the differences discussed below. In particular, the pivot disc 5702 of the pivot system 5701 is rotated by a worm gear motor 5710 which is operatively supported in the nozzle housing 201. In one embodiment, for example, a driven gear 5703 is integrally formed. or otherwise non-movably attached to the pivot disk 5702 so that it is in mesh engagement with the worm gear drive 5712 of the motor 5710. In the illustrated example, a first rod or pivot member 5720 may be attached directly to a portion of a surgical end actuator in any of several ways described herein. A first pivot pin 5722 is secured to the first pivot rod 5720 and is received within a first arcuate pivot slot 5704 formed in the pivot disk 5702. A first pivot member 5705 of the pivot is received within the first pivot slot 5704 for bias contact with the first pivot pin 5722. Similarly, a second rod or pivot member 5730 may be attached directly or indirectly to a portion of a surgical end actuator in any of several ways described herein. A second pivot pin 5732 is secured to the second pivot rod 5730 and is received within a second arcuate pivot slot 5706 formed in the pivot disk 5702. A second pivot member 5707 of the pivot is received within the second pivot slot 5706 for bias contact with second pivot pin 5732.

[00379] Figure 59 illustrates the 5701 articulation system in a neutral or non-articulated configuration. As can be seen in that Figure, the first pivot pin 5722 is in contact with the first propensity member 5705 of the joint, and the second pivot pin 5732 is in contact with the second bias member 5707 of the joint. When in that neutral position, however, the first and second propensity members 5705, 5707 of the joint may not be in a compressed state. Actuating the motor 5710 to rotate the pivot disk 5702 in the direction of rotation represented by the arrow 5601 will apply a pulling motion to the first pivot rod 5720 to cause the first pivot rod 5720 to move in the PD proximal direction as well as to apply a pushing motion to the second pivot rod 5730 to cause the second pivot rod 5730 to move in the distal direction DD. On the other hand, actuation of the motor 5710 to rotate the pivot disk 5702 in the direction of rotation represented by the arrow 5603 will apply a pushing motion to the first pivot rod 5720 to cause the first pivot rod 5720 to move in the distal direction. DD, as well as to apply a pulling motion to the second pivot rod 5730 to cause the second pivot rod 5730 to move in the proximal direction PD. These "pull and push movements" applied to the surgical end actuator cause the surgical end actuator to pivot about the pivot axis in the various ways described above.

[00380] Figures 60 to 65 illustrate another linkage system 5800 that can be employed with various elongated drive shaft assemblies and actuator arrangements described herein. In this embodiment, however, the articulation system 5800 includes a set of two articulation discs 5810 comprising a driving articulation disc 5820 and a driven articulation disc 5830. Both articulation discs 5820, 5830 may, for example, be rotatably supported within the nozzle housing of the elongated drive shaft assembly so that both discs 5820, 5830 are independently rotated around a common axis. In various embodiments, drive movements may be applied to the drive pivot disk 5820 by a pivot drive link 5614 and a firing member arrangement 2220, as described above. In other embodiments, rotary drive movements may be applied to the drive pivot disc 5820 by a worm gear motor 5710 in the manner described above.

[00381] Figure 61 illustrates one form of a drive disk 5820. As can be seen in that Figure, the drive disk 5820 includes a first pair of first arcuate pivot slots 5822L, 5822R, each of which has a first arcuate length FL . Furthermore, the driving pivot disc 5820 additionally includes a driver slot 5824 that is centrally disposed between the first pivot slots 5822, as seen in Figure 61. Depending on the method employed to drive the driving pivot disk 5820, the The linkage drive link 5614 or the worm gear motor 5710 may interface with the linkage drive disc 5820 in the various ways described above to apply rotary motions to the linkage drive disc 5820. Figure 62 illustrates one form of a disc. driven pivot disc 5830. As can be seen in that Figure, the driven pivot disk 5830 includes a second pair of second arcuate pivot slots 5832L, 5832R, each of which has a second arcuate length "SL" that is shorter than the first arched length FL. Furthermore, the driven pivot disc 5830 further includes a driver column 5834 that is configured to be movably received within the driver slot 5824.

[00382] Referring now to Figures 60 and 63 to 65, the articulation system 5800 further comprises a first articulation rod 5840 that may be attached directly or indirectly to a portion of a surgical end actuator in any of several ways herein. described. A first pivot pin 5842 is secured to the first pivot rod 5840 and is received within corresponding first and second arcuate pivot slots 5822L, 5832L. Similarly, a second rod or pivot member 5850 may be attached directly to a portion of the same surgical end actuator in any of several ways described herein. A second pivot pin 5852 is secured to the second pivot rod 5850 and is received within corresponding first and second arcuate pivot slots 5822R, 5832R. Figure 60 illustrates the 5800 articulation system in a neutral position in which the surgical end actuator can be moved freely. Figure 63 illustrates the position of the pivot system 5800 after an initial application of rotary motion to the driving pivot disk 5820 in the direction represented by the arrow 5860. As can be seen in this figure, after the initial application of the driving pivot disk 5820, the pivot slots 5822L, 5832L are offset from each other and pivot slots 5822R, 5832R are offset from each other, but still with no movement transferred to the pivot rods 5840, 5850. Figure 64 illustrates the position of the pivot system 5800 after continuous application of rotary motion to the actuator pivot disk 5820 in the direction of arrow 5860 sufficient to result, for example, in seventy-five degrees of articulation of the surgical end actuator relative to the geometric axis of the drive shaft. As can be seen in this figure, a pushing motion is applied to the first hinge rod 5840 to cause the first hinge rod 5840 to move axially in the distal direction DD, and a pulling motion is applied to the second hinge rod 5850 to cause the second pivot rod 5850 to move axially in the PD proximal direction. Movements of the first and second pivot rods 5840, 5850 in opposite directions result in articulation of the surgical end actuator that is operatively secured thereto. Figure 65 illustrates the position of the articulation system 5800 after applying the rotary movement to the actuator articulation disc 5820 in an opposite direction represented by the arrow 5862 which is sufficient to result, for example, in seventy-five degrees of articulation of the end actuator. surgical axis relative to the geometric axis of the drive shaft in an opposite pivot direction. As can be seen in this figure, a pushing motion is applied to the second hinge rod 5850 to cause the second hinge rod 5850 to move axially in the distal direction DD, and a pulling motion is applied to the first hinge rod 5840 to cause the first pivot rod 5840 to move axially in the PD proximal direction. Such opposing movements of the first and second pivot rods 5840, 5850 result in articulation of the surgical end actuator which is operatively secured thereto. In one configuration, the first pivot rod 5840 may apply a pulling force to the surgical end actuator only after the pivot drive disk 5820 has been rotated a sufficient distance to achieve a range of seventy-five degrees of pivoting.

[00383] Figures 66 to 70 illustrate a surgical end actuator 6300 comprising a first and a second claws that are simultaneously movable between open and closed positions relative to the SA-SA geometric axis of the drive shaft. The first and second claws may comprise a variety of surgical claw arrangements without departing from the character and scope of the present invention. Gaining access to the target tissue with the jaws of a surgical extremity actuator can sometimes be challenging. The maneuverability of a surgical extremity actuator, particularly a surgical extremity actuator that is configured to cut and staple tissue, may be improved if the distance between the point at which the jaws are supported relative to each other and the closest staple locations is proximal areas is minimized. For example, surgical extremity actuators that employ only one movable gripper (i.e., one of the grippers is fixed relative to the axis of the drive shaft) may require a movable gripper to have a relatively large range of displacement to accommodate tissue. - target. This greater range of displacement can complicate the process of using the tip actuator to advantageously position the target tissue. The 6300 Surgical End Actuator employs a first and second jaws that move relative to each other and the axis of the drive shaft about a common pivot axis. This arrangement allows the distance between the pivot axis and the most proximal clamp locations to be shortened when compared to the same distance in certain surgical end actuators that employ only a movable claw, for example.

[00384] In the illustrated example, a first claw 6310 includes an elongated channel 6312 that is configured to support within it a surgical staple cartridge 6320. As can be seen in Figure 70, the surgical staple cartridge 6320 is configured to operatively support therein are a plurality of staple drivers 6322 that operatively support surgical staples 6324 therein. The staple drivers 6322 are movably supported within corresponding driver slots 6321 formed in the surgical staple cartridge 6320. The staple drivers 6322 are retained within their respective driver slots 6321 by a cartridge tray 6330 that clips or is otherwise secured to the surgical staple cartridge 6320. Staple drivers 6322 are arranged in rows on each side of an elongated slot 6326 in the surgical staple cartridge 6320 to accommodate axial passage of a firing member 6340 through the same. A wedge slider 6350 is movably supported within the surgical staple cartridge 6320 and is configured to be actuably engaged by the trigger member 6340 when the trigger member 6340 is actuated from a starting position adjacent the proximal end of the clamp cartridge. surgical staples 6320 to a final position within a distal portion of the surgical staple cartridge 6320. As discussed above, when the wedge slider 6350 is driven in the distal direction through the surgical staple cartridge 6320, the wedge slider 6350 contacts actuated with the clamp drivers 6322 to drive them toward the surface of the cartridge platform 6323. The firing member 6340 includes a tissue cutting surface 6346 that serves to cut the tissue clamped between the jaws as the clamping member shot 6340 is distally fired. A distal firing bar (not shown) of the various types described herein is operatively attached to the firing member 6340, as well as to an intermediate portion of firing drive shaft 2222 or other firing system arrangement. The operation of the firing drive shaft intermediate portion 2222 to actuate and retract the distal firing bar has been discussed in detail previously and will not be repeated for the sake of brevity. Other arrangements of firing bars and firing systems (both motor driven and manually driven) may also be employed to actuate the firing member without departing from the character and scope of the present invention.

[00385] The illustrated surgical end actuator 6300 is also configured for articulation about a pivot B-B axis that is substantially transverse to the SA-SA axis of the drive shaft. As can be seen in Figures 66 through 70, the 6300 surgical end actuator includes a 6390 end actuator mounting assembly that is adapted to be pivotably mounted, for example, to a distal drive shaft frame (not shown ) which includes a pivot pin that is configured to be rotatably received within the mounting hole 6392 in the end actuator mounting assembly 6390. The surgical end actuator 6300 may be pivoted by a pivot lock and first-class arrangements. and second pivot rods of the type described above. As can be seen in Figure 70, the end actuator mounting assembly 6390 additionally includes a pair of laterally extending opposing swivel pins 6394. The swivel pins 6394 extend laterally from the opposing side sides 6391 of the end actuator mounting assembly. end actuator 6390 that also define a pocket area 6395 that is configured to receive the firing member 6340 therein. The swivel pins 6394 serve to define a pivot PA-PA axis around which the first and second claws 6310, 6360 can pivot. The proximal end 6314 of the first claw 6310 or elongated channel 6312 includes a pair of opposing U-shaped or open-ended slots 6316 that are adapted to receive therein a corresponding rotating anvil pin 6394. This arrangement serves to seat, in movable or articulated mode, the first claw 6310 in the end actuator mounting assembly 6390.

[00386] The illustrated surgical end actuator 6300 further comprises a second claw 6360 that may comprise an anvil 6362. The illustrated anvil 6362 includes an anvil body 6364 that includes an elongated slot 6366 and two clip-forming surfaces 6368 formed on each side of it. The anvil 6362 further includes a proximal end portion 6370 that has a pair of opposing U-shaped or open-ended slots 6372 that are also adapted to receive therein a corresponding anvil swivel pin 6394. This arrangement serves to movably or pivotably seat the second claw 6360 on the end actuator mounting assembly 6390 so that the first and second claws can move relative to each other as well as relative to the shaft. SA-SA geometry of the drive shaft. The first and second claws 6310 and 6360 can be movably actuated by a closing system among the various types described herein. For example, a first closure drive system of the type described herein may be employed to actuate a closure sleeve in the manner described above. The closure sleeve may also be attached to an end actuator closure sleeve 6272 which may be pivotably attached to the closure sleeve by a double-hinged closure sleeve assembly in the manner described above. As described above, for example, the axial movement of the closing sleeve can be controlled by actuating a closing trigger 32. As can be seen in Figures 67 to 69, the closing sleeve of the end actuator 6272 extends above of the end actuator mounting assembly 6390 and is configured to engage the proximal end 6370 of the second claw 6360 as well as the proximal end 6314 of the first claw 6310. At least one cam surface 6336 may be formed over the proximal end 6314 of the first claw 6310 such that when the distal end 6274 of the end actuator closing sleeve 6272 contacts the cam surface(s) 6336, the first claw 6310 is actuated eccentrically toward the second claw and to the SA-SA axis of the drive shaft. Similarly, one or more cam surfaces 6376 may be formed over the proximal end portion 6370 of the second claw 6360 such that, when contacted by the distal end 6274 of the end actuator closing sleeve 6272, the second claw 6360 is moved towards the first claw 6310 and the SA-SA axis of the drive shaft. The cam surfaces 6336, 6376 may be configured and positioned relative to each other so that the first and second jaws close at different "closing rates" or closing times relative to each other. Such an arrangement is depicted in Figure 68. As can be seen in Figure 68, the distance along an arcuate path between a point P1 on the first gripper 6310 and a corresponding point P2 on the second gripper 6360 when the first and second grippers are in their respective fully open positions is represented by DT. The first and second points P1 and P2 are said to "correspond" to each other. For example, each of the first point P1 and the second point P2 may lie on a common line or axis that extends therebetween and is perpendicular to the SA-SA geometric axis of the drive shaft. The distance along an arcuate path between another point PA on the first gripper 6310 and the SA-SA axis of the drive shaft is represented by D1 and the distance along another arcuate path between another corresponding point PB on the second gripper and the SA-SA geometric axis of the drive shaft is represented by D2. Point PA and point PB are also said to correspond to each other. For example, point PA and point PB may lie on a line or a common axis extending between them and which is perpendicular to the SA-SA geometric axis of the drive shaft. In the illustrated arrangement, the distance D2 at which the second claw 6360 or anvil 6362 moves from the fully open position to the closed position at which the clip-forming surface of the anvil 6362 lies along the SA-SA axis of the actuation is greater than the distance D1 in which the first jaw 6310 or surgical staple cartridge 6320 moves from the fully open position to the closed position in which the surface of the cartridge platform lies along the SA-SA axis of the drive. For example, in at least one arrangement, the second jaw or anvil will open or move 2/3 of the distance DT (or other distance along another travel path between the jaws) and the first jaw or staple cartridge will open or move 1/3 of the distance DT (or another distance along yet another travel path between the grippers), so that, in essence, one gripper reaches its fully closed position faster than the other gripper reaches its position completely closed, although a closing movement or movements were initially applied to both jaws at the same time or at similar times. For example, the cam surfaces on the first and second grippers may be arranged or configured to achieve different ratios/rates of gripper movement without departing from the character and scope of this embodiment of the present invention. An opening spring 6380 (Figure 70) may be positioned between the proximal end 6314 of the first claw 6310 and the proximal end 6370 of the second claw 6360 to bias the first and second claws 6310, 6360 to the open position when the opening sleeve closing of the 6272 end actuator is positioned in the home position or not actuated. See Figures 67 to 69.

[00387] In order to move the first and second claws 6310, 6360 to a closed position (Figure 66), the practitioner actuates the closing system to move the closing sleeve of the end actuator 6272 in the distal direction "DD" to simultaneously contact the one or more cam surfaces 6336 on the proximal end 6314 of the first gripper 6310 and the one or more cam surfaces 6376 on the proximal end 6370 of the second gripper 6360 to bias the first and second grippers 6310, 6360 to one another. toward each other (and the SA-SA axis of the drive shaft) to the position shown in Figure 66. While the end actuator closing sleeve 6272 is retained in this position, the first and second jaws 6310 and 6360 are retained in that closed position. Thereafter, the firing system may be actuated to axially advance the firing member 6340 distally through the surgical end actuator 6300. As can be seen in Figure 70, the firing member 6340 may have a base portion 6342 that is configured to slidingly engage a slotted passage 6374 of the anvil 6362, and a top flap portion 6344 that is adapted to be slidably received within a slotted passage 6318 in the elongate channel 6312. See Figure 69. Thus, this firing member arrangement serves to positively retain the first and second claws 6310, 6360 in a desired spacing arrangement during firing of the triggering member (i.e., during firing of the staples and cutting of tissue that is pinched between the first and second claws 6310, 6360). A cover of the first claw 6315 is removably fixed to the elongated channel 6312 and a cover of the second claw 6363 is removably fixed to the anvil 6362 for assembly purposes and also to prevent infiltration of tissue and/or body fluid into the first and on the second claw, which may hinder or interfere with the operation of the firing member 6340.

[00388] Figure 71 illustrates another surgical end actuator 6300' that is similar to the surgical end actuator 6300. As can be seen in this figure, the surgical end actuator 6300' comprises two claws that are simultaneously movable between open positions and closed with respect to the SA-SA geometric axis of the drive shaft. In the illustrated example, a first claw 6310' includes an elongated channel 6312' that is configured to support a surgical staple cartridge 6320' within it. The surgical staple cartridge 6320' is configured to operatively support within it a plurality of staple drivers 6322 that operatively support surgical staples 6324 therein. Staple drivers 6322 are movably supported within corresponding driver pockets 6321' formed in the surgical staple cartridge 6320'. The staple drivers 6322 are retained within their respective driver pockets 6321' by a cartridge tray 6330' that clips or is otherwise secured to the surgical staple cartridge 6320'. Staple drivers 6322 are arranged in rows on each side of an elongated slot 6326' in the surgical staple cartridge 6320 to accommodate the axial passage of a firing member 6340' therethrough. A wedge slider 6350' is movably supported within the surgical staple cartridge 6320' and is configured to be actuably engaged by the firing member 6340' when the firing member 6340' is driven from a starting position adjacent the end. proximal portion of the surgical staple cartridge 6320' to an end position within a distal portion of the surgical staple cartridge 6320'. As discussed above, when the wedge slider 6350' is driven in a distal direction through the surgical staple cartridge 6320', the wedge slider 6350' actuably contacts the staple drivers 6322 to drive them toward the surface of cartridge platform 6323'. The firing member 6340' includes a tissue cutting surface 6346' which serves to cut tissue trapped between the jaws when the firing member 6340 is driven distally. A distal firing bar (not shown) of the various types described herein is operatively attached to the firing member 6340', as well as to an intermediate portion of firing drive shaft 2222 or other firing system arrangement. The operation of the firing drive shaft intermediate portion 2222 to actuate and retract the distal firing bar has been discussed in detail previously and will not be repeated for the sake of brevity. Other firing bar and firing system arrangements (both motor driven and manually driven) may also be employed to actuate the firing member, without departing from the spirit and scope of the present invention.

[00389] The illustrated 6300' surgical end actuator is also configured for selective articulation about a pivot B-B axis that is substantially transverse to the SA-SA axis of the drive shaft. The end actuator 6300' includes an end actuator mounting assembly 6390' that is adapted to be pivotably mounted, for example, to a distal drive shaft frame that includes a pivot pin configured to be received so swivel into a mounting hole 6392' in the end actuator mounting assembly 6390'. The 6300' surgical end actuator may be pivoted by a pivot lock and first and second pivot rod arrangements of the type described above. As can be seen in Figure 71, the end actuator mounting assembly 6390' additionally includes a pair of laterally extending opposing pivot pins 6394'. Pivot pins 6394' extend laterally from opposing side sides 6391' of end actuator mounting assembly 6390' which also define a pocket area 6395' which is configured to receive firing member 6340' therein. The swivel pins 6394' serve to define a pivot PA-PA axis around which the first and second claws 6310', 6360' can pivot. The proximal end 6314' of the first claw 6310' or the elongated channel 6312' includes a pair of opposing U-shaped or open-ended slots 6316', which are adapted to receive within them one of the corresponding rotating pins 6394'. This arrangement serves to place, movably or articulately, the first claw 6310' on the end actuator mounting assembly 6390'.

[00390] The illustrated surgical end actuator 6300' further comprises a second claw 6360' which may comprise an anvil 6362'. The illustrated anvil 6362' includes an anvil body 6364' that includes an elongated slot 6366' and two clip-forming surfaces formed on each side thereof. The anvil 6362' further includes a proximal end portion 6370' that has a pair of opposing U-shaped or open-ended slots 6372' that are also adapted to receive therein a corresponding anvil swivel pin 6394'. This arrangement serves to place, movably or articulately, the second claw 6360' on the end actuator mounting assembly 6390'. The first and second claws 6310' and 6360' are movably actuated by a closing system among the various types described herein. For example, a first closure drive system 30 may be employed to actuate a closure sleeve 260 in the manner described herein. The closure sleeve 260 may also be attached to an end actuator closure sleeve 6272 which may be pivotably attached to the closure sleeve 260 by a double-hinged closure sleeve assembly 271 in the manner described above. As described above, for example, the axial movement of the closing sleeve 260 can be controlled by actuating a closing trigger 32. The end actuator closing sleeve 6272 extends above the end actuator mounting assembly 6390 ' and is configured to engage the proximal end 6370' of the second claw 6360' as well as the proximal end 6314' of the first claw 6310'. At least one cam surface 6336' may be formed over the proximal end 6314' of the first claw 6310' such that when the distal end 6274 of the end actuator closing sleeve 6272 contacts the cam surfaces 6336' , the first claw 6310' is eccentrically actuated towards the second claw 6360' and the SA-SA axis of the drive shaft. Similarly, one or more cam surfaces 6376' may be formed on the proximal end portion 6370' of the second claw 6360' such that, when contacted by the distal end 6274 of the end actuator closing sleeve 6272, the second claw 6360' is moved towards the first claw 6310' and the SA-SA axis of the drive shaft. A spring (not shown) may be positioned between the proximal end 6314' of the first gripper 6310' and the proximal end 6370' of the second gripper 6360' to bias the first and second grippers 6310', 6360' to the open position when the 6272 end actuator closure sleeve is positioned in the home or non-actuated position.

[00391] To move the first and second jaws 6310', 6360' to a closed position, the practitioner actuates the closing system to move the end actuator closing sleeve 6272 in the distal direction "DD" to simultaneously contact with the one or more cam surfaces 6336' on the proximal end 6314' of the first gripper 6310' and the one or more cam surfaces 6376' on the proximal end 6370' of the second gripper 6360' for tilting the first and second grippers 6310' , 6360' towards each other (and the SA-SA axis of the drive shaft). While the end actuator closing sleeve 6272 is retained in that position, the first and second claws 6310' and 6360' are retained in that closed position. Thereafter, the firing system can be actuated to axially advance the firing member 6340' distally through the surgical end actuator 6300'. The firing member 6340' may have a top flap portion 6344' that is configured to slideably engage a slotted passage 6374' of the anvil 6362', and a base portion 6342' that is adapted to receive slidingly within a slotted passage in the elongated channel 6312'. Thus, this firing member arrangement serves to positively retain the first and second jaws 6310', 6360' in a desired spacing arrangement during firing of the firing member (i.e., during firing of the clamps and cutting of the tissue that is pinched between the first and second claws 6310' and 6360'). A cover of the first claw 6315' is removably fixed to the elongated channel 6312' and a cover of the second claw 6363' is removably fixed to the anvil 6362' for assembly purposes and also to prevent infiltration of tissue and/or fluid body in the first and second claws, which may hinder or interfere with the operation of the firing member 6340'.

[00392] Surgical end actuator embodiments described herein that employ claws that move both relative to each other and relative to the geometric axis of the drive shaft can offer several advantages compared to other surgical end actuator arrangements. in which one of the claws is fixed and does not move, for example in relation to the geometric axis of the drive shaft. In such configurations, it is often desirable for a movable gripper to have a relatively large range of motion relative to the fixed gripper to allow the target tissue to be manipulated, positioned, and then clamped between them. In embodiments where both claws are movable, neither requires a large range of motion to accommodate manipulation, positioning, and grasping of the target tissue between the claws. This reduced movement of the anvil can, for example, provide improved tissue positioning. Such arrangements may also allow the distance between the pivot axis and the first positions of the clamps to be minimized. Furthermore, the firing member can always remain engaged with the movable jaws (anvil and elongated channel) even during opening and closing actions.

[00393] Figures 72 to 79 illustrate another surgical end actuator 6400 that is configured to be operatively attached to an elongated drive shaft assembly of the types described herein that define a SA-SA geometric axis of the drive shaft. The 6400 Surgical End Actuator comprises two jaws that are simultaneously movable between open and closed positions relative to the SA-SA axis of the drive shaft. The first and second claws may comprise a variety of different claw arrangements for use in surgical procedures. In the illustrated example, a first claw 6410 includes an elongated channel 6412 that is configured to support within it a surgical staple cartridge 6420. As in the case of the various surgical staple cartridges discussed previously, the surgical staple cartridge 6420 is configured to support operatively within it are a plurality of staple drivers (not shown) that operatively support surgical staples (not shown) therein. The staple drivers are movably supported within corresponding driver pockets formed in the 6420 surgical staple cartridge. The staple drivers are arranged in rows on each side of an elongated slot (not shown) in the 6420 surgical staple cartridge to accommodate the axial passage of a firing member 6440 therethrough. A wedge slider (not shown) is movably supported within the surgical staple cartridge 6420 and is configured to be actuably engaged by the firing member 6440 when the firing member 6440 is actuated from a starting position adjacent the proximal end. of the surgical staple cartridge 6420 to a final position within a distal portion of the surgical staple cartridge 6420. As discussed above, when the wedge slider is driven in the distal direction through the surgical staple cartridge 6420, the wedge slider comes into actuated mode contact with the clamp actuators to drive them toward the surface of the cartridge platform (not shown). The trigger member 6440 includes a tissue cutting surface 6446, which serves to cut tissue pinched between the jaws as the trigger member 6440 is distally driven. A distal firing bar (not shown) of the various types described herein is operatively attached to the firing member 6440, as well as to an intermediate portion of firing drive shaft 2222 or other firing system arrangement. The operation of the firing drive shaft intermediate portion 2222 to actuate and retract the distal firing bar has been discussed in detail previously and will not be repeated for the sake of brevity. Other firing bar and firing system arrangements (both motor driven and manually driven) may also be employed to actuate the firing member, without departing from the spirit and scope of the present invention.

[00394] The illustrated surgical end actuator 6400 is also configured for articulation about a pivot B-B axis, which is substantially transverse to the SA-SA axis of the drive shaft. As can be seen in Figures 72 to 79, the surgical end actuator 6400 includes an end actuator mounting assembly 6490 that is adapted to be pivotally mounted, for example, on a distal drive shaft structure that includes a pivot pin that is configured to be rotatably received within mounting hole 6492 in end actuator mounting assembly 6490. Surgical end actuator 6400 may be pivoted by a pivot lock and by first and second rod arrangements. of the type described above. As can be seen in Figure 74, a pair of cam plates 6500 is non-movably secured by a tension pin 6502, for example, to the end actuator mounting assembly 6490. As can be seen further in Figure 74 , each cam plate 6500 has a cam slot 6504 that has a closing wedge portion 6505 and an opening wedge portion 6507. The closing wedge portion 6505 is formed from two opposing closing cam surfaces 6506, and The opening wedge portion 6507 is formed from two opposing opening cam surfaces 6508. The elongated channel 6412 includes two proximally extending actuator arms 6416, each of which has an opening pivot pin 6418 and a pivot pin 6418. closure 6419 that project laterally from the arms. Opening and closing swivel pins 6418 and 6419 are received with cam slot 6504 of a corresponding cam plate 6500. This arrangement serves to seat, movably or articulately, the first claw 6410 on the end actuator mounting assembly 6490.

[00395] The illustrated surgical end actuator 6400 further comprises a second claw 6460 that may comprise an anvil 6462. The illustrated anvil 6462 includes an anvil body 6464 that includes an elongated slot 6466 and two clip-forming surfaces 6468 formed on each side of it. The anvil 6462 additionally has a proximal end portion 6470 that includes two proximally extending actuator arms 6472 projecting therefrom. Each actuator arm 6472 has an opening swivel pin 6474 and a closing swivel pin 6476 that project laterally from the arms that are also received in the cam slot 6504 of a corresponding cam plate 6500. This arrangement serves to place, movably or articulately, the second claw 6460 on the end actuator mounting assembly 6490.

[00396] The first and second claws 6410 and 6460 are movably actuated by a closing system among the various types described here. For example, a first closure drive system 30 may be employed to actuate a closure sleeve in the manner described herein. The closure sleeve may also be attached to a 6572 end actuator closure sleeve which may be pivotably attached to the closure sleeve by a double-hinged closure sleeve assembly in the manner described above. As described above, for example, the axial movement of the closing sleeve can be controlled by actuating a closing trigger. As can be seen in Figures 77 and 78, the end actuator closing sleeve 6572 extends above the end actuator mounting assembly 6490 as well as the actuator arms 6416 of the first gripper 6410 and the actuator arms 6472 of the second claw 6460. When the closing sleeve 6572 is advanced distally, the distal end 6574 of the closing sleeve 6572 contacts a proximal end 6411 of the first claw 6410 and a proximal end 6461 of the second claw 6460 and moves the first and the second claws 6410, 6460 in the distal direction DD. When the first and second claws 6410, 6460 move distally, the closing pivot pins 6419, 6476 enter a closing wedge portion 6505 of the cam slot 6504 and the closing cam surfaces 6506 eccentrically actuate the first and second jaws 6410, 6460. second claws 6410, 6460 towards each other to a closed position (Figures 73, 75, 77 and 78).

[00397] To facilitate opening of the first and second jaws 6410, 6460 with the closing sleeve 6572, the closing sleeve 6572 is provided with two inwardly extending opening tabs 6576 that are configured to engage the pivoting pins of closure 6419, 6476 when the closure sleeve 6572 is retracted in the proximal PD direction by the closure system. As can be seen in Figures 72 and 76, for example, when the closing sleeve 6572 moves in the PD proximal direction, the opening flaps 6576 come into contact with the closing rotating pins 6419, 6476 and also actuate the closing rotating pins. closure 6419, 6476 in the proximal direction. Proximal movement of the closing pivot pins 6419, 6476 causes the opening pivot pins 6418 and 6474 to enter the opening wedge portion 6507 of the cam plate slots 6504. The opening cam surfaces 6508 interact with the pivot pins opening openings 6418, 6474 and cause the actuator arms 6416 and 6472 to swing open on their respective oscillator surfaces 6417 and 6475 as shown in Figures 76 and 79. As in the case of the previously described arrangements in which both the first as the second jaws move relative to the SA-SA axis of the drive shaft, the closing wedge portion 6505 and the opening wedge portion 6507 may be configured so that the first and second jaws close in different closing rates or closing times in relation to each other when undergoing a closing movement.

[00398] Figures 80 to 84 illustrate another surgical end actuator 7400 that comprises two claws, one claw being movable relative to the other claw between the open and closed positions. In the illustrated example, the first claw 7410 comprises an anvil 7412. The illustrated anvil 7412 has an anvil body 7414 with a proximal end portion 7416 that is non-movably secured to an end actuator mounting assembly 7430. For For example, the proximal end portion 7416 comprises two vertical side walls 7418 that each have a mounting hole 7419. See Figure 82. The end actuator mounting assembly 7430 is received between the vertical side walls 7418 and is non-movably secured thereto by a tension pin 7421 extending therethrough into holes 7419. The end actuator mounting assembly 7430 is adapted to be pivotably mounted, e.g. of distal drive shaft that includes a pivot pin that is configured to be rotatably received within mounting hole 7432 in end actuator mounting assembly 7430. Surgical end actuator 7400 may be pivoted by a pivot lock and by first and second articulation rod arrangements of the type described above, or by any of the various articulation systems and rod and/or articulation rod/wire arrangements described herein, without departing from the spirit and scope of the present invention. As can be seen in Figures 80 and 82, an anvil body 7414 also includes an elongated slot 7422 with two clip-forming surfaces 7424 formed on each side thereof.

[00399] The surgical end actuator 7400 additionally includes a second claw 7440 comprising an elongated channel 7442 that is configured to support within it a surgical staple cartridge 7450. As in the case of certain surgical staple cartridges discussed previously, the cartridge of surgical staples 7450 is configured to operatively support within it a plurality of staple drivers (not shown) that operatively support surgical staples (not shown) therein. The staple drivers are movably supported within corresponding driver pockets 7452 formed in the surgical staple cartridge 7450. The staple drivers are arranged in rows on each side of an elongated slot 7454 in the surgical staple cartridge 7450 to accommodate the axial passage of a firing member 7460 therethrough. A cartridge tray 7451 is attached to the staple cartridge 7450 to prevent the staple drivers from falling out of their respective driver pockets 7452 when the surgical end actuator 7400 is manipulated in various orientations. A wedge slider 7462 is movably supported within the surgical staple cartridge 7450 and is configured to be actuably engaged by the trigger member 7460 when the trigger member 7460 is actuated from a starting position adjacent the proximal end of the clamp cartridge. surgical staples 7450 to a final position within a distal portion of the surgical staple cartridge 7450. As discussed above, when the wedge slider 7462 is driven in the distal direction through the surgical staple cartridge 7450, the wedge slider 7462 comes into contact with actuated mode with the clamp actuators to drive them toward the surface of the cartridge platform (not shown). Trigger member 7460 includes a tissue cutting surface 7464 that serves to cut tissue clamped between jaws 7410, 7440 as trigger member 7460 is distally driven. A distal firing bar 280, or one of the other various types described herein, is operatively attached to the firing member 7460, as well as to an intermediate portion of firing drive shaft 2222 or other firing system arrangement. The operation of the firing drive shaft intermediate portion 2222 to actuate and retract the distal firing bar 280 has been discussed in detail previously and will not be repeated for the sake of brevity. Other arrangements of firing bars and firing systems (both motor driven and manually driven) may also be employed to actuate the firing member without departing from the character and scope of the present invention. A cover of the first claw 7415 is removably fixed to the anvil 7412 and a cover of the second claw 7441 is removably fixed to the second claw 7440 for assembly purposes and also to prevent infiltration of tissue and/or body fluid into the first and on the second claw, which may hinder or interfere with the operation of the firing member 6340.

[00400] As can be seen in Figure 82, the elongated channel 7442 includes a proximal end portion 7444 that has two lateral side portions 7445. Each lateral side portion 7445 has within it a U-shaped or pointed slot. corresponding opening 7446 which is adapted to receive a corresponding pivot pin 7426 projecting laterally from the proximal end portion 7416 of the anvil body 7414. This arrangement serves to movably or pivotably seat the second claw 7440 or the elongated channel 7442 on the first claw 7410 or on the anvil 7412. As can be seen more specifically in Figures 80, 82 and 84, closing ramp segments 7447 are formed on the proximal end 7444 of the elongated channel 7442. Furthermore, each lateral side 7445 of the proximal end portion 7444 has a lateral recess area 7448 formed therein. Each lateral recess area 7448 is located proximal to a corresponding closing ramp segment 7447. An opening ramp or cam 7449 is formed in a position adjacent to the proximal end of each side recess area 7448. Each opening ramp or cam 7449 terminates in a top surface 7580. See Figures 82 and 84.

[00401] The second claw 7440 or elongated channel 7442 can be movably actuated in relation to the first claw 7410 or anvil 7412 by a closure system among the various types described herein. For example, a closing drive system of the types described herein may be employed to actuate a closing sleeve of the types described herein, as discussed in more detail previously. The closure sleeve may also be attached to an end actuator closure sleeve 7572, which may be pivotably attached to the closure sleeve by a double-hinged arrangement in the manner described above. As described above, for example, the axial movement of the closing sleeve can be controlled by actuating a closing trigger. In other arrangements, the closing sleeve may be moved axially by means of a robotic control system, etc. As can be seen in Figures 80, 81, 83 and 84, the end actuator closing sleeve 7572 extends above the end actuator mounting assembly 7430 as well as the proximal end portion 7444 of the elongated channel 7442 of the second claw 7440. The end actuator closing sleeve 7572 includes two diametrically opposed opening members 7574 that are configured to operatively engage the proximal end portion 7444 of the second claw 7440 or the elongated channel 7442. In the illustrated embodiment, the clamping members 7440 opening 7574 comprise inwardly extending opening tabs 7576 that are formed in portions of the closing sleeve of the end actuator 7572.

[00402] The second claw 7440 is moved to a closed position (Figures 81 and 83) by advancing the closing sleeve of the end actuator 7572 in the distal direction DD. When the closing sleeve of the end actuator 7572 moves distally, its distal end 7575 comes into contact with the closing ramp segments 7447 that are formed at the proximal end 7444 of the elongated channel 7442 and serves to eccentrically actuate the elongated channel 7442 in direction of the anvil 7412. After the end actuator closing sleeve 7552 is moved to its most distal position, the distal end 7575 contacts a contiguous surface 7443 in the elongated channel 7442 to maintain the closing load or force of closure in the elongated channel 7442. See Figures 81 and 83. When the end actuator closing sleeve 7572 is in the fully closed position, the ends of the opening tabs 7576 are received in the corresponding side recess areas 7448. To move the second claw 7440 or elongated channel 7442 to an open position, the closure system is actuated to move the closure sleeve 7572 in the PD proximal direction. When the closing sleeve of the end actuator 7572 moves proximally, the opening tabs 7572 slide over the corresponding opening ramp or cam 7449 on the proximal end portion 7444 of the elongated channel 7442 to eccentrically actuate or pivot the elongated channel 7442 away from it. that of the anvil 7412. Each tab slides over the cam 7449 to the top surface 7580 and serves to positively retain the elongated channel 7442 in that fully open position. See Figure 84.

[00403] Figures 85 to 87 illustrate another surgical end actuator 8400 comprising two claws 8410, 8440 that are simultaneously movable between open and closed positions relative to the SA-SA geometric axis of the drive shaft. In the illustrated example, the first claw 8410 comprises an anvil 8412. The illustrated anvil 8412 has an anvil body 8414 that has a proximal end portion 8416 that movably interfaces with an end actuator adapter 8600. As can be seen In Figure 85, the end actuator adapter 8600 includes two distally extending distal walls 8602 each having a lateral pivot pin 8604 projecting laterally from the arms. Each side pivot pin 8604 is received in a corresponding open-ended U-shaped slot 8418 formed in the side walls 8417 of the proximal end portion 8416 of the anvil 8412. See Figure 85. This arrangement allows the elongated channel 8412 to be moved or pivoted relative to the end actuator adapter 8600. As can be further seen in Figure 85, the end actuator adapter 8600 is non-movably attached to an end actuator mounting assembly 8430. For example, the end actuator adapter 8600 additionally includes two vertical sidewalls 8606 that each have a mounting hole 8608. The end actuator mounting assembly 8430 is received between the vertical sidewalls 8606 and is non-movably secured to the same by a spring pin 8421 which extends therethrough into holes 8608. The actuator mounting assembly 8430 is adapted to be pivotably mounted, for example, on a distal drive shaft structure that includes a pin. that is configured to be rotatably received within mounting hole 8432 in end actuator mounting assembly 8430. Surgical end actuator 8400 may be pivoted by a pivot lock and first and second rod arrangements. joint of the type described above, or by any of the various joint systems and rod and/or joint rod/wire arrangements described herein, without departing from the spirit and scope of the present invention. As can be seen in Figure 85, the anvil body 8414 also includes an elongated slot 8422 with two clip-forming surfaces 8424 formed on each side thereof.

[00404] The surgical end actuator 8400 additionally includes a second claw 8440 comprising an elongated channel 8442 that is configured to support within it a surgical staple cartridge 8450. As in the case of the various surgical staple cartridges discussed previously, the cartridge of surgical staples 8450 is configured to operatively support within it a plurality of staple drivers (not shown) that operatively support surgical staples (not shown) therein. The staple drivers are movably supported within corresponding driver pockets 8452 formed in the surgical staple cartridge 8450. The staple drivers are arranged in rows on each side of an elongated slot 8454 in the surgical staple cartridge 8450 to accommodate the axial passage of a firing member 8460 therethrough. A cartridge tray 8451 is attached to the staple cartridge 8450 to prevent the staple drivers from falling out of their respective driver pockets 8452 when the surgical end actuator 8400 is manipulated in various orientations. A wedge slider 8462 is movably supported within the surgical staple cartridge 8450 and is configured to be actuably engaged by the trigger member 8460 when the trigger member 8460 is actuated from a starting position adjacent the proximal end of the clamp cartridge. surgical staples 8450 to a final position within a distal portion of the surgical staple cartridge 8450. As discussed above, when the wedge slider 8462 is driven in the distal direction through the surgical staple cartridge 8450, the wedge slider 8462 contacts actuated mode with the clamp actuators to drive them toward the surface of the cartridge platform (not shown). Trigger member 8460 includes a tissue cutting surface 8464 that serves to cut tissue clamped between jaws 8410, 8440 as trigger member 8460 is distally driven. A distal firing bar 280, or one of the other various types described herein, is operatively attached to the firing member 8460, as well as to an intermediate portion of firing drive shaft 2222 or other firing system arrangement. The operation of the firing drive shaft intermediate portion 2222 to actuate and retract the distal firing bar 280 has been discussed in detail previously and will not be repeated for the sake of brevity. Other firing bar and firing system arrangements (both motor driven and manually driven) may also be employed to actuate the firing member, without departing from the spirit and scope of the present invention. A cover of the first claw 8415 is removably fixed to the anvil 8412 and a cover of the second claw 8441 is removably fixed to the second claw 8440 for assembly purposes and also to prevent infiltration of tissue and/or body fluid into the first and on the second jaws, which may hinder or interfere with the operation of the firing member 8460.

[00405] As can be seen in Figure 85, the elongated channel 8442 includes a proximal end portion 8444 that has two lateral side portions 8445. Each lateral side portion 8445 has within it a U-shaped or pointed slot. corresponding opening 8446 which is adapted to receive a corresponding lateral pivot pin 8604 projecting laterally from the end actuator adapter 8600. This arrangement serves to movably or pivotably seat the second claw 8440 or the elongated channel 8442 in the first claw 8410 or anvil 8412. As can also be seen in Figure 85, closing ramp segments 8447 are formed on the proximal end 8444 of the elongated channel 8442. Additionally, each lateral side 8445 of the proximal end portion 8444 has a second lateral recess area 8448 formed therein. Each second lateral recess area 8448 is located proximal to a corresponding second closing ramp segment 8447. A second ramp or opening cam 8449 is formed adjacent to the proximal end of each second side recess area 8448. Each second ramp or opening cam 8449 terminates at a second top surface 8450. Similarly, a first ramp or opening cam 8449 terminates in a second top surface 8450. recess 8420 is formed at the bottom of each of the side walls 8417 of the proximal end portion 8416 of the anvil 8412. A first ramp or opening cam 8426 is formed in a position adjacent to the proximal end of each first side recess area 8420. Each first opening ramp or cam 8426 terminates in a first top surface 8428.

[00406] The second claw 8440 or elongated channel 8442 and the first claw 8410 or anvil 8412 can be moved simultaneously between open and closed positions by a closing system among the various types described herein. For example, a closure drive system 30 may be employed to actuate a closure sleeve 260 in the manner described herein. The closure sleeve 260 may also be attached to an end actuator closure sleeve 8572 which may be pivotably attached to the closure sleeve 260 by a double-hinged arrangement in the manner described above. As described above, for example, the axial movement of the closing sleeve 260 may be controlled by actuating a closing trigger 32. In other arrangements, the closing sleeve may be moved axially by means of a robotic control system, etc. . As can be seen in Figures 86 and 87, the end actuator closure sleeve 8572 extends above the end actuator mounting assembly 8430, the end actuator adapter 8600, as well as the proximal end portion 8444 of the elongated channel 8442 of the second claw 8440 and the proximal end portion 8416 of the first claw 8410 or anvil 8412. The end actuator closing sleeve 8572 includes two first diametrically opposed opening members 8574 that are configured to operatively engage the end portion proximal 8416 of the first claw 8410. In the illustrated embodiment, the first opening members 8574 comprise first opening flaps 8576 extending inwardly which are formed in portions of the closing sleeve of the end actuator 8572. Similarly, the closure of the end actuator 8572 further includes two diametrically opposed second opening members 8580 that are configured to operatively engage the proximal end portion 8444 of the second claw 8440. In the illustrated embodiment, the second opening members 8580 comprise second opening tabs 8582 extending inwards which are formed in portions of the closing sleeve of the end actuator 8572.

[00407] The first and second claws, 8410, 8440 are simultaneously moved to a closed position (Figure 86) by advancing the closing sleeve of the end actuator 8572 in the distal direction DD. When the closing sleeve of the end actuator 8572 moves distally, its distal end 8575 contacts the bottom of the proximal end portion 8416 of the first claw 8410 or anvil 8412, as well as the closing ramp segments 8447 that are formed at the proximal end 8444 of the elongated channel 8442 and serves to eccentrically actuate the first and second claws 8410, 8440 towards each other. After the end actuator closing sleeve 8572 is moved to its most distal position, the distal end 8575 of the end actuator closing sleeve 8572 contacts first contiguous surfaces 8419 on the first claw 8410 or anvil 8412 as well. as a second contiguity surface 8443 on the second jaw 8440 or elongated channel 8442 to maintain the closing load or closing force on both jaws 8410, 8440. See Figure 86. When the end actuator closing sleeve 8572 is in the fully closed position, the ends of the first opening flaps 8576 are received in corresponding first side recess areas 8420, and the ends of the second opening flaps 8582 are received in corresponding second side recess areas 8448. To move the first and second claws 8410, 8440 away from each other to their open positions, the closure system is actuated to move the closure sleeve 8572 in the PD proximal direction. When the closing sleeve of the end actuator 8572 moves proximally, the first opening tabs 8576 slide over the corresponding first opening ramp or cam 8426 at the bottom of the proximal end portion 8416 of the first claw 8410 to eccentrically actuate or pivot the first claw 8410 or anvil 8412 in an opposite direction from the second claw 8440 or elongated channel 8442, and the second opening tabs 8582 slide over corresponding second ramps 8449 on the proximal end portion 8444 of the elongated channel 8442 to eccentrically actuate or articulate the elongated channel 8442 in an opposite direction from the first claw or anvil 8412. Each of the first tabs 8576 slides over the corresponding cam or ramp 8426 over the corresponding first locking surface 8428 and each of the second tabs 8582 slides over the corresponding second cam or ramp 8449 over the second locking surface 8450 to thereby retain the first and second claws 8410, 8400 in the open position. The reader will recognize that the axial position of the first tabs 8576 relative to the second tabs 8582 can be positioned so as to simultaneously move the first and second claws in opposite directions from each other or they can be displaced axially so that one of the claws move before the other moves.

[00408] Figures 88 to 93 illustrate portions of another surgical instrument 9010 that includes a surgical end actuator 9300 that operationally interfaces with an elongated drive shaft assembly 9200. The surgical end actuator 9300 is similar to the end actuator surgical end actuator 300 which has been discussed in detail previously and includes a first claw in the form of an elongated channel 9302 that is configured to operatively support within it a surgical staple cartridge 304. The illustrated surgical end actuator 9300 additionally includes a second claw under the shape of an anvil 310 which is supported in the elongated channel 9302 for movement relative thereto. The anvil 310 may be movably actuated by the closure system described above and shown in Figures 88 and 91. For example, a first closure drive system may be employed to actuate a closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end actuator closure sleeve 272 which is pivotally attached to the closure sleeve 260 by a double-hinged closure sleeve assembly 271 in the manner described above. As described above, for example, the axial movement of the closing sleeve 260 can be controlled by actuating a closing trigger. As also described above, the closing sleeve 272 includes opening cams that serve to movably actuate the anvil 310 to an open position. In use, the closing sleeve 260 is translated distally (DD direction) to close the anvil 310, for example, in response to actuation of the closing trigger. The anvil 310 is closed by distally translating the closing tube 260 in the distal direction DD, as well as the end actuator closing sleeve 272 which is pivotably coupled thereto. When the end actuator closing sleeve 272 is driven distally, the cam tabs 358 of the opening cams 354 move distally within the cam slots 318 in the anvil 310 to operatively interface with or slide over the cam surfaces 319 to actuate. eccentrically move the body portion 312 of the anvil 310 away from the surgical staple cartridge 304 to an open position. The anvil 310 is closed by distally translating the closing sleeve 260 in the distal direction DD until the distal end 275 of the end actuator closing sleeve 272 slides over the anvil clamping arms 316 to contact the member that causes the cam flaps 358 to move in the PD proximal direction within the cam slots 318 on the cam surfaces 319 to pivot the anvil 310 to the open position.

[00409] As can be seen in Figure 91 for example, the elongated drive shaft assembly 9200 includes a two-piece drive shaft frame or center column assembly 9812 upon which the closing sleeve assembly 260 is received. The center column assembly 9812 includes a proximal center column portion 9814 and a distal center column portion 9816. The proximal center column portion 9816 may be rotatably seated in the handle or housing (not shown) in the various ways described herein to facilitate rotation of the 9300 surgical end actuator around the SA axis of the drive shaft. Although not shown, surgical instrument 9010 may also include a firing bar arrangement and any of the various firing drive system arrangements disclosed herein for driving a firing member through the surgical staple cartridge in the various ways discussed above. As can be seen in Figure 91, the distal center column portion 9816 includes a distal end portion 9818 having therein an upwardly projecting pivot pin 9819 that is adapted to be pivotally received within a pivot 9328 formed in the proximal end portion 9320 of the elongated channel 9302. This arrangement facilitates pivoting displacement of the elongated channel 9302 of the surgical end actuator 9300 relative to the central column assembly 9812, about a hinge axis B-B that is defined by pivot hole 9328. As indicated above, the pivot B-B axis is transverse to the SA-SA axis of the drive shaft which is defined by the elongated drive shaft assembly 9200.

[00410] Still referring to Figure 91, the elongated drive shaft assembly 9200 additionally includes a linkage system, generally designated as 9900, which includes a first linkage bar 9910 and a second linkage bar 9920. The first linkage bar joint 9910 operationally interfaces with a first joint motor 9912 that is operatively supported on the handle of the surgical instrument or housing or portion of a robotically controlled system. As can be seen in Figures 92 and 93, the first pivot bar 9910 is secured to a first pivot nut 9914 which is threadably received onto a first threaded drive shaft 9916 of the first pivot motor 9912. Rotation of the first threaded drive shaft 9916 in a first direction of rotation will result in distal advancement of the first pivot bar 9910 in the distal direction DD, and rotation of the first threaded drive shaft 9916 in a second or opposite direction of rotation will result in advancement proximal direction of the first pivot drive bar 9910 in the PD proximal direction.

[00411] The illustrated articulation system 9900 further includes a second articulation bar 9920 that operatively interfaces with a second articulation motor 9922 that is operatively supported on the handle or housing of the surgical instrument, or portion of a robotically controlled system. As can be seen in Figures 92 and 93, the second pivot bar 9920 is secured to a second pivot nut 9924 which is threadably received onto a second threaded drive shaft 9926 of the second pivot motor 9922. Rotation of the second threaded drive shaft 9926 in a first direction of rotation will result in proximal advancement of the second pivot bar 9920 in the proximal PD direction, and rotation of the second threaded drive shaft 9926 in a second or opposite direction of rotation will result in advancement of the second pivot drive bar 9920 in the distal direction DD.

[00412] The linkage system 9900 additionally includes a cross-link assembly 9940 that is operatively attached to the first and second pivot bars 9910, 9920. As can be seen in Figure 91, the cross-link assembly 9940 includes a intermediate support member 9950 that is pivotally pinned to the proximal end 9320 of the elongated channel 9302 with a first pin 9952. The intermediate support member 9950 further includes a proximal connector tab 9954 that includes a slot 9956 for receiving a second pin 9958 in its interior for pivotally securing the proximal connector tab 9954 to the distal end portion 9818 of the distal central column portion 9816. The pin and slot arrangement facilitates pivotal and axial displacement of the intermediate support member 9950 relative to the column assembly. central 9812. The intermediate support member 9950 further includes a slot 9960 for receiving a firing bar therethrough. The intermediate support member 9950 serves to provide lateral support to the firing bar as it flexes to accommodate the surgical end actuator pivot 9300.

[00413] As can be seen more specifically in Figures 92 and 93, the intermediate support member 9950 has a proximal coupling tab portion 9970 that facilitates attachment of the first and second pivot bars 9910, 9920 thereto. In particular, a distal end 9911 of the first pivot bar 9910 is pivotally attached to a first pivot link 9972 that is pivotally pinned to the proximal coupling tab portion 9970. Similarly, the distal end 9921 of the second pivot bar 9920 is pivotally pinned to a second pivot link 9974, which is pivotally pinned to the proximal coupling tab portion 9970 of the intermediate support member 9950. Figure 92 illustrates the pivot of surgical end actuator 9300 in the direction represented by arrow 9980. As can be seen in this figure, the first threaded drive shaft 9916 of the first articulation motor is rotated in a first direction of rotation to drive the first articulation bar 9910 in the direction distal. Furthermore, the second threaded drive shaft 9926 of the second linkage motor 9922 is rotated in a second direction of rotation to drive the second linkage bar 9920 in the proximal direction. The first and second linkage motors 9912, 9922 are operated by a computer-controlled system and, as can be seen in Figure 92, the distance that the first linkage bar 9910 moves in the distal direction is not equal to the distance that the second pivot bar 9920 moves in the proximal direction.

[00414] Figure 93 illustrates the articulation of the surgical end actuator 9300 in the direction represented by the arrow 9982. As can be seen in this figure, the second threaded drive shaft 9926 of the second articulation motor 9922 is rotated in a first direction of rotation to actuate the second pivot bar 9920 in the distal direction. Furthermore, the first threaded drive shaft 9916 of the first linkage motor 9912 is rotated in a second direction of rotation to drive the first linkage bar 9910 in the proximal direction. The first and second linkage motors 9912, 9922 are operated by a computer-controlled system and, as can be seen in Figure 92, the distance that the second linkage bar 9920 moves in the distal direction is not equal to the distance that the first pivot bar 9910 moves in the proximal direction. In alternative arrangements, only one articulation motor may be employed to articulate the end actuator. In such arrangements, for example, the second link may be proximally coupled to the first link by means of a rack and pinion arrangement similar to the rack and pinion arrangements disclosed in detail herein.

[00415] Figures 94 and 95 illustrate surgical staple cartridges 9304 and 9304', each of which includes a light element 9305 for illuminating the distal end of the surgical end actuator on which it is supported. Each of the staple cartridges 9304, 9304' may have conductors (not shown) that are disposed at the bottom of the cartridge or on the sides of the cartridge, which are configured for electrical contact with corresponding conductors in the elongated channel that communicate with a source of electrical energy located in the instrument cable or compartment. In this way, when the cartridges 9304, 9304' are properly seated in the elongated channel of the surgical end actuator, the light 9305 therein can receive energy from the electrical power source in the cable or housing through the corresponding conductors.

[00416] Figures 96 to 105 illustrate portions of another surgical instrument 10010 that includes a surgical end actuator 10300 that operationally interfaces with an elongated drive shaft assembly 10200 that employs many of the features of the various drive shaft assemblies herein. described. The surgical end actuator 10300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 10300 is adapted for cutting and stapling tissue, and includes a first claw in the form of an elongated channel 10302 that is configured to operatively support within it a surgical staple cartridge 10304. See Figures 96 and 97. The illustrated surgical end actuator 10300 further includes a second claw in the form of an anvil 10310 that is supported on the elongated channel 10302 for movement relative thereto. See Figure 96. Anvil 10310 may be movably actuated by one of the closure drive systems described herein. For example, a first closure drive system may be employed to actuate a closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end actuator closure sleeve 272 which is pivotally attached to the closure sleeve 260 by a double-hinged closure sleeve assembly 271 in any of the manners described above. As described above, for example, the axial movement of the closing sleeve 260 can be controlled by actuating a closing trigger. As the end actuator closing sleeve 272 is advanced in the distal D-D direction, the anvil 10310 is closed by the cam. In at least one arrangement, a spring (not shown) may be employed to rotate the anvil 10310 to an open position when the end actuator closing sleeve 272 is retracted back to a home position.

[00417] As can be seen in Figures 96 to 105, the surgical end actuator 10300 can be pivoted relative to the elongated drive shaft assembly 10200 about a hinged joint 10270. In the illustrated example, the drive shaft assembly elongate 10200 includes a pivot link arrangement designated as 10800 that employs a pivot lock 10810 that is similar to the pivot locks 350 and 810 described above. See Figure 97. Components of linkage lock 10810 that differ from components of linkage lock 810 and/or linkage lock 350, for example, and that may be necessary to understand the operation of linkage lock 10810 will be discussed below in more detail. As noted above, additional details relating to the 350 joint lock can be found in U.S. Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now U.S. Patent Application Publication No. 2014/ 0263541, the description of which is incorporated herein by reference in its entirety. The pivot lock 10810 can be configured and operated to selectively lock the surgical end actuator 10300 in various pivot positions. This arrangement allows the surgical end actuator 10300 to be rotated, or pivoted, relative to the drive shaft closing sleeve 260, when the pivot lock 10810 is in its unlocked state.

[00418] Specifically with reference to Figures 96 and 97, the elongated drive shaft assembly 10200 includes a central column 210 that is configured to, first, slideably support a firing member 220 therein and, second, Instead, it slidingly supports the closing sleeve 260 that extends around the central column 210. The central column 210 also slidingly supports a proximal hinge driver 230. The proximal hinge driver 230 has a distal end 231 that is configured to operatively engage the pivot lock 10810. The pivot lock 10810 further comprises a drive shaft structure 10812 that is secured to the center column 210 in the various ways disclosed herein. As shown in Figure 97, the drive shaft structure 10812 is configured to movably support therein a proximal portion 10821 of a distal hinge driver 10820. The distal hinge driver 10820 is movably supported within the assembly. of elongated drive shaft 10200 for longitudinal selective displacement in a distal direction DD and a proximal direction PD in response to joint control movements applied thereto.

[00419] A feature that many clinicians may be concerned about when performing a surgical procedure is the useful length of the pivotable end actuator from its pivot point. This dimension impacts the amount of access the end actuator can gain into the confined space inside the patient. The 10010 Surgical Instrument can be configured to solve this problem. In the illustrated arrangement, for example, the drive shaft structure 10812 includes a distal end portion 10814 that has a pivot pin 10818 formed thereon. Pivot pin 10818 is adapted to be pivotally received within a slot 10395 formed in an end actuator mounting assembly 10390, which is secured to the proximal end 10303 of the elongated channel 10302 by means of a spring pin 10393 or another suitable member. Pivot pin 10818 defines a pivot B-B axis that is transverse to the SA-SA axis of the drive shaft. This arrangement facilitates pivoting (i.e., pivoting) displacement of the end actuator 10300 about the B-B hinge axis relative to the drive shaft structure 10812, as well as the axial or translational displacement of the elongated channel 10302 relative to a reference point on the structure of the drive shaft 10812, for example, the pivot axis B-B. As can be seen in Figures 99 and 100, the linkage system 10800 additionally includes a linkage drive gear 10840 that is rotatably supported on a drive shaft 10842 that is formed on or otherwise secured to the frame. drive shaft 10812. As can further be seen in Figures 99 and 100, the end actuator mounting assembly 10390 has a linkage gear profile 10396 formed therein, which is configured for mesh engagement with the linkage drive gear. 10840. As can be seen more particularly in Figures 97 and 101 to 103, a drive pin 10844 projects from the linkage drive gear 10840. The drive pin 10844 is received within a slot 10822 in the linkage driver. distal 10820. In this way, movement of the distal linkage drive 10820 in the proximal PD direction (in the various ways discussed in the present invention) will cause the linkage drive gear 10840 to rotate counterclockwise (arrow CCW in Figure 103). which in turn will pivot the surgical end actuator 10300 in the direction represented by arrow 10848. Likewise, movement of the distal pivot actuator 10820 in the distal DD direction will cause the pivot drive gear 10840 to rotate in the direction clockwise (arrow CW in Figure 102), which will pivot the surgical end actuator 10300 in the direction represented by arrow 10849.

[00420] Still referring to Figures 99 to 105, in at least one arrangement the articulation gear profile 10396 has an elliptical shape. The elliptical configuration of the pivot gear profile 10396, in connection with the slot 10395, allows the end actuator 10300 to translate (or move axially) as it is being rotated or pivoted. The eccentricity of the elliptical linkage gear profile 10396 allows the "center-to-center" distance between the linkage drive gear 10840 and the gear profile 10396 to be reduced and then converts this reduction into translation of the end actuator 10300 Figures 101 and 103 illustrate the surgical end actuator 10300 in a non-hinged position. Put another way, the geometric axis EA of the end actuator, which is defined by the elongated channel 10302, is aligned with the geometric axis SA-SA of the drive shaft. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. When in this non-hinged position, the elongated channel 10302 occupies a certain amount of space (i.e., what may be called "projection area"). Stated otherwise, a distal end 10309 of the elongated channel 10302 is situated at a first distance D1 (which may also be referred to herein as a "non-hinged distance") from the pivot axis B-B, which is defined by pin 10818. See Figure 104. When the surgical end actuator 10300 is pivoted, the elongated channel 10302 translates proximally (arrow TL in Figures 102 and 103) with respect to the drive shaft structure 10812 and, more particularly, with respect to the B-B axis of articulation, such that the distance D2 between the distal end 10309 of the elongated channel 10302 and the articulation axis B-B (which may also be called herein a "hinged distance") is less than the distance D1. See Figure 105. This reduced overall length of the 10300 Surgical End Actuator allows for greater access when the 10300 End Actuator is in a hinged position, and maintains the same usable length when straight. Put another way, as the end actuator is articulated, the distance between the first clamps on the end actuator and the pivot axis will decrease to thereby reduce the projection area of the end actuator while in a hinged configuration.

[00421] The surgical end actuator 10300 of the embodiment illustrated in Figures 96 to 105 comprises a surgical cutting and stapling device that employs a trigger bar 220 among the various types and configurations described herein. However, the surgical end actuator 10300 of this embodiment may comprise other forms of surgical end actuators that do not cut and/or staple tissue. In the illustrated arrangement, an intermediate support member 10950 is pivotably and slidably supported relative to the drive shaft frame 10812. As can be seen in Figure 98, the intermediate support member 10950 includes a slot 10952 that is adapted to receive therein a pin 10954 that projects from, or is attached to, or is formed in the central column 210. This arrangement allows the intermediate support member 10950 to rotate and translate relative to the pin 10954, when the end actuator surgical 10300 is articulated. The intermediate support member 10950 further includes a slot 10960 for receiving a firing bar 220 therethrough. The intermediate support member 10950 serves to provide lateral support to the firing bar 220 as it flexes to accommodate the surgical end actuator pivot 10300.

[00422] Figures 106 to 108 illustrate portions of another surgical instrument 11010 that includes a surgical end actuator 11300 that operationally interfaces with an elongated drive shaft assembly 11200 that can employ many of the features of the various drive shaft assemblies. described here. The surgical end actuator 11300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 11300 includes an elongated channel 11302 that can be adapted to support within it a cartridge of surgical staples, for example. The elongated drive shaft assembly 11200 may comprise a central column 11210 that is pivotally coupled to the elongated channel 11302 by a pivot joint 11270. In the illustrated arrangement, the elongated channel 11302 of the surgical end actuator 11300 is coupled to the central column 11210 by a pivot pin 11818 that is movably received in an elongated pivot slot 11395 formed in the elongated channel 11302 or in an end actuator mounting assembly (not shown). The pin and slot arrangement facilitates pivoting and translational displacement of the elongated channel 11302 relative to the center column 11210 of the elongated drive shaft assembly 11200. Pivot pin 11818 defines a pivot B-B axis extending through the center of the pin 11818 and would leave the page in Figures 106 to 108, so that it is transverse to the SA-SA axis of the drive shaft. The center column 11210 may otherwise be similar to the center column 210 described above and support a firing element and closing sleeve arrangements as described in the present invention, which are not specifically illustrated in Figures 106 to 108 for the purpose of clarity.

[00423] In the illustrated example, the elongated drive shaft assembly 11200 includes a linkage system designated as 11800 that may include a linkage lock that is similar to the linkage locks 350, 810 and/or 10810 described above, and which may be acted upon in any of the various ways described here. The articulation system 11800 includes a distal articulation actuator 11820 that may comprise a portion of the articulation lock (not shown) or may otherwise simply interface with a articulation control system that is constructed to selectively move the actuator. linkage system 11820 in the distal and proximal directions in order to pivot the surgical end actuator 11300. The linkage system 11800 further includes a central linkage link 11900 that is pivotally seated over the linkage pin 11818 for rotation around of the geometric axis B-B of articulation. In the illustrated arrangement, the central pivot link 11900 has a triangular shape that defines three end portions 11902, 11904 and 11906. The pivot system 11800 in the illustrated embodiment further includes a drive link 11910 that is pivotally coupled to one end of the distal pivot link driver 11820 as well as the end 11902 of the center pivot link 11900. As will be discussed in more detail below, movement of the distal pivot driver 11820 in the proximal and distal directions will cause the center pivot link 11900 to rotate or revolve around the geometric axis B-B of articulation.

[00424] The linkage system 11800 further includes an end actuator drive link 11920, which has a first end 11922 that is pivotally coupled to the elongated channel 11302. A second end 11924 of the end actuator drive link 11920 is coupled pivotably to the end 11904 of the center pivot link 11900. The point at which the drive link 11910 is attached to the center pivot link 11900 and the point at which the second end 11924 of the end actuator drive link 11920 is attached to the link pivot points 11900 may lie along a common OAS axis, but this axis is offset relative to the B-B pivot axis. See Figure 106. The second end 11924 of the end actuator drive link 11920 has a gear profile 11926 thereon that is configured for meshed engagement with a center pivot gear 11930 that is pivotally seated on the pivot pin 11818. When the distal pivot gear 11820 is moved in the distal DD direction, the center pivot link 11900 moves the second end 11924 of the end actuator drive link 11920 in a CW clockwise direction, while maintaining in mesh engagement with the center pivot gear. 11930. Movement of the pivot drive link 11920 clockwise also moves the surgical end actuator 11300 clockwise about the pivot axis B-B, relative to the elongated drive shaft assembly 11200. See Figure 107. From Similarly, movement of the distal linkage driver 11820 in the proximal direction will move the central linkage link 11900 in the CCW counterclockwise direction. This movement of the center pivot link 11900 also causes the second end 11924 to move counterclockwise CCW while remaining in mesh engagement with the center pivot gear 11930. Movement of the pivot drive link 11920 counterclockwise clockwise causes the surgical end actuator 11300 to rotate about the pivot B-B axis counterclockwise relative to the elongated drive shaft assembly 11200. See Figure 108.

[00425] Figure 106 illustrates the surgical end actuator 11300 in a non-articulated position relative to the elongated drive shaft assembly 11200. When in that non-articulated position, the geometric axis EA of the elongated channel end actuator 11302 is essentially aligned to the SA-SA geometric axis of the drive shaft. In other words, the geometric axis EA of the end actuator defined by the elongated channel 10302 is aligned with the geometric axis SA-SA of the drive shaft. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. Figure 107 illustrates the position of the surgical end actuator 11300 after it has been moved clockwise to a fully hinged position relative to the elongated drive shaft assembly 11200, with an angle 11950 between the end actuator axis EA and the SA-SA axis of the drive shaft is approximately ninety degrees (90°). Figure 108 illustrates the position of the surgical end actuator 11300 after it has been moved counterclockwise to a fully hinged position relative to the elongated drive shaft assembly 11200, with an angle 11950 between the actuator axis EA end point and the SA-SA axis of the drive shaft is approximately ninety degrees (90°). As can also be seen in Figures 107 and 108, the distal end 11201 of the elongated drive shaft assembly 11200 is notched on both sides of the SA axis of the drive shaft to allow the elongated channel 11302 to translate in an approximate direction. 107 and 108), to effectively shorten the distance between the distal end of the elongated channel 11302 and the pivot B-B axis. This arrangement can represent a great improvement over previous articulated joint arrangements, which cannot produce articulation of the end actuator to positions that are ninety degrees (90°) relative to the geometric axis of the drive shaft (through a 180 degree trajectory that is transverse to the axis of the drive shaft. This embodiment also effectively reduces the projection area of the end actuator when articulated, allowing the end actuator to translate toward the axis of the drive shaft while being articulated.

[00426] With reference to Figure 106, it can be seen that the drive link 11910 is coupled to the first end of the central pivot link 11900 at a location situated on one side of the geometric axis of the drive shaft, and the second end 11924 of the end actuator drive link 11920 is attached to the end 11904 of the center pivot link 11900 at a location that is on the opposite side of the axis of the drive shaft when the end actuator 11300 is in the non-hinged position. The center pivot gear arrangement serves to minimize recoil and to transmit these forces to the pivot pin 11818, which can increase the overall strength of the pivot joint as compared to other similarly sized pivot joint arrangements. The ability to pivot the surgical end actuator relative to the drive shaft to which it is attached at relatively high angles is often desirable when performing various surgical procedures where transections need to occur in a constricted space and access to target soft tissue may be difficult, such as in the chest cavity or pelvic basin. Front end actuators suffer from the inability to articulate at angles that are greater than forty-five degrees (45°) relative to the geometric axis of the drive shaft. The modality described above can overcome these shortcomings.

[00427] Figures 109 to 111 illustrate portions of another surgical instrument 12010 that includes a surgical end actuator 12300 that operationally interfaces with an elongated drive shaft assembly 12200 that can employ many of the features of the various drive shaft assemblies. described here. The surgical end actuator 12300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 12300 includes an elongated channel 12302 that can be adapted to support within it a cartridge of surgical staples, for example. The elongated drive shaft assembly 12200 may comprise a central column 12210 that is pivotally coupled to the elongated channel 12302 by a hinged joint 12270. In the illustrated arrangement, the elongated channel 12302 of the surgical end actuator 12300 is configured to extend toward within a distal end portion 12213 of the central column 12210, and is operatively coupled thereto by a linkage system 12800.

[00428] In the illustrated example, the hinge system 12800 includes a distal hinge driver 12820 that is pivotally coupled to the central column 12210 and the elongated channel 12302. As can be seen in Figure 109, the distal hinge driver 12820 is configured to extend movably on a first side of the SA-SA axis of the drive shaft. Furthermore, the articulation system 12800 additionally includes a second articulation link 12900 that is attached to the central column 12210 on a second side of the axis SA of the drive shaft. When the distal pivot driver 12820 is moved in the distal direction DD, the elongated channel 12302 is moved in the CW clockwise direction. During this articulation, the proximal end 12303 of the elongated channel 12302 translates in the direction represented by the arrow DT, in order to reduce the projection area of the end actuator. See Figure 110. Similarly, when the distal pivot driver 12820 is moved in the proximal PD direction, the elongated channel 12302 is rotated counterclockwise CCW. During this articulation, the proximal end of the elongated channel 12302 translates in the direction represented by arrow DT in order to reduce the projection area of the end actuator during articulation.

[00429] Figure 109 illustrates the surgical end actuator 12300 in a non-articulated position relative to the elongated drive shaft assembly 12200. When in that non-articulated position, the geometric axis EA of the elongated channel end actuator 12302 is essentially aligned to the SA-SA geometric axis of the drive shaft. In other words, the geometric axis EA of the end actuator defined by the elongated channel 10302 is aligned with the geometric axis SA-SA of the drive shaft. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. Figure 110 illustrates the position of the surgical end actuator 12300, after it has been moved clockwise CW to a fully hinged position relative to the elongated drive shaft assembly 12200. Figure 111 illustrates the position of the surgical end actuator 12300. after being moved counterclockwise to a fully pivoted position relative to the 12200 elongated drive shaft assembly.

[00430] The ability to pivot the surgical end actuator relative to the drive shaft to which it is attached at relatively high angles is often desirable when performing various surgical procedures where transections need to occur in a constricted space and access to the Target soft tissue may be difficult, such as in the thoracic cavity or pelvic pelvis. In earlier end actuators, however, the larger hinge angles typically result in a greater moment around the hinge system, which can more easily flex or break the mechanism. The embodiment depicted in Figures 112 to 114 includes features that can resolve those deficiencies of previous articulating end actuators. Figures 112 to 114 illustrate portions of another surgical instrument 13010 that includes a surgical end actuator 13300 that operationally interfaces with an elongated drive shaft assembly 13200 that can employ many of the features of the various drive shaft assemblies described herein. The 13200 Elongated Drive Shaft Assembly defines an SA-SA axis of the drive shaft. Furthermore, the surgical end actuator 13300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 13300 includes an elongated channel 13302 that can be adapted to support within it a cartridge of surgical staples, for example. The elongated channel 13302 defines a geometric axis EA of the end actuator. The elongated drive shaft assembly 13200 may comprise a central column 13210 that is pivotally coupled to the elongated channel 13302 by a pivot joint 13270. In the illustrated arrangement, the elongated channel 13302 of the surgical end actuator 13300 is coupled to the central column 13210 by a pivot pin 13818 that defines a pivot axis B-B that is transverse to the SA-SA axis of the drive shaft. In Figures 112 to 114, the pivot axis B-B may coincide with the central axis of pivot pin 13818, for example, and would essentially project out of the page in each of those Figures. The center column 13210 may otherwise be similar to the center column 210 described above and support a firing element and closure sleeve arrangements as described in the present invention, which are not specifically illustrated in Figures 112 to 114 for the purpose of clarity.

[00431] In the illustrated example, the elongated drive shaft assembly 13200 includes a linkage system designated as 13800 that may include a linkage lock that is similar to the linkage locks 350, 810 and/or 10810 described above, and which may be acted upon in any of the various ways described here. The articulation system 13800 includes a distal articulation actuator 13820 that may comprise a portion of a articulation lock (not shown) or may otherwise simply interface with a articulation control system that is constructed to selectively move the distal hinge actuator 13820 in distal and proximal directions to articulate the surgical end actuator 13300 about the hinge axis B-B. The pivot system 13800 further includes a central pivot link 13900 that is pivotally seated upon the pivot pin 13818 for rotation about the pivot B-B axis relative to a distal end of the elongated drive shaft assembly 13200 In the illustrated arrangement, the central pivot link 13900 is triangular in shape and defines three end portions 13902, 13904 and 13906. The pivot system 13800 in the illustrated embodiment further includes an intermediate drive link 13910 that is pivotally coupled to a end of the distal pivot driver 13820 as well as the end 13902 of the central pivot link 13900. As will be discussed in more detail below, movement of the distal pivot driver 13820 in the proximal and distal directions will cause the central pivot link 13900 to rotate around the B-B axis of articulation.

[00432] The articulation system 13800 further includes an end actuator drive link 13920 that has a first end, or distal end, of the drive link 13922 having a slot 13923 therein. An end actuator attachment member or pin 13960 is attached to the end actuator 13300 and is received in the slot 13923. This arrangement facilitates pivoting and translatable or axial displacement (represented by the arrow AT) of the pin 13960 within the slot 13923. A second end, or proximal end, of the drive link 13924 of the end actuator drive link 13920 is pivotally coupled to the end 13904 of the center pivot link 13900. The point at which the intermediate drive link 13910 is attached to the pivot link center 13900 and the point at which the second end 13924 of the end actuator drive link 13920 is attached to the center pivot link 13900 may lie along a common OAS axis, but this axis is offset relative to the B-B pivot axis . See Figure 112. The second end 13924 of the end actuator drive link 13920 has a gear profile 13926 thereon that is configured for meshed engagement with a gear profile 13930 formed on or otherwise secured to the center column 13210 When the distal hinge actuator 13820 is moved in the PD proximal direction, the central hinge link 13900 causes the end actuator 13300 to move counterclockwise CCW about the pivot axis BB relative to the distal end. of the elongated drive shaft assembly 13200. During this movement, the second end 11924 of the end actuator drive link 13920 remains in meshed engagement with the gear profile 13930. Depending on the amount of proximal displacement of the distal pivot actuator 13820, the Surgical end actuator 13300 can be rotated to the pivot position shown in Figure 113, with the EA axis of the end actuator being perpendicular to the SA-SA axis of the drive shaft (represented by angle 13950 in Figure 113). Similarly, movement of the distal pivot actuator 11820 in the distal direction DD will cause the end actuator 13300 to move in a CW clockwise direction about the pivot axis B-B relative to the distal end of the drive shaft assembly. elongated 13200. During this movement, the second end 11924 of the end actuator drive link 13920 remains in meshed engagement with the gear profile 13930. Depending on the amount of distal displacement of the distal pivot actuator 13820, the surgical end actuator 13300 may be rotated to the pivot position shown in Figure 114, with the geometric axis EA of the end actuator being perpendicular to the geometric axis SA-SA of the drive shaft (represented by angle 13952 in Figure 114).

[00433] As can be seen in Figure 112, when in a non-hinged position, the geometric axis EA of the end actuator is in axial alignment with the geometric axis SA of the drive shaft. Furthermore, as can be further seen in Figures 112 to 114, each of the distal pivot actuator 13820, as well as the intermediate actuator 13910, is supported for selective longitudinal displacement along a lateral side of the SA axis of the axis. drive, and the end actuator fixing pin 13960 is situated on a secondary lateral side of the end actuator axis EA that corresponds to a second lateral side of the drive shaft SA axis. Alternative embodiments may use other means to apply a pivot control movement to the central pivot link 13900. For example, a cable arrangement may be directly attached to the central pivot link in place of the distal pivot driver 13820 and 13910. In this arrangement , the central pivot link would be rotated when a corresponding pivot system, located on the handle or in the instrument housing, tensions or pulls the wire. In still other alternative embodiments, the distal pivot driver 13820 is coupled directly to the central pivot link 13900. In this arrangement, for example, the central pivot link 13900 may include a slot rather than a pin in this connection to allow rotation. of the geometric axis B-B of articulation. In yet another embodiment, slot 13923 in end actuator drive link 13920 may be replaced with a pin connection. To achieve articulation of the surgical end actuator 13300 around the pivot axis B-B, the gear profile 13926 on the drive link of the end actuator 13920 is cam-shaped so as to maintain the engagement in mesh with the gear profile 13390 formed on or otherwise attached to the central column 13210.

[00434] The embodiment of Figures 112 to 114 is more robust than the previous arrangements, and provides a greater range of articulation, compared to joint arrangements that cannot accommodate end actuator articulation for positions that are at ninety degrees ( 90°) in relation to the geometric axis of the drive shaft (through a 180 degree path that is transverse to the geometric axis of the drive shaft). This embodiment can also effectively reduce the projection area of the end actuator when articulated, allowing the end actuator to translate toward the geometric axis of the drive shaft while being articulated. This greater range of articulation can also be achieved with articulation driver stroke lengths that are generally less than the stroke lengths that are normally required to articulate the previous articulated joint arrangements. The triangular shaped center pivot link can also provide several advantages. The triangular (three-point) center pivot link connects the distal pivot driver (via the middle drive link), the pivot pin, and the end actuator drive link to each other. This triangular-shaped center link can provide improved resistance to forces that could otherwise cause the end actuator to disarticulate undesirably. This triangular link arrangement can also provide greater resistance to the bending forces that may be encountered by the linkage driver rod. Additionally, this arrangement can also experience reduced recoil due to the direct connection of the center pivot link to the center column portion of the elongated drive shaft assembly. In the arrangement described above, a planetary gear rotates around a stationary gear situated at the distal end of the elongated drive shaft. A slotted actuator arm extends outward from the planetary gear and creates a moment that pivots the end actuator at greater angles with shorter pivot actuator stroke length. The slot allows a second center of rotation for the end actuator. The triangular center pivot link also reduces the load from warping or the system's pivot and recoil mechanism. A larger planetary gear results in more mechanical advantage but less articulation, and vice versa for a smaller planetary gear.

[00435] The ability to pivot the surgical end actuator relative to the drive shaft to which it is attached at relatively high angles is often desirable when performing various surgical procedures where transections need to occur in a constricted space and access to the Target soft tissue may be difficult, such as in the thoracic cavity or pelvic pelvis. Commercially available endoscopic surgical instruments (endocutters) are typically unable to articulate beyond forty-five degree (45°) angles relative to the elongated drive shaft. Figures 115 to 117 depict portions of another surgical instrument 14010 that can be pivoted at ninety degrees (90°) to either side of the elongated drive shaft and provide a greater mechanical advantage than can be obtained with many of the commercially available endocutter. As can be seen in those Figures, the surgical instrument 14010 includes a surgical end actuator 14300 that operationally interfaces with an elongated drive shaft assembly 14200 that can employ many of the features of the various drive shaft assemblies described herein. The 14200 Elongated Drive Shaft Assembly defines a drive shaft axis SA-S. Furthermore, the surgical end actuator 14300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 14300 includes an elongated channel 14302 that can be adapted to support a surgical staple cartridge therein. The elongated channel 14302 defines a geometric axis EA of the end actuator. The elongated drive shaft assembly 14200 may comprise a central column 14210 that is pivotally coupled to the elongated channel 14302 by a pivot joint 14270. In the illustrated arrangement, the elongated channel 14302 of the surgical end actuator 14300 is coupled to the central column 14210 by a pivot pin 14818 that defines a pivot axis B-B that is transverse to the SA-SA axis of the drive shaft. In Figures 115 to 117, the pivot axis B-B may coincide with the central axis of pivot pin 14818, for example, and would essentially project out of the page in each of those Figures. The center column 14210 may otherwise be similar to the center column 210 described above and support a firing element and closure sleeve arrangements as described in the present invention, which are not specifically illustrated in Figures 115 to 117 for the purpose of clarity.

[00436] In the illustrated example, the elongated drive shaft assembly 14200 includes a linkage system designated as 14800 that may include a linkage lock that is similar to the linkage locks 350, 810 and/or 10810 described above, and which may be acted upon in any of the various ways described here. The articulation system 14800 includes a distal articulation actuator 14820 that may comprise a portion of a articulation lock (not shown) or may otherwise simply interface with a articulation control system that is constructed to selectively move the distal hinge actuator 14820 in distal and proximal directions to articulate the surgical end actuator 14300 about the hinge axis B-B. The linkage system 14800 additionally includes a center link 14900 that is pivotally secured to the center column 14210 by a link pin 14902. In the illustrated arrangement, the link pin 14901 defines a geometric axis of the link LA about which the link central 14900 can pivot, and it is displaced from the B-B axis of articulation. In Figures 115 to 117, the axis of link LA may coincide with the central axis of link pin 14901, for example, and could essentially project out of the page in each of those Figures, and be parallel and offset in relation to the geometric axis B-B of articulation. As can further be seen in those Figures, in the illustrated arrangement, the central pivot link 14900 is pivotally coupled to the central column 14210 in an asymmetrical configuration. More specifically, a first distance between a first end 14902 of the central pivot link 14900 and the geometric axis of the LA link is less than a second distance between a second end 14904 of the central pivot link 14900 and the geometric axis of the LA link.

[00437] The articulation system 14800 in the illustrated embodiment additionally includes an intermediate drive link 14910 that is pivotally coupled to one end of the distal articulation driver 14820, as well as to the first end 14902 of the central articulation link 14900. Joint 14800 also includes an end actuator drive link 14920, which has a first end, or distal end, of the drive link 14922 that is pivotably or movably coupled to the elongated channel 14302. A second end, or proximal end, of the link actuator 14924 of the end actuator drive link 14920 is pivotally coupled to a second end 14904 of the central pivot link 14900. In the illustrated arrangement, the intermediate link 14910 is the shortest of the three links 14910, 14900 and 14920 and, in at least one arrangement has a slightly arched shape. The drive link of the end actuator 14920 is the longest of the three links 14910, 14900 and 14920 and, in at least one arrangement, also has a slightly arched shape. When the distal pivot actuator 14820 is moved in the distal direction DD, the center pivot link 14900 causes the end actuator drive link 14920 to pull the end actuator 14300 clockwise CW about the pivot axis B-B. relative to the distal end of the elongated drive shaft assembly 14200. See Figure 116. Depending on the amount of proximal displacement of the distal pivot driver 14820, the surgical end actuator 14300 can be rotated to the pivot position shown in Figure 116, where the geometric axis EA of the end actuator is perpendicular to the geometric axis SA-SA of the drive shaft (represented by angle 14950 in Figure 116). Similarly, movement of the distal hinge actuator 14820 in the proximal PD direction will cause the end actuator drive link 14920 to push the end actuator 14300 in a CCW counterclockwise direction about the hinge axis B-B, in relative to the distal end of the elongated drive shaft assembly 14200. See Figure 117. Depending on the amount of distal displacement of the distal pivot driver 14820, the surgical end actuator 14300 can be rotated to the pivot position shown in Figure 117, where the geometric axis EA of the end actuator is perpendicular to the geometric axis SA-SA of the drive shaft (represented by angle 14952 in Figure 117).

[00438] As can be seen in Figure 115, when in a non-hinged position, the geometric axis EA of the end actuator is in axial alignment with the geometric axis SA-SA of the drive shaft. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. The embodiment of Figures 115 to 117 is more robust than the previous arrangements, and provides a greater range of articulation, compared to joint arrangements that may not allow articulation of the end actuator to positions that are ninety degrees (90°) apart. relative to the geometric axis of the drive shaft (through a 180 degree path that is transverse to the geometric axis of the drive shaft). This embodiment can also effectively reduce the projection area of the end actuator 14300 when articulated, allowing the end actuator 14300 to translate toward the SA-SA axis of the drive shaft while being articulated. This greater range of articulation can also be achieved while providing greater resistance to bending forces. The second attachment point (link pin 14901) to the center column 14210 of the elongated drive shaft assembly 14200 can reduce the amount of recoil experienced by the articulated joint 14270. The articulated joint arrangement of Figures 115 to 117 can also provide a high amount of mechanical advantage relative to the amount of force required to pivot the end actuator 14300. Additionally, a high amount of mechanical advantage can be obtained during disarticulation when the asymmetric center link 14900 is rotated one hundred and eighty degrees (180° ). The drive link of the end actuator 14920 translates back and forth to pivot the end actuator 14300 about the pivot axis B-B. The proximal end 14912 of the smaller link (intermediate link 14910) translates back and forth with the distal pivot driver 14820 as the distal end 14914 of the small link (intermediate link 14910) rotates about its proximal end (point attachment to the distal articulation driver). As the distal end 14914 of the small link 14910 rotates, a leverage effect is created in the central (anchored) link 14900, which produces a mechanical advantage of articulation force while reducing the recoil experienced by the articulation system. The center (anchored) link 14900 rotates around its clamped position (pin 14901) to push/pull the longer link (end actuator drive 14920). The longer link 14920 then rotates to pivot the end actuator 14300.

[00439] As indicated above, the ability to pivot the surgical end actuator relative to the drive shaft to which it is attached at relatively high angles is often desirable when performing various surgical procedures where transections must occur in a constricted space. and access to the target soft tissue may be difficult, such as in the thoracic cavity or pelvic basin. Commercially available endocutters are typically unable to articulate beyond forty-five degree (45°) angles relative to the elongated drive shaft. Figures 118 and 119 depict portions of another surgical instrument 15010 that can be pivoted ninety degrees (90°) to one side of the elongated drive shaft and provide a mechanical advantage greater than that obtainable with many of the typical endocutter arrangements. commercially available. As can be seen in those Figures, the surgical instrument 15010 includes a surgical end actuator 15300 that operationally interfaces with an elongated drive shaft assembly 15200 that can employ many of the features of the various drive shaft assemblies described herein. The 15200 Elongated Drive Shaft Assembly defines an SA-SA axis of the drive shaft. Furthermore, the surgical end actuator 15300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 15300 includes an elongated channel 15302 that can be adapted to support a surgical staple cartridge therein. In other end actuator embodiments that are not specifically constructed for cutting and stapling fabric, member 15302 may comprise a claw or other portion of the end actuator. The elongated channel 15302 defines a geometric axis EA of the end actuator. The elongated drive shaft assembly 15200 may comprise a central column 15210 that is pivotally coupled to the elongated channel 15302 by a pivot joint 15270. In the illustrated arrangement, the elongated channel 15302 of the surgical end actuator 15300 is coupled to the central column 15210 by a pivot pin 15818 that defines a pivot B-B axis that is transverse to the SA-SA axis of the drive shaft. In Figures 118 and 119, the pivot axis B-B may coincide with the central axis of pivot pin 15818, for example, and would essentially project out of the page in each of those Figures. As can also be seen in those Figures, in the illustrated arrangement, the articulation axis B-B is displaced to a lateral side of the SA-SA axis of the drive shaft. In other words, the B-B pivot axis does not intersect the SA-SA axis of the drive shaft, or the EA axis of the end actuator. The center column 15210 may otherwise be similar to the center column 210 described above and support a firing element and closing sleeve arrangements as described in the present invention, which are not specifically illustrated in Figures 118 to 119 for the purpose of clarity.

[00440] In the illustrated example, the elongated drive shaft assembly 15200 includes a linkage system designated as 15800 that may include a linkage lock that is similar to the linkage locks 350, 810 and/or 10810 described above, and which may be acted upon in any of the various ways described here. The articulation system 15800 includes a distal articulation actuator 15820 that may comprise a portion of a articulation lock (not shown) or may otherwise simply interface with a articulation control system that is constructed to selectively move the distal hinge actuator 15820 in distal and proximal directions to articulate the surgical end actuator 15300 about the hinge axis B-B. The articulation system 15800 additionally includes an end actuator link 15900 that is pivotally attached to the distal end of the distal articulation actuator 15820 as well as to the elongated channel 15302 of the surgical end actuator 15300. In this way, when the actuator of distal joint 15820 is moved in the proximal PD direction, the surgical end actuator 15300 is rotated counterclockwise CCW around the hinge B-B axis.

[00441] As can be seen in Figure 118, when in a non-hinged position, the geometric axis EA of the end actuator is in axial alignment with the geometric axis SA of the drive shaft. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. Advancing the distal hinge actuator 15820 in the proximal PD direction will cause the surgical end actuator 15300 to rotate counterclockwise about the hinge axis B-B. The proximal end 15305 of the elongated channel 15302 and the distal end 15211 of the central column 15210 are angled to allow the surgical end actuator 15300 to rotate to a fully hinged position where, for example, the geometric axis EA of the end actuator is perpendicular to the SA axis of the drive shaft (angle 15952 is ninety degrees (90°)). See Figure 119. In one arrangement, the proximal end 15305 of the surgical end actuator 15300 is oriented with respect to said geometric axis EA of the end actuator at an angle from the end actuator 15307 and the distal end 15211 of the surgical end actuator assembly. elongated drive 15200 is oriented with respect to the SA-SA axis of the drive shaft at a rod angle 15213. In one arrangement, the angle of the end actuator 15307 is equal to the angle of the drive shaft 15213. For example, both the angle of the end actuator 15307 as the angle of the drive shaft 15213 may be approximately forty-five degrees (45°).

[00442] The embodiment of Figures 118 and 119 also includes a flexible disarticulation member 15910 that can be attached to a portion of the surgical instrument that is configured to selectively apply only a pulling movement in the PD proximal direction to the disarticulation member. As can be seen in Figure 119, the disarticulation member 15910 is oriented to flex about the pivot pin 15818 during articulation of the surgical end actuator 15300. In an alternative arrangement, the disarticulation member 15010 is resilient and is secured to the center column 15210 or the other portion of the surgical instrument 15010 at a location that is proximal to the pivot joint 15270 as well as the proximal end 15305 of the elongated channel 15302 or other portion of the surgical end actuator 15300. The flexible disarticulation member may be manufactured from, for example, spring-tempered stainless steel, plastic material, nylon, etc., and may be formed into flat bands or wires so as to help disarticulate the surgical end actuator 15300 from a hinged position back to the not articulated. Once the clinician wishes to return the surgical end actuator 15300 to the non-articulating orientation, the distal hinge actuator 15820 is moved in the distal direction DD, which will begin moving the surgical end actuator clockwise CW and the disarticulation member of 15910 is pulled in the PD proximal direction. Disarticulation member 15910 also serves to assist in pulling the surgical end actuator clockwise CW back to the non-articulated position.

[00443] The embodiment of Figures 118 and 119 may have several advantages over other commercially available articulating surgical instruments. This arrangement, for example, may experience less recoil during articulation due to the minimum number of links. This arrangement also produces an increased articulation angle over previous designs. As indicated above, the surgical end actuator may comprise a surgical stapling arrangement among the various types described herein. These arrangements employ an axially movable firing element, or firing bar or rod, which experiences a certain amount of bending when the end actuator is pivoted. The modality of Figures. 118 and 119 can provide an improved radius of curvature to the firing member due to the non-symmetrical articulation. Put another way, the distal pivot actuator 15820 as well as the end actuator link 15910 are located on one side of the SA-SA axis of the drive shaft, which provides more clearance to achieve more gradual bending of the element. firing during articulation. This offset pivot axis arrangement, which produces articulation in a single pivot direction that is transverse to the geometric axis of the drive shaft, may also be referred to herein as a "non-symmetrical" pivot arrangement, or a system that can facilitate relatively high articulation angles. Also, in this embodiment, the geometric axis B-B of articulation is laterally displaced in relation to the geometric axis of the drive shaft. In this embodiment, the distance between the point of intersection of the axis of the drive shaft and the axis of the end actuator to the distal end of the end actuator is shorter when the device is in a hinged state compared to when it is in an inarticulate state.

[00444] Figures 120 to 122 depict portions of another pivotable surgical instrument 16010, which includes a surgical end actuator 16300 that operationally interfaces with an elongated drive shaft assembly 16200 that can employ many of the features of the various shaft assemblies. drive described here. The 16200 Elongated Drive Shaft Assembly defines an SA-SA axis of the drive shaft. Furthermore, the surgical end actuator 16300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 16300 includes an elongated channel 16302 that can be adapted to support within it a cartridge of surgical staples, for example. In other end actuator embodiments that are not specifically constructed for cutting and stapling fabric, element 16302 may comprise a claw or other portion of the end actuator. The elongated channel 16302 defines a geometric axis EA of the end actuator. The elongated drive shaft assembly 16200 may comprise a central column 16210 that is pivotally coupled to the elongated channel 16302 by a pivot joint 16270. In the illustrated arrangement, the elongated channel 16302 of the surgical end actuator 16300 includes a clamping arm projecting proximally 16309 which is coupled to the central column 16210 by a spring pin 16818 that defines a geometric axis B-B of articulation. The articulation axis B-B is transverse to the SA-SA axis of the drive shaft. In Figures 121 and 122, the pivot axis B-B could coincide with the central axis of spring pin 16818, for example, and would essentially project out of the page in each of those Figures. As can also be seen in those Figures, in the illustrated arrangement, the articulation axis B-B is displaced to a lateral side of the SA-SA axis of the drive shaft. In other words, the B-B pivot axis does not intersect the SA-SA axis of the drive shaft, or the EA axis of the end actuator. The central column 16210 may otherwise be similar to the central column 210 described above and support a firing element and closing sleeve arrangements as described in the present invention, which are not specifically illustrated in Figures 120 to 122 for the purpose of clarity. The spring pin 16818 is configured to apply a biasing force to the clamping arm 16309 to tilt the clamping arm 16309 as well as the surgical end actuator 16300 clockwise CW. In this way, the spring pin 16818 serves to tilt the surgical end actuator 16300 to the non-hinged position shown in Figure 121, with the EA axis of the end actuator and the SA-SA axis of the drive shaft being axially aligned. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft.

[00445] In the illustrated example, the elongated drive shaft assembly 16200 also includes a linkage system designated as 16800 which may include a linkage lock that is similar to the linkage locks 350, 810 and/or 10810 described above, and which can be acted upon in any of the various ways described here. The articulation system 16800 includes a distal articulation actuator 16820 that may comprise a portion of a articulation lock (not shown) or may otherwise simply interface with a articulation control system that is constructed to selectively move the distal hinge actuator 16820 in distal and proximal directions to articulate the surgical end actuator 16300 about the hinge axis B-B. The distal hinge driver 16820 is pinned pivotally to the proximal end 16305 of the elongated channel 16302. As can be seen in Figure 121, the distal hinge driver 16820 is attached to the elongated channel 16302 at a location that is on one side the SA-SA axis of the drive shaft and the EA axis of the end actuator. The pivot axis B-B is situated opposite the geometric axis of the drive shaft relative to the point at which the distal pivot driver is attached to the elongated channel 16302. As can also be seen in Figure 121, in the illustrated arrangement, the The point at which the distal pivot driver 16820 is attached to the elongated channel 16302 is distal to the pivot axis BB. When the distal hinge actuator 15820 is moved in the proximal direction, the surgical end actuator 16300 is rotated counterclockwise CCW about the hinge axis B-B.

[00446] As can be seen in Figure 121, when in a non-hinged position, the geometric axis EA of the end actuator is in axial alignment with the geometric axis SA of the drive shaft. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. Advancing the distal hinge actuator 16820 in the proximal PD direction will cause the surgical end actuator 16300 to rotate counterclockwise about the hinge axis B-B. Once the clinician wishes to return the surgical end actuator 16300 to the non-hinge orientation, the distal hinge actuator 16820 is moved in the distal direction DD, which will begin moving the surgical end actuator 16300 in a CW clockwise direction. Spring pin 16818 also serves to help pull surgical end actuator 16300 clockwise back to the non-hinged position.

[00447] Figures 123 to 128 illustrate portions of another surgical instrument 17010 that includes a surgical end actuator 17300 that operationally interfaces with an elongated drive shaft assembly 17200 that employs many of the features of the various drive shaft assemblies herein. described. The surgical end actuator 17300 may essentially comprise any of the various end actuators described herein, or may comprise other forms of surgical end actuators that are configured to perform other surgical actions/procedures. In the illustrated arrangement, for example, the surgical end actuator 17300 is adapted for cutting and stapling tissue, and includes a first claw in the form of an elongated channel 17302 that is configured to operatively support within it a surgical staple cartridge 17304. See Figures 123 and 124. The illustrated surgical end actuator 17300 further includes a second claw in the form of an anvil 17310 that is supported on the elongated channel 17302 for movement relative thereto. See Figure 123. Anvil 17310 may be movably actuated by one of the closure systems described herein. For example, a first closure drive system may be employed to actuate a closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end actuator closure sleeve 272 which is pivotally attached to the closure sleeve 260 by a double-hinged closure sleeve assembly 271 in any of the manners described above. As described above, for example, the axial movement of the closing sleeve 260 can be controlled by actuating a closing trigger. As the end actuator closing sleeve 272 is advanced in the distal direction DD, the anvil 17310 is closed by the cam. In at least one arrangement, a spring (not shown) may be employed to rotate the anvil 17310 to an open position when the end actuator closing sleeve 272 is retracted back to a home position.

[00448] As can be seen in Figures 123 to 128, the surgical end actuator 17300 can be pivoted relative to the elongated drive shaft assembly 17200 about a pivot joint 17270. In the illustrated example, the drive shaft assembly elongated 17200 includes a pivot link arrangement designated as 17800 that employs a pivot lock 17810 that is similar to the pivot locks 350, 810, and 10810 described above. See Figures 124 and 125. Components of linkage lock 17810 that differ from components of linkage lock 810 and/or linkage lock 350, and/or linkage lock 10810, for example, and which may be required to Understanding how the 17810 linkage lock works will be discussed below in more detail. As noted above, additional details relating to the 350 joint lock can be found in U.S. Patent Application Serial No. 13/803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now U.S. Patent Application Publication No. 2014/ 0263541, the description of which is incorporated herein by reference in its entirety. The pivot lock 17810 can be configured and operated to selectively lock the surgical end actuator 17300 in various pivot positions. This arrangement allows the surgical end actuator 17300 to be rotated, or pivoted, relative to the drive shaft closing sleeve 260, when the pivot lock 17810 is in its unlocked state.

[00449] Specifically with reference to Figure 125, the elongated drive shaft assembly 17200 includes a central column 210 that is configured to, first, slideably support a firing member (not shown) therein, and then Secondly, slidingly supports the closing sleeve 260 (Figure 123) which extends around the central column 210. The central column 210 also slidingly supports a proximal hinge driver 230. The proximal hinge driver 230 has a distal end 231 which is configured to operatively engage the pivot lock 17810. The pivot lock 17810 further comprises a drive shaft structure 17812 which is secured to the central column 210 in the various ways disclosed herein. The drive shaft assembly 17812 is configured to movably support therein a proximal portion 17821 of a distal pivot driver 17820. The distal pivot driver 17820 is movably supported within the elongated drive shaft assembly 17200 for selective longitudinal displacement in a distal direction DD and a proximal direction PD, along an AAA joint actuation axis that is displaced laterally and parallel to the SA-SA axis of the drive shaft, in response to control movements of articulation applied to it.

[00450] Still referring to Figures 124 and 125, in the illustrated arrangement, the drive shaft structure 17812 includes a distal end portion 17814 that has a pivot pin 17818 formed thereon. The pivot pin 17818 is adapted to be pivotally received within a pivot hole 17397 formed in the pivot base portion 17395 of an end actuator mounting assembly 17390. The end actuator mounting assembly 17390 is secured to the proximal end 17303 of the elongated channel 10302 by means of a spring pin 17393 or other suitable member. Pivot pin 17818 defines a pivot axis B-B that is transverse to the SA-SA axis of the drive shaft. This arrangement facilitates pivoting displacement (i.e., pivoting) of the end actuator 17300 about the pivot axis B-B relative to the drive shaft structure 17812.

[00451] As can be seen in Figure 125, a link pin 17825 is formed in a distal end 17823 of the distal pivot link 17820, and is configured to be received within a hole 17904 in a proximal end 17902 of a link transverse link 17900. The transverse link 17900 extends transversely through the SA-SA axis of the drive shaft, and includes a distal end portion 17906. A distal link hole 17908 is provided through the distal end portion 17906 of the transverse link 17900 , and is configured to pivotably receive therein a base pin 17398 extending from the bottom of the pivot base portion 17395 of the end actuator mounting assembly 17390. The base pin 17395 defines a geometric axis of the LA link that is parallel to the B-B geometric axis of articulation. Figures 124 and 127 illustrate the 17300 surgical end actuator in a non-hinged position. Put another way, the geometric axis EA of the end actuator defined by the elongated channel 17302 is aligned with the geometric axis SA-SA of the drive shaft. As used in this context, the term "aligned to" can mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. Movement of the distal hinge actuator 17820 in the proximal PD direction (in the various ways discussed in the present invention) will cause the transverse link 17900 to pull the surgical end actuator 17300 in a CW clockwise direction about the hinge axis B-B, as shown in Figure 126. Movement of the distal hinge actuator 17820 in the distal DD direction will cause the transverse link 17900 to move the surgical end actuator 17300 counterclockwise CCW about the hinge B-B axis as shown in Figure 128. As can be seen in this Figure, the transverse link 17900 has a curved shape that allows the transverse link 17900 to curve around the pivot pin 17818 when the surgical end actuator 17300 is pivoted in that direction. When the surgical end actuator 17300 is in a fully hinged position on each side of the SA-SA axis of the drive shaft, the pivot angle 17700 between the EA axis of the end actuator and the SA-SA axis of the drive shaft of actuation is approximately sixty-five degrees (65°). Therefore, the range of articulation on each side of the geometric axis of the drive shaft is from one degree (1°) to sixty-five degrees (65°).

[00452] The surgical end actuator 17300 of the embodiment illustrated in Figures 123 to 128 comprises a surgical cutting and stapling device that employs a trigger bar 220 among the various types and configurations described herein. However, the surgical end actuator 17300 of this embodiment may comprise other forms of surgical end actuators that do not cut and/or staple tissue. In the illustrated arrangement, an intermediate support member 17950 is pivotably and slidably supported relative to the central column 210. As can be seen in Figure 125, the intermediate support member 17950 includes a slot 17952 which is adapted to receive therein a pin 17954 that projects from the central column 210. This arrangement allows the intermediate support member 17950 to rotate and translate relative to the pin 17954 when the surgical end actuator 17300 is pivoted. A pivot pin 17958 projects from the lower side of the intermediate support member 17950 to be pivotally received within a corresponding pivot hole 17399 provided in the base portion 17395 of the end actuator mounting assembly 17390. intermediate support member 17950 further includes a slot 17960 for receiving a firing bar 220 therethrough. The intermediate support member 17950 serves to provide lateral support to the firing bar 220 as it flexes to accommodate the surgical end actuator pivot 17300.

[00453] Figures 129 to 131 illustrate portions of another surgical instrument 18010 that includes a surgical end actuator 18300 that operationally interfaces with an elongated drive shaft assembly 18200 that employs many of the features of the various drive shaft assemblies herein. described. The surgical end actuator 18300 is similar to the surgical end actuator 300 that was discussed in detail previously and includes a first claw in the form of an elongated channel 18302 that is configured to operatively support within it a surgical staple cartridge 304. The illustrated surgical extremity actuator 18300 further includes a second claw in the form of an anvil 18310 that is supported in the elongated channel 18302 for movement relative thereto. Anvil 18310 may be movably actuated by one of the closure systems described herein.

[00454] The elongated drive shaft assembly 18200 includes a drive shaft center column 18210 that defines a drive shaft SA-SA axis that coincides with the center of the elongated drive shaft assembly 18200. In other words , the SA-SA axis of the drive shaft extends axially along the geometric center of the elongated drive shaft assembly 18200. The center column 18210 may otherwise be similar to the center column 210 described above and support an element firing and closing sleeve arrangements as described in the present invention, which are not specifically illustrated in Figures 129 to 131 for the purpose of clarity. As can be seen in Figure 131, the surgical end actuator 18300 may be pivoted relative to the elongated drive shaft assembly 18200 about a hinged joint 18270. The hinged joint 18270 serves to couple the elongated channel 18302 to a distal end. 18215 of the center column 18210. The surgical end actuator 18300 and, more particularly, the elongated channel 18302 of the surgical end actuator 18300 define a geometric axis EA of the end actuator, which represents the axial center of the elongated channel 18302. When the actuator 18300 surgical end actuator is in a non-hinged orientation, the EA axis of the end actuator is axially aligned to the SA-SA axis of the drive shaft, as illustrated in Figure 130. As used in this context, the term "aligned to" may mean "coaxially aligned" to the SA-SA axis of the drive shaft, or simply parallel to the SA-SA axis of the drive shaft. In the illustrated arrangement, the elongated channel 18302 of the surgical end actuator 18300 includes a proximally projecting clamping arm 18309 that is coupled to the central column 18210 by a spring pin 18818 that defines a pivot axis B-B. The articulation axis B-B is transverse to the SA-SA axis of the drive shaft. In Figures 130 and 131, the pivot axis B-B may coincide with the central axis of spring pin 18818, for example, and would essentially project out of the page in each of those Figures. As can also be seen in those Figures, in the illustrated arrangement, the articulation axis B-B is displaced to a lateral side 18213 of the SA-SA axis of the drive shaft. In other words, the B-B pivot axis does not intersect the SA axis of the drive shaft, or the EA axis of the end actuator. The spring pin 18818 is configured to apply a biasing force to the clamping arm 18309 to bias the clamping arm 18309 as well as the surgical end actuator 18300 clockwise CW. In this way, the spring pin 18818 serves to tilt the surgical end actuator 18300 to the non-hinged position shown in Figure 130, with the EA axis of the end actuator and the SA-SA axis of the drive shaft being axially aligned.

[00455] The illustrated embodiment further includes a linkage system designated as 18800 that employs a linkage lock 18810 that is similar to the linkage locks 350, 810 and 10810 described above. The pivot lock 18810 can be configured and operated to selectively lock the surgical end actuator 18300 in various pivot positions. This arrangement allows the surgical end actuator 18300 to be rotated, or pivoted, relative to the elongated drive shaft assembly 18200, when the pivot lock 18810 is in its unlocked state. The pivot lock 18810 includes a distal pivot actuator 18820 that is movably supported within the elongated drive shaft assembly 18200 for selective longitudinal displacement in a distal direction DD and a proximal direction PD. The distal joint driver 18820 is movable along an AAA joint drive axis that is laterally displaced and parallel to the SA-SA axis of the drive shaft in response to joint control movements applied thereto. In alternative embodiments, the distal joint actuator 18820 does not comprise a portion of a joint lock but, instead, operationally interfaces with a source of joint movements (in a cable or in a robotic system) that serves to selectively advance axially retract the distal hinge driver 18820 in the distal direction DD and retract the distal hinge driver 18820 in the proximal direction PD. The distal hinge driver 18820 is pinned pivotally to the proximal end 18305 of the elongated channel 18302. As can be seen in Figure 130, the distal hinge driver 18820 is attached to the elongated channel 18302 at a location that is on one side side 18211 of the SA-SA axis of the drive shaft and the EA geometry axis of the end actuator. The pivot axis B-B is situated on a lateral side 18213 opposite the SA-SA axis of the drive shaft, relative to the point at which the distal pivot driver 18820 is attached to the elongated channel 18302. As can also be seen in Figure 130, in the illustrated arrangement, the point at which the distal hinge driver 18820 is attached to the elongated channel 18302 is distal to the hinge axis B-B. As can be seen in Figure 130, when in a non-hinged position, the end actuator axis EA is in axial alignment with the drive shaft axis SA-SA. Advancing the distal hinge actuator 18820 in the proximal PD direction will cause the surgical end actuator 18300 to rotate counterclockwise CCW about the hinge axis B-B. Put another way, the surgical end actuator 18300 is pivotable to positions on one side of the SA axis of the drive shaft that coincide with the first side 18211 of the central column 18210. Once the physician wishes to return the surgical end actuator 18300 for the non-hinge orientation, the distal hinge actuator 18820 is moved in the distal DD direction, which will begin to move the surgical end actuator 18300 clockwise CW. Spring pin 16818 also serves to help pull the surgical end actuator 18300 clockwise CW back to the non-hinged position.

[00456] The surgical end actuator 18300 of the embodiment illustrated in Figures 129 to 131 comprises a surgical cutting and stapling device that employs a trigger bar 18220 among the various types and configurations described herein. In one arrangement, for example, the firing bar 18220 may be of laminated construction as described in the present invention. In the illustrated embodiment, the firing bar 18220 is slidably supported within a path 18230 that is formed in the central column 18210 and interfaces with a firing system from among the various types described herein, which are configured to selectively advance the bar. trigger bar 18220 in the distal direction DD and retract the firing bar 18220 in the proximal direction PD. The distal end of firing bar 18220 is coupled to, or otherwise operatively interfaced with, a firing member (not shown) or tissue cutting member (not shown) of the various types described herein. In at least one form, for example, the firing member 18220 includes a tissue cutting surface and is configured to interact with staple support members that are operatively supported within the staple cartridge so as to drive the staple support members. staple holder (and the staples resting thereon) toward the anvil as the firing member 18220 is driven distally through the staple cartridge.

[00457] The articulated joint 18270 of the illustrated embodiment facilitates articulation of the surgical end actuator 18300 in one direction only (CCW). Stated otherwise, the surgical end actuator 18300 pivots to a hinged position that coincides with the first lateral side 18211 of the central column 18210. In one example, the surgical end actuator 18300 may pivot to a fully hinged position shown in figure 131, with the angle 18950 between the geometric axis EA of the end actuator and the geometric axis of the drive shaft being approximately seventy-five degrees (75°). To accommodate this pivot range, the distal end 18215 of the center column 18210 has a notch 18217 that is adjacent to the first side 18211 of the center column 18210.

[00458] As indicated above, the firing bar 18220 is slidably supported on a route 18220 which is provided in the central column 18210. In the illustrated arrangement, the route 18230 includes a "first" portion, or proximal portion, 18232 which is axially aligned with the SA-SA axis of the drive shaft and a "second" portion, or distal portion, 18234 that is not axially aligned about the SA-SA axis of the drive shaft. In the illustrated embodiment, the distal portion 18234 of route 18230 opens at the distal end of the central column, at a location that is not axially aligned with the SA-SA axis of the drive shaft. As can be seen in Figures 130 and 131, for example, the distal portion 18234 of route 18230 opens at a location (designated as 18236 in Figures 130 and 131) that is laterally offset to a second lateral side 18213 of the SA axis. SA of the drive shaft. Additionally, in at least the illustrated embodiment, the distal portion 18234 of the route 18230 is curved so as to cause the firing bar 18220 to begin flexing in the pivot direction before the firing bar 18220 exits the central column 18210. This arrangement gives the firing bar 18220 a greater bending radius compared to the bending radii of the firing bars of other pivoting end actuator arrangements, which pivot in one direction and in which the firing bar exits the center column 18210 while aligned to the SA-SA axis of the drive shaft. Additionally, route 18230 in the illustrated arrangement includes a first proximal portion 18232 that is axially aligned with the SA-SA axis of the drive shaft, a second arcuate portion 18233 that curves in a first direction away from the SA-SA axis. SA of the drive shaft and a third arcuate section 18235 that curves toward the SA-SA axis of the drive shaft. As can further be seen in Figures 130 and 131, the location 18236 at which the firing bar 18220 exits the central column 18210 is situated on the second side 18213 of the SA axis of the drive shaft, which is opposite the first side 18211 with the which the 18300 end actuator articulates. In this way, the distal portion 18234 of the route 18230 serves to position or bias the firing bar 18220 to an "off-axis position" with respect to the SA-SA geometric axis of the drive shaft (a position that is not axially aligned with the SA-SA axis of the drive shaft). This arrangement gives the trigger bar 18220 a gradual arc as it exits the center column 18210. This feature may serve to reduce the likelihood of the trigger bar 18220 warping as it passes through the pivot joint 18270 to enter the surgical end actuator 18300. In other arrangements, the proximal portion of the trajectory may be laterally displaced relative to the geometric axis of the drive shaft. In still other arrangements, the proximal portion of the path may be axially aligned with the rod axis, and the distal portion of the path may angle to one side of the axis of the drive shaft so that when the firing bar leaves the portion distal to the trajectory, the trigger bar is axially displaced to the side of the geometric axis of the drive shaft opposite to that to which the end actuator is pivotable. In this arrangement, the distal portion of the trajectory may be relatively straight and not curved. In still other arrangements, the distal portion and the proximal portion of the route may lie along a common geometric axis that is laterally displaced with respect to the geometric axis of the drive shaft, on the side that is opposite the side to which the end actuator is pivotable. All of these arrangements shift the firing bar off center as it exits the center column and allow for a greater bending radius without adding space distal to the pivot axis.

[00459] The trigger bars used in the various surgical instruments described herein are configured to flex sufficiently to accommodate the various hinged positions of the end actuator. In some arrangements, the firing bar may actually comprise a firing rod 18600 that is coupled to a flexible firing bar 18700 in a coupling or connection 18702. See Figure 132. The firing rod 18600 is slidably supported in the column. central 18210 of the elongated drive shaft assembly, and may translate in response to drive movements initiated in the handle of the surgical instrument or by a robotic system, for example. In several cases, the 18600 firing rod can resist deformation, torque and/or bending during the transfer of a firing motion. For example, the firing rod 18600 may consist of a non-flexible and/or rigid material and/or structure.

[00460] In coupling 18702, firing rod 18600 is engaged with a downwardly projecting key 18701 of flexible firing bar 18700 (see, for example, figure 132A). For example, the key 18701 may extend into an elongated opening 18606 formed at a distal end 18604 of the firing rod 18600. The engagement between the firing rod and the key is configured to transfer translation from the firing rod 18600 to the bar. flexible firing bar 18700. In various cases, the coupling 18702 may be adjacent to the pivot joint 18270, such that the flexible firing bar 18700 extends from the coupling 18702 and through the pivot joint 18270.

[00461] In the arrangement depicted in Figures 133, 135, the flexible firing bar 18700 includes a plurality of side portions or layers 18702a, 18702b, 18702c, 18702d, 18702e, 18702f. In various cases, portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f may be held together and movable and/or displaceable relative to each other. For example, side portions 18702a, 18702b, 18702c, 18702d, 18702e, and 18702f may be attached to each other at the distal end of flexible firing bar 18700. Portions 18702a, 18702b, 18702c, 18702d, 18702e, and 1 8702f can be welded, formed together, attached and/or otherwise fixed to each other at their distal ends, for example. At least a portion of the remaining length of the side portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f may be configured to move and/or offset relative to the one or more adjacent side portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f. For example, when the flexible firing bar 18700 flexes at the pivot joint 18270, the side portions 18702a, 18702b, 18702c, 18702d, 18702e, and 18702f may shift into a misaligned and/or displaced configuration upon bending of the pivot joint. 18270 and the proximal end of the flexible firing bar 18700. Figure 134 illustrates a proximal end 18704 of a form of firing bar 18700' in which the side portions 18702a, 18702b, 18702c, 18702d, 18702e are flush with each other when the 18700 firing bar is straight. Figure 135 illustrates another flexible bar arrangement, in which the layer portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f are offset at the proximal end 18704.

[00462] Again referring to Figures 132 and 133, the proximal end 18704 of the flexible firing rod 18700 extends into a cavity 18608 that is formed in the distal end 18604 of the firing rod 18600, portions 18702a, 18702b, 18702c , 18702d, 18702e, and 18702f of the flexible firing bar 18700 may extend along the firing paths through the pivot joint 18270. When the end actuator 18300 is pivoted relative to the elongated drive shaft assembly 18200, the firing bar flexible 18700 and the portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f thereof may flex within the hinged joint 18270. In such cases, the one or more adjacent lateral portions 18702a, 18702b, 18702c, 18702 d, 18702e and 18702f may extend along altered trajectories when the end actuator 18300 is articulated. A shock absorbing member 18610 is supported in the cavity to accommodate displacement of portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f during articulation. For example, the shock absorbing member 18610 may rotate within the cavity 18608 as the firing bar portions 18702a, 18702b, 18702c, 18702d, 18702e and 18702f move relative to one another, so that the portions 18702a, 18702b, 18702c, 18702d, 18702e, and 18702f would likely become uniformly loaded by the shock-absorbing member 18610 during firing (i.e., advanced in the distal direction). The shock absorbing member 18610 may or may not be manufactured from a malleable material. Additional specific details and data relating to the firing bar/firing rod arrangement described above, as well as other configurations that may be employed with the various embodiments disclosed in the present invention, can be found in US Patent Application Serial No. 14/574,478 , entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER", the description of which is incorporated herein by reference, in its entirety.

[00463] Figure 132A depicts a coupling arrangement 18702' that employs a unidirectional locking arrangement to limit distal displacement of the firing rod 18600'. As can be seen in that Figure, the firing rod 18600' includes a locking opening 18620 that has an angled distal surface 18622 and a perpendicular surface 18624 that is perpendicular or transverse to the direction in which the firing rod 18600' travels. A locking member 18630 is movably supported in a locking cavity 18640 in the center column of the drive shaft 18210. A locking spring 18642 is supported in the locking cavity 18640 in order to bias the locking member 18630 to engage. sliding contact with firing rod 18600'. In the illustrated embodiment, the locking member 18630 has an angled distal surface 18632 and a perpendicular rear surface 18634, and is sized to extend into the locking opening 18620 when the firing rod 18600' has moved to a more distal position. predetermined. When the firing rod 18600' is distally advanced to the position shown in Figure 132A, the spring 18642 of the locking member 18630 biases the locking member into the locking opening 18620 to further prevent any further distal movement of the rod. firing rate 18600'. However, when the trigger rod 18600' is retracted in the PD proximal direction, the trigger rod 18600' will contact the angled distal surface 18632 and bias the locking member 18630 into the locking cavity 18640 in the center column of the shaft. driving rod 18210, to allow the firing rod 18600' to move in the PD proximal direction beyond the locking member 18630.

[00464] Figures 136 and 137 illustrate portions of another surgical instrument 19010 that includes a surgical end actuator 19300 that operationally interfaces with an elongated drive shaft assembly 19200 that employs many of the features of the various drive shaft assemblies herein. described. For example, the elongated drive shaft assembly 19200 is similar to the elongated drive shaft assembly 200' described in detail above, except for the differences discussed below. In the illustrated example, the elongated drive shaft assembly 19200 includes a double pivot link arrangement designated as 19800 that employs a pivot lock 19810 that is similar to the pivot locks 350, 810, and 10810 described above. The pivot lock 19810 can be configured and operated to selectively lock the surgical end actuator 19300 in various pivot positions. This arrangement allows the surgical end actuator 19300 to be rotated, or pivoted, relative to the elongated drive shaft assembly 19200, when the pivot lock 19810 is in its unlocked state. A first distal joint actuator 19820 is supported within the central column 19210 of the elongated drive shaft assembly 19200, for longitudinal selective displacement in a distal direction DD and a proximal direction PD in response to corresponding joint control movements applied thereto. A downwardly projecting pivot pin 19818 is adapted to be pivotally received within a pivot hole (not shown) formed in the proximal end portion 1320 of the elongated channel 19302 of a surgical end actuator 19800. This arrangement facilitates the pivoting displacement of the elongated channel 19302 of the surgical end actuator 19300 relative to the central column 19210, around a pivot axis B-B that is defined by the pivot hole. As indicated above, the pivot B-B axis is transverse to the SA-SA axis of the drive shaft which is defined by the elongated drive shaft assembly 19200.

[00465] Still referring to Figures 136 and 137, the double linkage link arrangement 19800 is configured to establish a "push/pull" arrangement when a linkage force is applied to that arrangement through the first distal linkage driver. 19820. As can be seen in those Figures, the first distal linkage driver 19820 has a first drive rack 19842 formed therein. A first pivot rod 19844 projects distally outward from the first distal pivot driver 19820 and has a first axial slot 19845 therein. Furthermore, a first end actuator link 19850 is movably coupled to the surgical end actuator 19300. In one arrangement, for example, the distal end 19852 of the first end actuator link 19850 is pivotally secured to the elongated channel. 19302 of the end actuator 19300. A proximal end 19854 of the first link of the end actuator 19850 includes a first pin 19856 that is slidably received within the first axial slot 19845 in the first pivot rod 19844 of the first distal pivot actuator 19820 The double linkage arrangement 19800 further comprises a second distal linkage driver 19860 which has a second drive rack 19862 formed therein. The second distal pivot driver 19860 is movably supported within the elongated drive shaft assembly 19200 for longitudinal displacement in the distal direction DD and the proximal direction PD. A second pivot rod 19864 projects distally outward from the second distal pivot driver 19860 and has a second axial slot 19865 therein. Additionally, a second end actuator link 19870 is movably coupled to the surgical end actuator 19300. In one arrangement, for example, the distal end 19872 of the second end actuator link 19870 is pivotally secured to the elongated channel. 19302 of the end actuator 19300. A proximal end 19874 of the second link of the end actuator 19870 includes a second pin 19876 that is slidably received within the second axial slot 19865 in the second pivot rod 19864 of the second distal pivot actuator 19860 As can be seen in Figure 136, the first end actuator link 19850 is attached to the elongated channel 19302 for longitudinal displacement along a first hinge axis FA that is parallel to and situated on a first axial side of the axis SA. -SA drive shaft. The second link of the end actuator 19870 is attached to the elongated channel 19302 for longitudinal displacement along a second pivot axis SDA that is parallel to, and offset to, a second lateral side of the SA-SA axis of the drive shaft. . See Figure 136. In this way, by simultaneously pulling on one of the end actuator links 19850 and 19870, the surgical end actuator 19300 will be pivoted about the B-B pivot axis relative to the elongated drive shaft assembly 19200. In the illustrated arrangement, the first axial slot 19845 and the second slot 19865 are parallel to each other and are parallel to the SA-SA axis of the drive shaft. As can further be seen in Figures 136 and 137, each of the first link of the end actuator 19850 and the second link of the end actuator 19870 has a curved or arcuate shape that curves around the B-B pivot axis. This curved shape can also lead to an increased articulation range. Additionally, each of the first and second axial slots 19845 and 19865 may have a predetermined length that facilitates a desired amount of articulation.

[00466] As can be seen in Figures 136 and 137, a proximal pinion gear 19880 and a distal pinion gear 19882 are centrally disposed between the first drive rack 19842 and the second drive rack 19862, and are in meshed engagement with these. In alternative embodiments, only one pinion gear, or more than two pinion gears, may be used. This way, at least one pinion gear is used. The proximal pinion gear 19880 and the distal pinion gear 19882 are rotatably supported on the central column 19810 for free rotation relative thereto, so that when the first distal linkage driver 19820 is moved in the distal direction DD, the pinion gears 19880, 19882 serve to drive the second distal hinge driver 19860 in the proximal PD direction. Similarly, when the first distal hinge driver 19820 is pulled in the proximal PD direction, the pinion gears 19880, 19882 drive the second distal hinge driver 19860 in the distal DD direction. As the first distal linkage driver 19820 moves in the proximal direction, pinion gears 19880, 19882 serve to drive the second distal linkage driver 19860 in the distal direction DD. This movement of the first and second distal hinge actuators 19820, 19860 causes the surgical end actuator 19300 and, more specifically, the elongated channel 19302 of the surgical end actuator 19300 to rotate about the hinge axis B-B, in the direction of arrow 19821. On the other hand, to pivot the end actuator 19300 in the direction of the arrow 19823, the first distal pivot actuator 19820 is moved in the distal direction, which causes the pinion gears 19880, 19882 to drive the second distal linkage driver 19860 in the proximal PD direction. This movement of the first and second distal hinge actuators 19820, 19860 causes the surgical end actuator 19300 and, more specifically, the elongated channel 19302 of the surgical end actuator 19300 to rotate about the hinge axis B-B, in the direction arrow joint 19823.

[00467] The arrangement of rigid double articulation links 19800 and variations thereof can give the surgical end actuator a greater range of articulation compared to other articulating surgical end actuator configurations. In particular, the rigid link articulation arrangements disclosed in the present invention can facilitate articulation ranges in the range of between one degree (1°) and sixty-five degrees (65°). The use of at least one pinion gear to interface the distal linkage drivers allows the end actuator to be "pushed" and "pulled" into position, and may also reduce the amount of "backlash" or undesirable movement or unintended release of the end actuator during use. The rigid double linkage link arrangements disclosed herein also comprise a linkage system that has improved strength characteristics compared to other linkage system arrangements. The proximal ends of the double links translate back and forth along their respective slots as the end actuator is pivoted. These slots can provide the system with greater resistance to bending forces on the double links and reduce system recoil by restricting the movement of the double links.

[00468] Figures 138 to 142 illustrate portions of another surgical instrument 20010 that includes a surgical end actuator 20300 that operationally interfaces with an elongated drive shaft assembly 20200 that employs many of the features of the various drive shaft assemblies herein. described. For example, the elongated drive shaft assembly 20200 is similar to the elongated drive shaft assembly 200' described in detail above, except for the differences discussed below. Pivot pin 20818 is adapted to be pivotally received within a pivot hole 20305 formed in the proximal end portion 1320 of the elongated channel 20302 of the surgical end actuator 20300. See Figure 139. This arrangement facilitates pivotal displacement of the elongated channel 20302 of the surgical end actuator 20300 relative to the central column 20210, about a pivot B-B axis that is defined by pivot hole 20305. The pivot B-B axis is transverse to the SA-SA axis of the axis drive shaft that is defined by the elongated drive shaft assembly 20200. In the illustrated example, the elongated drive shaft assembly 20200 includes a dual linkage driver arrangement designated 20800 that employs a linkage lock 20810 (Figure 139) which is similar to the 350, 810 and 10810 linkage locks described above. The pivot lock 20810 can be configured and operated to selectively lock the surgical end actuator 20300 in various pivot positions. This arrangement allows the surgical end actuator 20300 to be rotated, or pivoted, relative to the elongated drive shaft assembly 20200, when the pivot lock 20810 is in its unlocked state. A first distal hinge actuator 20820 is supported within the central column 20210 of the elongated drive shaft assembly 20200, for longitudinal selective displacement along a first hinge axis FA in a distal direction DD and a proximal direction PD in response to corresponding joint control movements applied to it. The first articulation axis FA is parallel to, and located on a first lateral side of, the SA-SA axis of the drive shaft. The first distal hinge driver 20820 includes a first proximal drive rack 20842 and a first distal drive rack 20844 formed thereon. The dual hinge link arrangement 20800 further comprises a second distal hinge driver 20860 that has a second proximal drive rack 20862 and a second distal drive rack 20864 formed therein. The second distal hinge actuator 20860 is movably supported within the elongated drive shaft assembly 20200 for longitudinal displacement along a second hinge axis SDA in the distal direction DD and in the proximal direction PD. The second articulation axis SDA is parallel to, and is located on, a second lateral side of the SA-SA axis of the drive shaft. See Figure 138. The first and second distal pivot drivers 20820, 20860 operatively interface with a center pivot member 20850. As can be seen in Figure 140, the center pivot member 20850 is pivotally attached to the center column. of the drive shaft 20210 by a pin 20851 that serves to define a geometric axis of the GA gear around which the central pivot member 20850 can rotate. The gear axis GA is parallel to the articulation axis BB. See Figure 139. The center pivot member 20850 includes a body portion 20852 that has a gear portion 20854 formed thereon. The gear portion 20854 is in mesh engagement with the first distal drive rack 20844 and the second distal drive rack 20864.

[00469] The surgical end actuator 20300 of the embodiment illustrated in Figures 138 to 142 comprises a surgical cutting and stapling device. The elongated channel 20302 is configured to operatively support a surgical staple cartridge (not shown) and an anvil assembly 20310. The surgical end actuator 20300 also employs a trigger bar (not shown) among the various types and configurations described herein. In the illustrated arrangement, an intermediate support member 20950 is pivotably and slidingly supported relative to the drive shaft central column structure 20810. As can be seen in Figure 140, the intermediate support member 20950 includes a central body portion 20952 defining a central slot 20954 that is configured to receive the firing member slidingly therethrough in order to provide lateral support to the firing member as it moves from the elongated drive shaft assembly 20200 through the pivot joint 20302 and to the elongated channel 20302. A proximal tab 20955 projects proximally from the body portion 20952 to be movably coupled to the central pivot member 20850. In the illustrated arrangement, a locking pin 20960 extends through a proximal hole 20956 in the proximal tab 20955. The securing pin 20960 is received within a securing slot 20856 that is disposed in the body portion 20852 of the central pivot member 20850. The proximal tab 20955 further includes an elongated slot 20957 that is configured to receive within it a pivot pin 20211 formed in the central column of the drive shaft 20210. See Figure 139. The intermediate support member 20950 additionally includes a distal pawl 20958 that is movably coupled to the proximal end of the elongated channel 20302. As can further be seen in Figure 139, a coupler assembly 20970 pivotably couples the intermediate support member 20950 to the elongated channel 20302. More specifically, the coupler assembly 20970 includes a body plate 20972 having, projecting from therefrom, an end actuator securing pin 20974 that is configured to extend through a first pivot hole 20307 in the elongated channel 20302 and a distal pivot hole 20959 in the distal tongue 20958 of the intermediate support member 20950. This arrangement serves to facilitate pivoting displacement of the intermediate support member 20950 relative to the elongated channel 20302 about an EPA end actuator pivot axis that is defined by the end actuator fixing pin 20974. As can be seen in Figure 139, the pivot axis of the EPA end actuator is parallel to the B-B pivot axis. In the illustrated arrangement, the assembly of multiple support links 920 further comprises a proximal support link 940 and a distal support link 950. See Figure 139. Specific details regarding the operation of the proximal and distal support links and the support member intermediate were discussed above and will not be repeated for brevity.

[00470] The dual hinge actuator arrangement 20800 is configured to establish a "push/pull" arrangement when a hinge force is applied thereto via the first distal hinge actuator 20820. As can be seen in Figures 138, 139, 141 and 142, a proximal pinion gear 20880 and a distal pinion gear 20882 are centrally disposed between the first proximal drive rack 20842 and the second proximal drive rack 20862, and are in mesh engagement with them. In alternative embodiments, only one pinion gear or more than two pinion gears may be employed. This way, at least one pinion gear is employed. The proximal pinion gear 20880 and the distal pinion gear 20882 are rotatably supported on the central column 20810 for free rotation relative thereto, so that when the first distal linkage driver 20820 is moved in the distal direction DD, the pinion gears 20880, 20882 serve to drive the second distal hinge driver 20860 in the proximal PD direction. Similarly, when the first distal hinge driver 20820 is pulled in the proximal PD direction, the pinion gears 20880, 20882 drive the second distal hinge driver 20860 in the distal DD direction. As the first distal hinge driver 20820 moves in the proximal direction, pinion gears 20880, 20882 serve to drive the second distal hinge driver 20860 in the distal direction DD. This movement of the first and second distal hinge actuators 20820, 20860 causes the central hinge member 20850, via the intermediate support member 20950, to pivot the surgical end actuator 20300 and, more specifically, the elongated channel 20302 of the surgical end actuator 20300 about the B-B hinge axis in the pivot direction of arrow 20821. See Figure 141. Conversely, to pivot the end actuator 20300 in the direction of arrow 20823, the first distal hinge actuator 20820 is moved in the distal direction DD, which causes pinion gears 20880, 20882 to drive the second distal linkage driver 20860 in the proximal direction PD. This movement of the first and second distal hinge actuators 20820, 20860 causes the surgical end actuator 20300 and, more specifically, the elongated channel 20302 of the surgical end actuator 20300 to rotate about the hinge axis B-B, in the direction turn signal linkage 20823. See Figure 142.

[00471] The arrangement of dual rigid articulation actuators 20800 and variations thereof may provide the surgical end actuator with a greater range of articulation compared to other articulating surgical end actuator configurations. In particular, the rigid dual pivot actuator arrangements disclosed in the present invention can facilitate pivot ranges in the range of sixty-five degrees (65°). The use of at least one pinion gear to interface the distal pivot actuators allows the end actuator to be "pushed" and "pulled" into position, and may also reduce the amount of "backlash" or movement that is undesirable or undesirable. intended use of the end actuator during use. The rigid dual linkage driver arrangements disclosed herein also comprise a linkage system that has improved strength characteristics as compared to other linkage system arrangements.

[00472] Figures 143 and 144 depict a portion of an elongated drive shaft assembly 21200 that is substantially similar to the elongated drive shaft assembly 1200 described above, with the exception of several differences discussed below in more detail. As can be seen in Figure 143, the elongated drive shaft assembly 21200 includes a pivot lock 21810 that is substantially similar to the pivot locks 810 and 1810 and functions in essentially the same manner. As can be seen in Figure 22, the elongated drive shaft assembly 21200 includes a drive shaft frame 21812 comprising a portion of a drive shaft frame 21210. A first distal hinge driver 21820 is movably supported within of the elongated drive shaft assembly 21200 for longitudinal selective displacement in a distal direction DD and a proximal direction PD in response to joint control movements applied thereto. The drive shaft structure 21812 further includes a distal end portion 21814 that has a pivot pin 21818 formed thereon. Pivot pin 21818 is adapted to be pivotally received within a pivot hole (not shown) disposed in a distal pulley 21340 that is non-rotably formed at the proximal end 21320 of the elongated channel 21302 of a surgical end actuator. 21300. See Figure 144. This arrangement facilitates pivoting (i.e., pivoting) displacement of the elongated channel 21302 of the surgical end actuator 21300 relative to the drive shaft structure 21812 about a hinge axis B-B defined by the pivot hole and pin 21818. The drive shaft structure 21812 further includes a centrally disposed cavity 21817 and a distal notch 21819 which is situated between the distal end 21814 and the centrally disposed cavity 21817.

[00473] The drive shaft assembly 21200 further includes a second distal pivot driver 21860 comprising a wire member 21862 that is rotatably seated over a proximal pulley assembly 21840 and the distal pulley 21340. In one form, the drive shaft assembly 21840 wire 21862 comprises a wire that is manufactured from stainless steel, tungsten, aluminum, titanium, etc., for example. The yarn may be of braided construction or multiple strands with varying amounts of strands to obtain desired levels of tensile strength and flexibility. In various arrangements, for example, wire member 21862 may have a diameter in the range of 0.08 centimeter to 0.2 centimeter (0.03 inch to 0.08 inch), and more preferably in the range of 0. 1 to 0.2 centimeters (0.05 to 0.08 inch). A preferred wire may, for example, be manufactured from half-hard to full-hard 300 series stainless steel. In various arrangements, wire 21862 may also be coated with, for example, Teflon®, copper, etc., for improved lubricity and/or to reduce stretching, for example. A first tab 21863 is attached to one end of the wire 21862 and a second tab 21864 is attached to the other end of the wire 21862 by, for example, crimping. See Figure 144.

[00474] Still referring to Figure 144, the endless member 21862 is coupled to a distal end 21821 of the first distal hinge driver 21820 by a coupler assembly 21830. The coupler assembly 21830 includes a coupler body 21832 having, formed therein, a proximal tab cavity 21834, and a distal tab cavity 21836. The first tab 21863 is configured to be retentively received within the first tab cavity 21834, and the second tab 21836 is configured to be received from retentive manner within the second tab cavity 21836. Other arrangements of fasteners, screws, rivets, claws, adhesive, etc., may also be employed. When the wire member 21862 is seated over the pulleys 21840 and 21340, the coupler assembly 21830 is free to move axially within the distal notch 21819 in the drive shaft frame 21812 in response to the axial movement of the first distal pivot driver 21820 The hinge movements generated by the axial movement of the first distal hinge driver 21820 are transferred to the second distal hinge driver 21860 or to the wire 21862. An attachment ball or tab 21866 is attached to the wire 21862 and is received in a groove or pocket (not shown) formed in the distal pulley 21340. In this way, the movement of the endless member 21862 is transferred to the surgical end actuator 21300 and more specifically to the elongated channel 21302 of the surgical end actuator 21300 to pivot the surgical end actuator 21300. end around the B-B axis of articulation. Therefore, when the first distal hinge actuator 21820 is moved in the distal direction DD, the wire member 21862 causes the surgical end actuator 21300 to pivot about the hinge axis B-B in one hinge direction, and when the first distal hinge actuator 21820 is moved in the proximal PD direction, the wire member 21862 causes the surgical end actuator 21300 to pivot about the hinge axis BB in an opposite hinge direction.

[00475] In the illustrated arrangement, the proximal pulley assembly 21840 is configured to selectively introduce tension into the wire member 21862. For example, as can be seen in Figure 144, the proximal pulley assembly 21840 comprises a proximal pulley 21842 that is mounted rotatably on a pulley support or bearing 21844. The axis of the pulley support 21844 is concentric to the CPA central pulley axis such that the proximal pulley 21842 is freely rotatable in the pulley support 21844. The pulley support 21844 is attached to the drive shaft frame 21812 by an eccentric mounting shaft 21846 which is secured to the pulley bracket 21844. Stated another way, the central axis MSA of the mounting shaft 21846 is offset relative to the central pulley axis CPA (and the central axis of the pulley support). See Figure 143. Mounting shaft 21846 is sized to be frictionally received in a mounting hole 21813 disposed in the drive shaft frame 21812. A hex socket 21848 that is configured to receive a standard wrench is disposed in the bracket. of pulley member 21844. See Figure 143. In this way, tension on wire member 21862 can be increased by inserting a wrench into hex socket 21848 and rotating mounting shaft 21846 in the appropriate direction. This action will cause the mounting shaft 21846 as well as the pulley bracket 21844 to rotate. Due to the fact that the central axis CPA of the pulley support 21844 is offset relative to the central axis MSA of the mounting shaft 21846, the central axis CPA can be moved further away from the central axis of the distal pulley 21340 ( which may be coaxial with the pivot axis B-B) to thereby increase the tension in the wire member 21862.

[00476] Figures 145 and 147 depict a portion of an elongated drive shaft assembly 22200 that is substantially similar to the elongated drive shaft assembly 1200 described above, with the exception of several differences discussed below in more detail. Those components of the elongated drive shaft assembly 1200 that have previously been discussed in detail are designated by similar reference numerals and, for the sake of brevity, will not be discussed further in more detail than may be necessary to understand the operation of the assembly. of drive shaft 22200. As can be seen in Figure 147, the elongated drive shaft assembly 22200 includes a pivot lock 22810 that is substantially similar to the pivot locks 810 and 1810 and functions in essentially the same manner. As can be seen in Figure 147, the elongated drive shaft assembly 22200 includes a drive shaft frame 22812 comprising a portion of a drive shaft center column 22210. A first distal pivot driver (omitted in Figures 145 to 147 for clarity) is movably supported within the elongated drive shaft assembly 22200 for longitudinal selective displacement in a distal direction DD and a proximal direction PD in response to joint control movements applied thereto. The drive shaft structure 22812 further includes a distal end portion 22814 that has a pivot pin 22818 formed thereon. Pivot pin 22818 is adapted to be pivotally received within a pivot hole 22342 formed in a distal pulley 22340 that is non-rotably formed in a proximal end portion 22320 of an elongated channel 22302 of an end actuator. surgical 22300. See Figure 147. This arrangement facilitates pivoting (i.e., pivoting) displacement of the elongated channel 22302 relative to the drive shaft frame 22812 about a hinge axis B-B defined by the pivot hole 22342 and the pin 22818. The drive shaft structure 22812 further includes a centrally disposed cavity 22817 and a distal notch 22819 which is situated between the distal end 22814 and the centrally disposed cavity 22817.

[00477] The drive shaft assembly 22200 further includes a second distal pivot driver 22860 comprising a wire member 1862 that is rotatably seated over a proximal pulley assembly 22840 and the distal pulley 22340. In one form, the drive shaft assembly 22840 1862 wire comprises a wire that is manufactured from stainless steel, tungsten, aluminum, titanium, etc., for example. The yarn may be of braided construction or multiple strands with varying amounts of strands to obtain desired levels of tensile strength and flexibility. In various arrangements, for example, the wire member 1862 may have a diameter in the range of 0.08 centimeter to 0.2 centimeter (0.03 inch to 0.08 inch), and more preferably in the range of 0. 1 to 0.2 centimeters (0.05 to 0.08 inch). A preferred wire may, for example, be manufactured from half-hard to full-hard 300 series stainless steel. In various arrangements, the wire may also be coated with, for example, Teflon®, copper, etc., for improved lubricity and/or to reduce stretching, for example. A first tab 1863 is attached to one end of the wire and a second tab 1864 is attached to the other end of the wire member 1862 by, for example, crimping.

[00478] Now referring to Figures 145 and 147, the wire member 1862 is coupled to a distal end 1821 of the first distal hinge driver by a coupler assembly 1830. The hinge driver may comprise a distal hinge driver portion of linkage lock 22810 and is not shown in Figures 145 and 147 for clarity. The coupler assembly 1830 comprises an upper coupler portion (not shown) formed at the distal end of the first distal hinge driver (not shown) and a lower coupler portion 1834. The lower coupler portion 1834 is formed with two recesses 1835 that are configured to receive tabs 1862, 1864 inside. A pair of securing pins 1836 are configured to be pressed into holes (not shown) in the upper portion of the coupler (not shown) in order to affix the two portions of the coupler to each other. Other arrangements of fasteners, screws, rivets, adhesive, etc., may be employed. When the wire member 1862 is seated over the proximal pulley assembly 22840 and the distal pulley 22340, the coupler assembly 1830 is free to move axially within the distal notch 22819 in the drive shaft structure 22812 in response to the axial movement of the first distal joint driver. The hinge movements generated by the axial movement of the first distal hinge driver are transferred to the second distal hinge driver 22860 or the wire member 1862. An attachment ball or tab 1866 is attached to the wire member 1862 and is received in a groove or pocket 1342 formed in the distal pulley 22340. In this way, the movement of the wire member 1862 is transferred to the surgical end actuator 22300 and more specifically to the elongated channel 22302 of the surgical end actuator 22300 to articulate the end actuator to the around the geometric axis B-B of articulation. In this way, when the first distal hinge actuator is moved in the distal direction DD, the wire member 1862 causes the surgical end actuator 22300 to pivot about the hinge B-B axis in one hinge direction, and when the first distal hinge actuator is moved in the proximal PD direction, the wire member 1862 causes the surgical end actuator 22300 to pivot about the B-B hinge axis in an opposite hinge direction.

[00479] In the illustrated arrangement, the proximal pulley assembly 22840 is configured to selectively introduce tension into the wire member 1862. For example, as can be seen in Figure 147, the proximal pulley assembly 22840 comprises a proximal pulley 22842 that is mounted rotatably on a pulley bracket or bearing 22844. The pulley bracket 22844 is secured to a mounting block 22846 which is movably received within an axial mounting cavity 22821 formed in the drive shaft frame 22812. A screw tensioning screw 22823 is positioned within the drive shaft frame 22812 to adjust the position of the mounting block 22846 within the axial mounting cavity 22821. See Figures 145 and 147. Screwing the tensioning screw 22823 inward will cause the end 22825 of the tensioning screw 22823 tilt the mounting block 22846 in the proximal direction to introduce tension on the wire element 1862. This action will move the central axis CPA of the proximal pulley 22842 away from the central axis of the distal pulley 22340 by a voltage distance DT. Thus, as the tension distance DT increases, the tension in the wire member 1862 also increases.

[00480] Figures 148 and 149 depict an alternative proximal pulley assembly 22840' that can be used to tension the wire member 1862. For example, as can be seen in Figure 148, the proximal pulley assembly 22840' comprises a pulley 22842 that is rotatably mounted to a pulley bracket or bearing 22844. The pulley bracket 22844 is secured to a mounting block 22846 that is movably received within an axial mounting cavity 22821 formed in the shaft structure. drive 22812'. In this arrangement, a tension cam 22850 is attached to an eccentric mounting spindle 22854. The eccentric mounting spindle 22854 defines a central axis MSA' which is offset relative to the central axis of the tension cam 22850. As can be seen In Figure 149, mounting spindle 22854 has a serrated outer surface and is adapted to be received within a serrated hole 22855 in the drive shaft frame 22812'. A hex socket 22856 that is configured to receive a standard wrench is disposed on mounting spindle 22854. See Figure 149. In this way, tension on wire member 1862 can be increased by inserting a wrench into the hex socket. 22856 and turning mounting spindle 22854 in the appropriate direction. Rotation of the mounting spindle 22854 will cause the tension cam 22852 to rotate and apply a cam movement to the mounting block 22846 in the PD proximal direction within the axial slot 22821 to introduce tension into the wire member 1862. This action will move the shaft central geometric axis CPA of the proximal pulley 22842 so as to move away from the central geometric axis of the distal pulley 22340 by a tension distance DT. Thus, as the tension distance DT increases, the tension in the wire member 1862 also increases.

[00481] Figure 150 illustrates another second distal pivot driver 23860 comprising a wire member 1862 that is pivotally seated on a proximal pulley 23842 and a distal pulley 22340. A first tab 1863 is attached to one end of the wire 1862 and a second tab 1864 is attached to the other end of the wire 1862 by, for example, crimping. The wire member 1862 is coupled to a distal end 1821 of a first distal hinge driver 1820 by a coupler assembly 1830 in the ways described herein. In this embodiment, a wire tensioning assembly 23900 is employed to introduce a desired amount of tension into the wire member 1862. As can be seen in Figure 150, the cable tensioning assembly 23900 includes a mounting bracket 23902 that is mounted on a side side of the drive shaft frame, and a tension cylinder assembly 23910 that is oriented so as to contact the wire member 1862 adjacent to a second side side of the drive shaft frame. The tension cylinder assembly 23910 comprises a side bracket 23912 that is movably coupled to the mounting bracket 23902. In the illustrated arrangement, the side bracket 23912 is configured for threaded engagement with the mounting bracket 23902. A tension cylinder 23914 is mounted on the side bracket 23912, in contact with the wire member 1862. To increase tension on the wire member 1862, the side bracket 23912 is moved toward the mounting bracket in the LD lateral direction. This movement causes the tension cylinder 23914 to move laterally inward toward the mounting member and contact the wire member 1862 to bias the wire member 1862 in the LD lateral direction, which is transverse to the direction of rotation RD1 and the direction of rotation RD2 to thereby increase the tension in the wire member 1862.

[00482] Figure 151 illustrates another second distal pivot driver 23860' comprising a wire member 1862 that is pivotally seated on a proximal pulley (not shown) and a distal pulley (not shown). A first tab 1863 is attached to one end of the wire 1862 and a second tab 1864 is attached to the other end of the wire 1862 by, for example, crimping. The wire member 1862 is coupled to a distal end 1821 of a first distal hinge driver 1820 by a tensioning assembly 1830' in the ways described herein. In this embodiment, the distal end 1821' of the first distal hinge driver 1820' comprises a proximal clip 1823' and a distal clip 1825'. The distal clip 1825' is movably secured to the proximal clip 1823' by a tension screw member 23900'. In the illustrated arrangement, the tension screw member 23900' includes a first, or proximal, threaded portion 23922 that is threaded in a first thread direction into a threaded hole 23940 in the proximal clamp 1823', and a second portion, or distal, threaded 23924 that is threaded in a second thread direction into a threaded hole 23942 in the distal clamp 1825', which is opposite the first thread direction. An actuation nut 23926 is secured to the screw member 23900' in a central position between the first threaded portion 23922 and the second threaded portion 23924. The tensioning screw 23900' can be turned using a wrench or other suitable tool. to turn the actuating nut 23926. Rotation of the tensioning screw 23900' in a first direction will pull the proximal clip 1823' and the distal clip in a first direction toward each other along a tensioning axis TA that is parallel to the axis of the AC wire member. As the proximal clip 1823' and the distal clip 1825' move toward each other, the first and second tabs 1863, 1864 also move toward each other to introduce tension into the wire member 1862. Rotation of the screw 23920 in a second opposite direction will drive the first and second clips away from each other along the tensioning axis TA. This movement of the first and second tabs 1823', 1825' away from each other will allow the first and second tabs 1863, 1864 to move away from each other to thereby reduce tension on the wire member 1862.

[00483] Figure 152 illustrates a closing sleeve 260 that can be used to close and/or open an anvil of an end actuator 300 as described in detail above or, put another way, the closing sleeve can be used to close one or more movable jaws of a surgical end actuator. Shown in cross section in that Figure, the closure sleeve 260 includes a proximal end 261 having therein an annular slot 262. This arrangement serves to secure the closure sleeve 260 to a movable closure member for axial displacement therewith, at the same time. at the same time as allowing the closing sleeve to rotate relative to the movable closing element 250 around the geometric axis of the drive shaft. As also described above, the movable closing element is axially actuated by a corresponding closing system or closing drive system, which is configured to generate closing actuation movements. Closing sleeve 260 additionally includes openings 266 that allow mounts on a rotating nozzle to extend therethrough to be seated in recesses in the center column of the drive shaft. This arrangement facilitates rotation of the central column of the drive shaft and the closing sleeve 260 about the geometric axis of the drive shaft when the nozzle is rotated relative to the handle. As discussed above, the elongated drive shaft assembly 200 additionally includes a switching cylinder 500 that is rotatably received in the closing sleeve 260. See Figures 3 and 4. The switching cylinder 500 comprises a drive shaft segment. hollow drive 502 having a drive shaft projection 504 formed thereon, intended to receive within it an outwardly projecting actuation pin 410. In various circumstances, the actuation pin 410 extends through a slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when it is engaged with the proximal pivot actuator 230 Additional details regarding those structures and their functioning are presented above. As further discussed above, the closure sleeve 260 also includes a dual pivot closure sleeve assembly to facilitate attachment of the closure sleeve 260 to an end actuator closure sleeve 272. The upper and lower tabs 264 and 265 are formed at the distal end of the closure sleeve 260, to facilitate such attachment in the various ways described above.

[00484] As also discussed above, to close the anvil of the end actuator (or to apply closing movements to the claws or other portions of the end actuator), the closing sleeve 260 is axially advanced in the distal direction DD by means of actuation of the closing system or closing drive system. The axial distance by which the closing sleeve 260 must move on the center column of the drive shaft to cause the anvil (or claw) to be moved to a closed position is called the "closing stroke." The maximum axial distance through which the closing sleeve must move to completely close the jaws or other portion of the end actuator may be referred to herein as the "complete closing stroke distance". This distance, for example, may comprise the total axial distance by which the closing sleeve 260 moves, from an initial or non-actuated position to an end position that corresponds to the fully closed end actuator position. In one embodiment, the complete closing stroke distance of the closing sleeve 260 is approximately 0.584 centimeters (0.230 inches), for example.

[00485] Figure 153 illustrates a multi-part closure member assembly 24260 that is configured to be movably supported on a central column assembly (not shown) of an elongated drive shaft assembly of the various types described herein. . As will be described below, a "distal closure member" or "distal closure sleeve" 24400 is configured to move an "axial closure distance" about the center column assembly that is less than a "full stroke distance." "closing sleeve" by which a corresponding "proximal closing member" or "proximal closing sleeve" 24261 moves in response to an application of a closing actuation movement from a closing system. As can be seen in Figure 153, the proximal closure sleeve 24261 may be identical to the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve 260 is reduced. Thus, those features of the proximal closure sleeve 24261 that are identical to the features of the closure sleeve 260 are identified in Figure 153 with similar element numbers. The proximal closure sleeve 24261 differs from the closure sleeve 260 in the following ways. First, the proximal closing sleeve 24261 terminates in a "neck portion" generically designated as 24300, and includes an internal blocking wall or contact portion 24302. In the illustrated embodiment, a distal end 24402 of the distal closure sleeve 24400 is identical to the distal end of the closure sleeve 260, and includes upper and lower tabs 264 and 265 to facilitate attachment of the end actuator closure sleeve in various ways. revealed here. The proximal end 24404 of the distal closure sleeve 24400 extends slidingly through an opening 24304 in the neck portion or the distal end 24300 of the proximal closure sleeve 24261. The proximal end 24404 of the distal closure sleeve portion 24400 is flared outward to prevent the distal closing sleeve 24400 from separating from the proximal closing sleeve 24261 while facilitating relative sliding movement between these components. Still referring to Figure 153, this arrangement facilitates the travel of the proximal closing sleeve 24261 for an axial distance in the distal direction DD, before the distal closing sleeve 24400 is axially advanced. This distance is called the "proximal travel zone" or "dead zone", designated as 24307. In one arrangement, for example, the proximal closing sleeve 24261 is configured to move through a full closing stroke distance of 0.584 centimeter (0.230 inch). In this arrangement, for example (with reference to Figure 153), the "proximal axial length" DZ of the proximal displacement zone 24307 may be, for example, in the range of 0.127 centimeter to 0.381 centimeter (0.050 inch to 0.150 inch). Thus, the proximal axial length DZ is less than the full closing stroke distance by which the proximal closing sleeve 24261 moves from an initial position to an end position, which corresponds to a complete closed condition of the end actuator. Stated differently, this arrangement serves to reduce the amount of axial displacement of the distal closing sleeve during actuation of the closing system. This arrangement also allows the distal closure sleeve 24400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 24261.

[00486] Figure 154 illustrates another multi-part closure member assembly 25260 that may be used in connection with an elongated drive shaft assembly of the various constructions described herein that include a central column assembly or arrangement upon which the closing member assembly 25260 may be movably supported. In this embodiment, the axial displacement of the distal closure sleeve 25400 is less than the axial displacement of the proximal closure sleeve 25261 when the proximal closure sleeve 25261 is axially advanced by the closure system through a complete closure stroke or sequence. The proximal closure sleeve 25261 may be identical to the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve 260 is reduced. Thus, those features of the proximal closure sleeve 25261 that are identical to the features of the closure sleeve 260 are identified with similar element numbers. The proximal closure sleeve 25261 interfaces with the closure system or closure drive system in the manner described above, and thus, when the closure system is actuated, the proximal closure sleeve 25261 will travel axially the same axial distance as it would. traveled by the closing sleeve 260 after actuation. The proximal closure sleeve 25261 differs from the closure sleeve 260 in the following ways. First, the proximal closure sleeve 25261 terminates in the neck portion generally designated as 25300. The distal end 24402 of the distal closure sleeve portion 24400 is identical to the distal end of the closure sleeve 260, and includes upper and lower tabs to facilitate securing the end actuator closing sleeve in the various ways disclosed herein. The proximal end 25404 of the distal closure sleeve 25400 extends slidingly through an opening 25304 in the neck portion 25300 of the proximal closure sleeve 25261. The proximal end 25404 of the distal closure sleeve 25400 includes an opening 25406 through which to extends a central flap member 25306. The central flap member 25306 serves to prevent the distal closing sleeve 25400 from separating from the proximal closing sleeve 25261. Additionally, the proximal end 25404 includes diametrically opposed slots 25308, which are configured to receive the corresponding upper and lower flaps 25310 inside. This arrangement facilitates displacement of the proximal closing sleeve 25261 by an axial distance in the distal direction DD, before the distal closing sleeve 24400 is thus advanced axially. The space between the flaps 25310 and the bottom of the slots 25308 is called the "proximal travel zone" or "dead zone", designated as 25307. The proximal closure sleeve 25261 is configured to move through a full travel distance of 0.584 centimeter (0.230 inch) closure. In this arrangement, for example (with reference to Figure 154), the "proximal axial length" DZ of the proximal displacement zone 25307 may be, for example, in the range of 0.127 centimeter to 0.381 centimeter (0.050 inch to 0.150 inch). Thus, the proximal axial length DZ is less than the full closing stroke distance by which the proximal closing sleeve 25261 moves from an initial position to an end position, which corresponds to a complete closed condition of the end actuator. Stated differently, this arrangement serves to reduce the amount of axial displacement of the distal closing sleeve during actuation of the closing system. This arrangement also allows the distal closure sleeve 25400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 25261.

[00487] Figure 155 illustrates another two-part closure member assembly 26260 that may be used in connection with an elongated drive shaft assembly of the various constructions described herein that include a central column assembly or arrangement upon which the closing member assembly 26260 may be movably supported. In this embodiment, the axial displacement of the distal closure sleeve 26400 is less than the axial displacement of the proximal closure sleeve 26261 when the proximal closure sleeve 26261 is axially advanced by the closure system through a complete closure stroke or sequence. The proximal closure sleeve 26261 may be identical to the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve 260 is reduced. Thus, those features of the proximal closure sleeve portion 26261 that are identical to the features of closing sleeve 260 are identified with similar element numbers. The proximal closure sleeve portion 26261 interfaces with the closure system in the manner described above, and thus, when the closure system or the closure drive system is actuated, the proximal closure sleeve portion 26261 can travel axially. the same distance that would be covered by the closing sleeve 260, after actuation. The proximal closure sleeve 26261 differs from the closure sleeve 260 in the following ways. First, the proximal closure sleeve 26261 has a flanged distal end 26300. In particular, an annular flange 26302 extends inwardly from the distal end 26300 and defines an opening 26304. The distal end of the distal closure sleeve 26400 is identical to the distal end of the closure sleeve 260, and includes upper and lower tabs to facilitate attachment of the end actuator closure sleeve in the various ways disclosed herein. The proximal end 26404 of the distal closing sleeve 26400 extends slidingly through an opening 26304 in the distal end 26300 of the proximal closing sleeve 26261. The proximal end 26404 of the distal closing sleeve 26400 extends through the opening 26304 and includes a Outwardly extending annular flange 26406 which, in cooperation with the inwardly extending annular flange 26302, prevents the distal closing sleeve 26400 from separating from the proximal closing sleeve 26261. Additionally, the proximal closing sleeve 26261 includes a locking portion that is proximal to said distal end 26300. In the illustrated arrangement, the locking portion comprises an inwardly extending crimped portion 26306. This arrangement facilitates displacement of the proximal locking sleeve 26261 an axial distance in the distal direction DD before the crimped portion 26306 contacts the annular flange 26406 to axially drive the distal closing sleeve 26400 in the DD distal direction. The space between the crimped portion 26306 and the outwardly extending flange 26406 is called the "proximal travel zone" or "dead zone", designated as 26307. The proximal closure sleeve 26261 is configured to move through a distance full closing stroke of, for example, 0.584 centimeter (0.230 inch). In this arrangement, for example (with reference to Figure 154), the "proximal axial length" DZ of the proximal displacement zone 26307 may be, for example, in the range of 0.127 centimeter to 0.381 centimeter (0.050 inch to 0.150 inch). Thus, the proximal axial length DZ is less than the full closing stroke distance by which the proximal closing sleeve 26261 moves from an initial position to an end position, which corresponds to a complete closed condition of the end actuator. Stated differently, this arrangement serves to reduce the amount of axial displacement of the distal closing sleeve during actuation of the closing system. This arrangement also allows the distal closure sleeve 26400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 26261.

[00488] Figure 156 illustrates another two-part closure member assembly 27260 that may be used in connection with an elongated drive shaft assembly of the various constructions described herein that include a central column assembly or arrangement upon which the closing member assembly 27260 may be movably supported. In this embodiment, the axial displacement of the distal closure sleeve 27400 is less than the axial displacement of the proximal closure sleeve 27261 when the proximal closure sleeve 27261 is axially advanced by the closure system through a complete closure stroke or sequence. The portion of the proximal closure sleeve 27261 may be identical to the portion of the proximal closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve 260 is reduced. Thus, those features of the proximal closure sleeve portion 27261 that are identical The features of the closure sleeve 260 are identified with similar element numbers. The proximal closure sleeve portion 27261 interfaces with the closure system or the closure drive system in the manner described above, and thus, when the closure system or the closure drive system is actuated, the closure sleeve proximal 27261 can travel axially the same distance that would be covered by closing sleeve 260 after actuation. The proximal closure sleeve 27261 differs from the closure sleeve 260 in the following ways. First, the proximal closure sleeve 27261 has a flanged distal end 27300. In particular, an annular flange 27302 extends inwardly from the distal end 27300 and defines an opening 27304. The distal end of the distal closure sleeve 27400 is identical to the distal end of the closure sleeve 260, and includes upper and lower tabs to facilitate attachment of the end actuator closure sleeve in the various ways disclosed herein. The proximal end 27404 of the distal closing sleeve 27400 extends slidingly through an opening 27304 in the distal end 27300 of the proximal closing sleeve 27261. The proximal end 27404 of the distal closing sleeve 27400 extends through the opening 27304 and includes a In addition, a locking ring 27305 is attached to the proximal closing sleeve 27261, inside the distal end 27300. The locking ring 27305 can be welded to the proximal closing sleeve 27261, for example. Locking ring 27305 includes an inwardly extending proximal locking flange 27306. This arrangement facilitates displacement of the proximal locking sleeve 27261 an axial distance in the distal direction DD before the locking flange 27306 comes into contact with the annular 27406 for axially driving the distal closing sleeve portion 27400 in the distal direction DD. The space 27307 between the proximal locking flange 27306 and the outwardly extending flange 27406 is called the "proximal travel zone" or "dead zone." In an arrangement, for example, that has a full closing stroke distance of 0.584 centimeters (0.230 inch), the "proximal axial length" DZ of the proximal displacement zone 27307 may be, for example, in the range of 0.127 centimeter to 0.381 centimeter (0.050 inch to 0.150 inch). Thus, the proximal axial length DZ is less than the full closing stroke distance by which the proximal closing sleeve 27261 moves from an initial position to an end position, which corresponds to a complete closed condition of the end actuator. Stated differently, this arrangement serves to reduce the amount of axial displacement of the distal closing sleeve during actuation of the closing system. This arrangement also allows the distal closure sleeve 27400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 27261.

[00489] Figures 157 to 158 illustrate another embodiment of distal closing sleeve 28260, wherein the distal closing sleeve portion 28400 moves a distance that is shorter than a distance through which a distal closing sleeve portion moves. proximal closure 28261, when the closure system is actuated through a complete closure stroke or sequence. The portion of the proximal closure sleeve 28261 may be essentially identical to the portion of the proximal closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve 260 is reduced. Thus, those features of the proximal closure sleeve portion 28261 that are features identical to closure sleeve 260 are identified with similar element numbers. The proximal closure sleeve portion 28261 interfaces with the closure system in the manner described above, and thus, when the closure system is actuated, the proximal closure sleeve portion 28261 can travel axially the same distance as would be traveled by the closing sleeve 260, after actuation. The proximal closure sleeve portion 28261 differs from the closure sleeve 260 in the manner discussed below. First, the proximal closing sleeve portion 28261 is configured to interface with a closing stroke reduction assembly, generally designated as 29000.

[00490] As can be seen in Figures 157 to 158, in the illustrated arrangement, the closing stroke reduction assembly 29000 comprises a proximal mounting ring 29002 that has a proximal hub portion 29004 to which the distal end is received and secured. 28300 of the proximal closure sleeve 28261. For example, the distal end 28300 of the proximal closure sleeve 28261 may be attached to the proximal hub portion 29004 by means of welding, adhesive, etc. In this way, the proximal mounting ring 29002 will move axially with the proximal closing sleeve 28261. As can further be seen in Figures 157 and 158, an inwardly extending proximal flange 29006 extends from the proximal end of the proximal hub 29004. An orifice 29008 is provided through the proximal flange 29006 to slidingly receive therethrough the central column assembly of the drive shaft 2210, 2212. A conically shaped distal member 29010 is attached to the distal end of the proximal mounting ring 29002. The conically shaped distal member 29010 may be attached to the proximal mounting ring 29002 by, for example, welding, adhesive, etc., and is free to slide over the distal closing sleeve portion 28400 when the ring Proximal Mount 29002 is distally advanced.

[00491] The proximal mounting ring 29002 is slidably supported on a distal mounting ring 29020 that is secured to the distal closing sleeve portion 28400. The distal mounting ring 29020 includes a distal portion 29022 that has a mounting hub proximal 29024 projecting from it. The proximal mounting hub 29024 has a diameter that is smaller than the diameter of the distal portion 29022 of the distal mounting ring 29020. The proximal mounting hub 29024 may be attached to the proximal end 28404 of the distal closing sleeve portion 28400 by welding, sticker etc. The proximal hub portion 29004 of the proximal mounting ring 29024 is slidably received in the proximal mounting hub 29024 for axial displacement thereon. A compression spring 29032 is received within a spring cavity 29030 formed between the distal portion 29022 of the distal mounting ring 29020 and the proximal hub portion 29004 of the proximal mounting ring 29002. When the closure system is in a configuration unactuated, the proximal flange 29006 of the proximal hub portion 29004 is spaced by a "proximal travel zone" or "proximal dead zone" 29009 relative to the proximal end 28404 of the distal closure sleeve 28400. The proximal axial length of the proximal shift 29009 is designated as DZ. The spring cavity 29030 may also be called the "distal displacement zone" or "distal dead zone", and has a distal axial length DS which may comprise the axial length of the dead zone DZ plus an amount of clearance necessary to accommodate the spring of compression 29032, when in its fully compressed state. In an arrangement, for example, that has a full closing stroke distance of 0.584 centimeter (0.230 inch), the "proximal axial length" DZ of the proximal displacement zone 29009 may be, for example, in the range of 0.127 centimeter to 0.381 centimeter (0.050 inch to 0.150 inch) and the distal axial length DS may be in the range of 0.254 centimeter to 0.508 centimeter (0.100 inch to 0.200 inch) plus the length required to accommodate a fully compressed compression spring 29032. Put another way, In the illustrated arrangement, DS is always greater than DZ. Thus, the proximal axial length DZ is less than the full closing stroke distance by which the proximal closing sleeve 27261 moves from an initial position to an end position, which corresponds to a complete closed condition of the end actuator. This arrangement facilitates displacement of the proximal closing sleeve portion 28261 an axial distance in the distal direction DD, before the proximal flange 29006 of the proximal mounting ring 29002 contacts the proximal end 28404 of the distal closing sleeve portion 28400 to axially drive the distal closing sleeve portion 28400 in the distal direction DD. The 29000 Closing Stroke Reduction Assembly is supplied in multiple pieces to optimize ease of assembly. This arrangement serves to reduce the amount of axial displacement of the distal closure sleeve portion 28400 during actuation of the closure system. This arrangement employs a distal closing sleeve portion 28400 that has an outer diameter that is smaller than the outer diameter of the proximal closing sleeve portion 28261. In alternative embodiments, the closing stroke reduction assembly could be located anywhere inside the drive shaft assembly (e.g., within the nozzle portion, along the length of the drive shaft, at the pivot joint, or at the end actuator pivot). Specifically, there could be a gap in the end actuator pivot/joint to allow dead stroke during closing.

[00492] The surgical instrument systems described here are driven by an electric motor; however, the surgical instrument systems described herein may be induced in any suitable manner. In various examples, the surgical instrument systems described herein can be induced, for example, by a manually operated trigger. The engine or engines may comprise a portion or portions of a robotically controlled system.

[00493] The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described in the present invention are not limited in this way. Several modalities are envisaged, which implement fasteners in addition to staples, such as claws or tacks, for example. Furthermore, various embodiments are contemplated which utilize any suitable means for sealing the tissue. For example, an end actuator, in accordance with various embodiments, may comprise electrodes configured to heat and seal the tissue. Likewise, for example, an end actuator in accordance with certain embodiments, may apply vibrational energy to seal the tissue.

[00494] The surgical instrument systems described herein are driven by one or more electric motors; however, the surgical instrument systems described herein may be induced in any suitable manner. In various examples, the surgical instrument systems described herein can be induced, for example, by a manually operated trigger. Examples

[00495] Example 1 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. A surgical end actuator is pivotally coupled to the elongated drive shaft assembly for selective articulation with respect to the elongated drive shaft assembly about a pivot axis that is transverse and laterally displaced relative to the geometric axis of the drive shaft. drive. The surgical end actuator defines an end actuator axis and is configured to be selectively hinged between a non-hinged position, in which the actuator axis is axially aligned with the drive shaft axis, and a maximum hinged position in a side of the geometric axis of the drive shaft, in which the geometric axis of the end actuator is perpendicular to the geometric axis of the drive shaft. A hinge system operationally interfaces with the surgical end actuator to selectively move the surgical end actuator between the non-articulated position and the hinged positions.

[00496] Example 2 - The surgical instrument of Example 1, in which the articulation system comprises a articulation drive member operatively coupled to the surgical end actuator to selectively apply pushing and pulling movements thereto.

[00497] Example 3 - The surgical instrument of Examples 1 or 2, in which the articulation system comprises a disarticulation member that is configured to selectively apply only a pulling movement to the surgical end actuator.

[00498] Example 4 - The surgical instrument of Examples 1, 2 or 3, in which the articulation system comprises an end actuator drive link that is coupled to the surgical end actuator. A distal pivot actuator is coupled to the drive link of the end actuator and configured to selectively apply a pushing motion and a pulling motion thereto. A disarticulation member is attached to the surgical end actuator, and is configured to apply only a pulling motion thereto.

[00499] Example 5 - The surgical instrument of Examples 1, 2 or 3, in which the articulation system comprises an end actuator drive link that is coupled to the surgical end actuator. A distal pivot actuator is coupled to the drive link of the end actuator and configured to selectively apply a pushing motion and a pulling motion thereto. A disarticulation member configured to apply a disarticulation motion to the surgical end actuator.

[00500] Example 6 - The surgical instrument of Examples 1, 2, 3, 4 or 5, in which the surgical end actuator is pivotally coupled to the elongated drive shaft assembly by means of a spring pin that defines the geometric axis of articulation, and which is configured to apply a disarticulation prone movement to the surgical end actuator.

[00501] Example 7 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. The surgical instrument further comprises a surgical end actuator that defines a geometric axis of the end actuator. A pivot joint is configured to facilitate articulation of the surgical end actuator relative to the elongated drive shaft assembly between a non-hinged position, wherein the edge actuator axis is axially aligned with the drive shaft axis. and a fully articulated position, in which the end actuator geometric axis is perpendicular to the geometric axis of the drive shaft; The surgical instrument further comprises means for applying a hinge movement to the surgical end actuator. The means for application are positioned only along a lateral side of the geometric axis of the drive shaft.

[00502] Example 8 - The surgical instrument of Example 7, in which a proximal end of the surgical end actuator is angled with respect to the geometric axis of the end actuator, and wherein a distal end of the elongated drive shaft assembly is angled relative to the geometric axis of the drive shaft.

[00503] Example 9 - The surgical instrument of Example 8, in which the proximal end of the surgical end actuator is oriented at an angle of the end actuator with respect to the geometric axis of the end actuator, and in which the distal end of the assembly of elongated drive shaft is oriented at an angle of the drive shaft with respect to the geometric axis of the drive shaft.

[00504] Example 10 - The surgical instrument of Example 8, in which the angle of the end actuator and the angle of the drive shaft are equal to each other.

[00505] Example 11 - The surgical instrument of Examples 7, 8, 9 or 10, which additionally comprises means for applying a disarticulation movement to the surgical end actuator.

[00506] Example 12 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical instrument further comprises a surgical end actuator comprising a proximal end that is pivotally coupled to the distal end of the elongated drive shaft assembly for selective pivoting displacement thereof about a pivot axis that is laterally displaced in relation to the geometric axis of the drive shaft and extends transversely in relation to it. The surgical instrument further comprises a linkage system comprising an end actuator drive link that is operatively coupled to the surgical end actuator. A hinge driver is supported for longitudinal displacement in distal and proximal directions upon applying hinge movements thereto. The pivot driver is coupled to the end actuator drive link to selectively pivot the surgical end actuator relative to the elongated drive shaft assembly about the pivot axis. A flexible disarticulation member is coupled to the elongated drive shaft assembly and the surgical end actuator to apply disarticulation movements to the surgical end actuator.

[00507] Example 13 - The surgical instrument of Example 12, in which the articulation driver is configured to apply a first articulation movement to the surgical end actuator only in a articulation direction that is transverse to the geometric axis of the drive shaft.

[00508] Example 14 - The surgical instrument of Examples 12 or 13, in which the surgical end actuator defines an end actuator geometric axis, and in which the end actuator is movable between a non-hinged position, in which the axis geometric axis of the actuator is axially aligned to the geometric axis of the drive shaft, and a maximum hinged position on a lateral side of the geometric axis of the drive shaft, wherein the geometric axis of the end actuator is perpendicular to the geometric axis of the drive shaft.

[00509] Example 15 - The surgical instrument of Examples 12, 13 or 14, in which the articulation driver and the end actuator drive link are located on a lateral side of the geometric axis of the drive shaft, when the end actuator surgical is in a non-articulated orientation.

[00510] Example 16 - The surgical instrument of Examples 12, 13, 14 or 15, in which the surgical end actuator comprises a firing member that is configured for axial displacement within the surgical end actuator, and in which the assembly The elongated drive shaft further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in the distal direction in response to a firing motion applied thereto. The firing bar is also selectively movable in the proximal direction in response to a retraction movement being applied thereto.

[00511] Example 17 - The surgical instrument of Examples 12, 13, 14, 15 or 16, in which said proximal end of said surgical end actuator is pivotally secured to said distal end of the drive shaft assembly elongated by means of a pivot pin, and wherein the flexible disarticulation member is configured to flex about said pivot pin when the surgical end actuator is pivoted about the pivot axis.

[00512] Example 18 - The surgical instrument of Examples 12, 13, 14, 15, 16 or 17, in which the proximal end of the surgical end actuator is angled relative to the geometric axis of the end actuator, and in which the end distal portion of the elongated drive shaft assembly is angled with respect to the geometric axis of the drive shaft.

[00513] Example 19 - The surgical instrument of Example 18, in which the proximal end of the surgical end actuator is oriented at an angle of the end actuator with respect to the geometric axis of the end actuator, and in which the distal end of the assembly of elongated drive shaft is oriented at an angle of the drive shaft with respect to the geometric axis of the drive shaft.

[00514] Example 20 - The surgical instrument of Example 19, in which the angle of the end actuator and the angle of the drive shaft are equal to each other.

[00515] Example 21 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical end actuator further comprises a proximal end that is pivotally coupled to the distal end of the elongated drive shaft assembly such that the surgical end actuator is selectively movable between a non-articulated position and a fully articulated position relative to to the geometric axis of the drive shaft. A firing bar is movably supported within a route in the elongated drive shaft assembly for selective longitudinal displacement therein. The route is configured to position a portion of the firing bar exiting the distal end of the elongated drive shaft member to an off-axis position relative to the axis of the drive shaft.

[00516] Example 22 - The surgical instrument of example 21, in which the trajectory comprises a first route portion that is aligned about the geometric axis of the drive shaft, and a second arcuate route portion that communicates with the first portion of rotates and curves in a first direction, away from the geometric axis of the drive shaft. The route further comprises a third arcuate route portion which communicates with the second arcuate route portion and which curves in a second direction, approaching the geometric axis of the drive shaft.

[00517] Example 23 - The surgical instrument of Examples 22 or 21, in which the surgical end actuator is configured to articulate in only one articulation direction that is transverse to the geometric axis of the drive shaft.

[00518] Example 24 - The surgical instrument of Examples 21, 22 or 23, in which the proximal end of the surgical end actuator is pivotally coupled to the elongated drive shaft assembly, at an attachment location at the distal end of the assembly of elongated drive shaft, for selective pivoting displacement between the non-articulated position and the fully articulated position around a pivot axis that extends transversely with respect to the drive shaft's geometric axis, but does not intersect the shaft's geometric axis of drive.

[00519] Example 25 - The surgical instrument of Examples 21, 22, 23 or 24, which further comprises a pivot actuator that is supported for longitudinal displacement relative to the elongated drive shaft assembly, and which is coupled to the end actuator surgery to apply joint movements to it.

[00520] Example 26 - The surgical instrument of Example 25, in which the pivot actuator is configured to apply pushing and pulling movements to the surgical end actuator.

[00521] Example 27 - The surgical instrument of Examples 21, 23, 24, 25 or 26, in which the route comprises a first route portion that is axially aligned about the geometric axis of the drive shaft and a second route portion that communicates with the first route portion and extends distally therefrom such that at least a portion of the second route portion is not axially aligned with the geometric axis of the drive shaft.

[00522] Example 28 - The surgical instrument of Examples 21, 22, 23, 24, 25, 26 or 27, in which the trigger bar comprises a plurality of layers of rods that are laminated to each other.

[00523] Example 29 - The surgical instrument of Examples 21, 22, 23, 24, 25, 26, 27 or 28, in which the surgical end actuator comprises a trigger member that operatively interfaces with the trigger bar, and is configured for axial displacement within the surgical end actuator.

[00524] Example 30 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical instrument further comprises a surgical end actuator that includes a proximal end. A pivot joint couples the proximal end of the surgical end actuator to said distal end of the elongated drive shaft assembly. A firing bar is movably supported within said elongated drive shaft assembly for longitudinal displacement therein along said geometric axis of the drive shaft. The surgical instrument further comprises means for biasing a portion of the firing bar into an arcuate configuration out of axial alignment with the geometric axis of the drive shaft, prior to the pivot joint.

[00525] Example 31 - The surgical instrument of Example 30, in which the articulated joint pivotably couples the proximal end of the surgical end actuator to the distal end of the elongated drive shaft assembly, for selective articulation with respect to the shaft assembly drive shaft elongated around a geometric axis of articulation that is transverse to, and displaced laterally with respect to, the geometric axis of the drive shaft.

[00526] Example 32 - The surgical instrument of Examples 30 or 31, in which the surgical end actuator defines a geometric axis of the end actuator, and wherein the surgical end actuator is selectively pivotable between a non-hinged position, wherein the geometric axis of the end actuator is axially aligned with the geometric axis of the drive shaft, and a fully articulated position located on a lateral side of the geometric axis of the drive shaft.

[00527] Example 33 - The surgical instrument of Examples 30, 31 or 32, in which the firing bar comprises a plurality of layers of rods that are laminated to each other.

[00528] Example 34 - The surgical instrument of Examples 30, 31, 32 or 33, in which the surgical end actuator comprises a trigger member that operationally interfaces with the trigger bar, and is configured for axial displacement within the surgical end actuator.

[00529] Example 35 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical instrument further comprises a surgical end actuator that includes a proximal end. A pivot joint couples the proximal end of the surgical end actuator to said distal end of the elongated drive shaft assembly. A firing bar is movably supported within said elongated drive shaft assembly for longitudinal displacement therein along said geometric axis of the drive shaft. The surgical instrument further comprises means for biasing a portion of the firing bar out of axial alignment with the geometric axis of the drive shaft, prior to the pivot joint.

[00530] Example 36 - The surgical instrument of Example 35, in which the articulated joint pivotably couples the proximal end of the surgical end actuator to the distal end of the elongated drive shaft assembly, for selective articulation with respect to the shaft assembly drive shaft elongated around a geometric axis of articulation that is transverse to, and displaced laterally with respect to, the geometric axis of the drive shaft.

[00531] Example 37 - The surgical instrument of Examples 35 or 36, in which the surgical end actuator defines a geometric axis of the end actuator, and wherein the surgical end actuator is selectively pivotable between a non-articulated position, wherein the geometric axis of the end actuator is axially aligned with the geometric axis of the drive shaft, and a fully articulated position located on a lateral side of the geometric axis of the drive shaft.

[00532] Example 38 - The surgical instrument of Examples 35, 36 or 37, in which the trigger bar comprises a plurality of layers of rods that are laminated to each other.

[00533] Example 39 - The surgical instrument of Examples 35, 36, 37 or 38, in which the surgical end actuator comprises a trigger member that operationally interfaces with the trigger bar, and is configured for axial displacement within the surgical end actuator.

[00534] Example 40 - The surgical instrument of Examples 35, 36, 37, 38 or 39, in which the means comprise an arcuate path in a central column portion of the elongated drive shaft assembly. The arcuate path is configured to receive the firing bar within it in a sliding manner, and opens at a distal end of the central column portion, at a location that is axially displaced with respect to the geometric axis of the drive shaft.

[00535] Example 41 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further comprises a hinge system that includes a single hinge driver that is supported for longitudinal displacement along a trajectory that is laterally displaced relative to the geometric axis of the drive shaft. A transverse link is coupled to the pivot driver and extends transversely through the axis of the drive shaft to be coupled to the surgical end actuator.

[00536] Example 42 - The surgical instrument of Example 41, in which the geometric axis of articulation intersects the geometric axis of the drive shaft.

[00537] Example 43 - The surgical instrument of Example 41, in which the surgical end actuator defines a geometric axis of the end actuator, and wherein the surgical end actuator is selectively articulable between a non-articulated position, in which the axis geometric axis of the end actuator is axially aligned with the geometric axis of the drive shaft, and a fully articulated position situated on a lateral side of the geometric axis of the drive shaft, wherein the geometric axis of the end actuator is transverse to the geometric axis of the drive shaft.

[00538] Example 44 - The surgical instrument of Example 43, in which, when the surgical end actuator is in the fully articulated position, the geometric axis of the end actuator is located at an articulation angle with respect to the geometric axis of the axis of drive. The articulation angle is at least sixty-five degrees.

[00539] Example 45 - The surgical instrument of Examples 43 or 44, in which the surgical end actuator is selectively articulated to another fully articulated position located on another lateral side of the geometric axis of the drive shaft.

[00540] Example 46 - The surgical instrument of Examples 41, 42, 43, 44 or 45, in which the transverse link is pivotally coupled to the proximal end of the surgical end actuator, around a geometric axis of the link that is parallel to the geometric axis of articulation.

[00541] Example 47 - The surgical instrument of Examples 41, 42, 43, 44, 45 or 46, in which the single distal hinge driver is configured to apply pushing and pulling movements to said transverse link.

[00542] Example 48 - The surgical instrument of Examples 41, 42, 43, 44, 45, 46 or 47, in which the surgical end actuator comprises a firing member that is configured for axial displacement within the surgical end actuator , and wherein the elongated drive shaft assembly further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in a distal direction in response to a firing motion applied thereto, and in a proximal direction in response to a retraction movement applied thereto.

[00543] Example 49 - The surgical instrument of Example 48, which further comprises an intermediate support member that is configured to laterally support the firing member when the surgical end actuator is pivoted about the pivot axis. The intermediate support member is pivotally coupled to the surgical end actuator and is hingedly and slidably supported relative to the elongated drive shaft assembly.

[00544] Example 50 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical instrument further comprises a surgical end actuator that includes a proximal end that is pivotally coupled to said elongated drive shaft assembly at an attachment location at said distal end of said elongated drive shaft assembly for selective pivot displacement. around a geometric axis of articulation that extends transversely with respect to the geometric axis of the drive shaft. A linkage actuator assembly is supported for longitudinal displacement relative to the elongated drive shaft assembly, along a linkage actuation axis that is parallel to the axis of the drive shaft and is spaced to a first lateral side of the shaft. geometry of the drive shaft. The articulation driver assembly is coupled to the surgical end actuator in a single fixation location that is located on another lateral side of the geometric axis of the drive shaft.

[00545] Example 51 - The surgical instrument of Example 50, in which the joint driver assembly comprises a distal joint driver that is supported by the elongated drive shaft assembly for longitudinal displacement along the geometric axis of joint actuation, in response to joint control movements applied to it. A transverse link is coupled to said distal hinge actuator and extends transversely through the axis of the drive shaft to be coupled to the surgical end actuator at the single attachment location.

[00546] Example 52 - The surgical instrument of Examples 50 or 51, in which the proximal end of the surgical end actuator is pivotally coupled to the distal end of the elongated drive shaft assembly by a pivot member defining the geometric axis of articulation.

[00547] Example 53 - The surgical instrument of Examples 51 or 52, in which the transverse link has a curved shape.

[00548] Example 54 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical instrument further comprises a surgical end actuator comprising a proximal end that is pivotally coupled to the elongated drive shaft assembly at an attachment location at the distal end of the elongated drive shaft assembly for selective pivoting displacement about a axis of articulation extending transversely with respect to the geometric axis of the drive shaft, through a first range of articulation angles on a first lateral side of the geometric axis of the drive shaft, and through a second range of articulation angles on a second lateral side of the geometric axis of the drive shaft. A pivot actuator assembly is supported for longitudinal displacement relative to the elongated drive shaft assembly along a pivot actuation axis that is parallel to, and laterally displaced about, one of the first and second lateral sides of the geometric axis of the drive shaft. The articulation driver assembly is coupled to the surgical end actuator at a single attachment location that is situated on the other side between the first and second lateral sides of the axis of the drive shaft, to selectively apply pulling and pushing movements to the surgical end actuator.

[00549] Example 55 - The surgical stapling instrument of Example 54, in which the first range of joint angles is between one degree and sixty-five degrees, and wherein the second range of joint angles is between one degree and sixty and five degrees.

[00550] Example 56 - The surgical instrument of Examples 54 or 55, in which the joint driver assembly comprises a distal joint driver that is supported by the elongated drive shaft assembly for longitudinal displacement in response to joint control movements applied to the same. A transverse link is coupled to the distal hinge actuator and extends transversely through the axis of the drive shaft to be coupled to the surgical end actuator at the attachment site.

[00551] Example 57 - The surgical instrument of Example 56, in which, when the distal hinge driver is moved in a distal direction, the surgical end actuator is pivoted in a first hinge direction, and when the distal hinge driver is moved in a proximal direction, the surgical end actuator is pivoted in a second pivot direction.

[00552] Example 58 - The surgical stapling instrument of Example 57, in which the surgical end actuator comprises a trigger member that is configured for axial displacement within the surgical end actuator, and the drive shaft assembly The elongated member further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in a distal direction in response to a firing motion applied thereto, and in a proximal direction in response to a retracting motion applied thereto. the same.

[00553] Example 59 - The surgical stapling instrument of Example 58, which further comprises an intermediate support member that is configured to laterally support the firing member when the surgical end actuator is pivoted about the pivot axis. The intermediate support member is pivotally coupled to the surgical end actuator and is hingedly and slidably supported relative to the elongated drive shaft assembly.

[00554] Example 60 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal end. The surgical instrument further comprises a surgical end actuator that includes a proximal end that is pivotally coupled to the elongated drive shaft assembly for selective pivoting displacement about a hinge axis that extends transversely with respect to the axis of the drive shaft. An arrangement of pivot links configured for rotation about the axis of the drive shaft such that rotation of the array of pivot links induces articulation of the surgical end actuator about the axis of pivot relative to the assembly of elongated drive shaft. The surgical instrument further comprises means for selectively rotating the arrangement of articulation links about the geometric axis of the drive shaft.

[00555] Example 61 - The surgical instrument of Example 60, in which the arrangement of articulation links comprises a central articulation link that is movably coupled to the distal end of the elongated drive shaft assembly. A drive link of the end actuator is movably coupled to the central pivot link for pivoting displacement relative thereto. The end actuator drive link is operatively coupled to the surgical end actuator for selective pivoting and axial displacement relative thereto. The means for selective rotation comprises a pivot actuator that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. The articulation driver is operatively coupled to the central articulation link.

[00556] Example 62 - The surgical instrument of Example 61, in which the end actuator drive link comprises a proximal drive link end that is pivotally coupled to the central pivot link, and a distal drive link end that comprises an axial slot that is configured to slidingly receive therein an end actuator attachment member.

[00557] Example 63 - The surgical instrument of Example 62, in which the end of the proximal drive link is in pivoting geared engagement with a distal end of the elongated drive shaft assembly.

[00558] Example 64 - The surgical instrument of Example 62, in which the articulation driver is movably coupled to the central articulation link by means of an intermediate driver link.

[00559] Example 65 - The surgical instrument of Examples 62, 63 or 64, in which the central pivot link is pivotally coupled to the distal end of the elongated drive shaft assembly for pivoting displacement relative thereto around the shaft geometric articulation.

[00560] Example 66 - The surgical instrument of Examples 62, 63, 64 or 65, in which the central pivot link comprises a triangular-shaped link that is pivotally coupled to the distal end of the elongated drive shaft assembly for displacement pivoting in relation to it around the geometric axis of articulation.

[00561] Example 67 - The surgical instrument of Examples 62, 63, 64, 65 or 66, in which the surgical end actuator defines a geometric axis of the end actuator that is configured for axial alignment with the geometric axis of the drive shaft , when the surgical end actuator is in a non-pivot position, and wherein the pivot actuator is supported for selective longitudinal displacement along a lateral side of the geometric axis of the drive shaft, and wherein the actuator attachment member is situated on a secondary lateral side of the axis of the end actuator drive shaft that corresponds to a second lateral side of the axis of the drive shaft.

[00562] Example 68 - The surgical instrument of Examples 62, 63, 64, 65, 66 or 67, in which the distal end of the elongated drive shaft assembly comprises an arcuate sun gear segment, and wherein the drive link of the End actuator comprises a planetary gear portion in mesh engagement with the arcuate sun gear segment.

[00563] Example 69 - The surgical instrument of Example 68, in which the planetary gear portion comprises a plurality of planetary gear teeth formed on a proximal end of the end actuator drive link.

[00564] Example 70 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further includes a pivot system comprising a pivot driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. The articulation system further comprises means for operative coupling of the articulation driver to the surgical end actuator. The means for operational coupling are configured to apply pivot movements to the surgical end actuator in response to longitudinal movement of the pivot actuator. The means for operational coupling are further configured to pivot and axially move relative to the surgical end actuator.

[00565] Example 71 - The surgical instrument of Example 70, in which the articulation driver is coupled to the means for operational coupling on a lateral side of the geometric axis of the drive shaft, and the means for operational coupling are coupled to the actuator surgical end point on another lateral side of the geometric axis of the drive shaft.

[00566] Example 72 - The surgical instrument of Examples 70 or 71, in which the surgical end actuator comprises a trigger member that is configured for axial displacement within the surgical end actuator, and the drive shaft assembly The elongated member further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in a distal direction in response to a firing motion applied thereto, and in a proximal direction in response to a retracting motion applied thereto. the same.

[00567] Example 73 - The surgical instrument of Examples 71 or 72, in which the means for operational coupling comprise a triangular-shaped link comprising a first corner portion of the link that is operatively coupled to the articulation driver. The triangular-shaped link further comprises a second link corner portion that operatively interfaces with the surgical end actuator, and a third link corner portion that is pivotally coupled to a distal end of the elongated drive shaft assembly. .

[00568] Example 74 - The surgical instrument of Example 73, in which the third corner portion of the link is pivotably coupled to the distal end of the elongated drive shaft assembly for pivoting displacement relative thereto, around the geometric axis of articulation.

[00569] Example 75 - The surgical instrument of Examples 73 or 74, in which the second corner portion of the triangular-shaped link is operatively coupled to an end actuator drive link, which is coupled to the surgical end actuator for pivoting displacement and axial in relation to it.

[00570] Example 76 - The surgical instrument of Examples 73, 74 or 75, in which the end actuator drive link comprises an intermediate proximal drive link end that is pivotally coupled to the triangular-shaped link, and a of the end actuator driving link comprising an axial slot that is configured to slidingly receive therein an end actuator securing member.

[00571] Example 77 - A surgical instrument comprising an elongated drive shaft assembly that includes a distal end and a drive shaft axis. A surgical end actuator is pivotally coupled to the distal end of the elongated drive shaft assembly for selective pivoting displacement about a pivot axis that is transverse to the drive shaft axis. A stationary sun gear segment at the distal end of the elongated drive shaft assembly. The surgical instrument further comprises an end actuator drive link that includes a distal end that is coupled to the end actuator for pivoting and axial displacement relative thereto, and a proximal end that comprises a planetary gear segment that is supported in engagement. geared with the stationary sun gear segment. A selectively movable pivot actuator assembly operationally interfaces with the end actuator drive link to apply pivot movements thereto.

[00572] Example 78 - The surgical instrument of Example 77, wherein the pivot drive assembly comprises a pivot drive member that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction along a geometric axis that is parallel to and offset from the geometric axis of the drive shaft. A set of links is coupled to the distal pivot drive member at a first attachment location on one side of the axis of the drive shaft. Furthermore, the link assembly is additionally coupled to the end actuator drive link.

[00573] Example 79 - The surgical instrument of Examples 77 or 78, in which the surgical end actuator comprises a trigger member that is configured for axial displacement within the surgical end actuator, and the drive shaft assembly The elongated member further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in a distal direction in response to a firing motion applied thereto, and in a proximal direction in response to a retracting motion applied thereto. the same.

[00574] Example 80 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further comprises a hinge system comprising a first hinge driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. The articulation system further comprises a first end actuator link that is movably coupled to the surgical end actuator. The first link of the end actuator is coupled to the first pivot actuator for axial displacement and pivoting relative thereto. A second pivot driver is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in the distal and proximal directions. A second end actuator link is movably coupled to the surgical end actuator. The second link of the end actuator is coupled to the second pivot actuator for axial displacement and pivoting relative to the same.

[00575] Example 81 - The surgical instrument of Example 80, in which the first link of the end actuator is coupled to the first pivot driver by means of a first coupling member received within a first axial slot in the first pivot driver to selective axial displacement within it, and wherein the second link of the end actuator is coupled to the second articulation driver by means of a second coupling member received within a second axial slot in the second articulation driver.

[00576] Example 82 - The surgical instrument of Example 81, in which the first axial slot is parallel to the geometric axis of the drive shaft, and the second axial slot is parallel to the geometric axis of the drive shaft.

[00577] Example 83 - The surgical instrument of Examples 81 or 82, in which the first coupler member comprises a first pin sized to rotate and move axially within the first axial slot, and wherein the second coupler member comprises a second pin sized to rotate and move axially within the second axial slot.

[00578] Example 84 - The surgical instrument of Examples 80, 81, 82 or 83, in which the first articulation driver is supported for selective longitudinal displacement along a first articulation axis extending along a lateral side of the drive shaft's geometric axis, and wherein the second articulation driver is supported for selective longitudinal displacement along a second articulation axis extending along another lateral side of the drive shaft's geometric axis.

[00579] Example 85 - The surgical instrument of Examples 80, 81, 82, 83 or 84, in which the surgical end actuator is configured to pivot about the articulation axis through a first range of articulation angles about a first lateral side of the geometric axis of the drive shaft, and through a second range of pivot angles on a second lateral side of the geometric axis of the drive shaft.

[00580] Example 86 - The surgical instrument of Example 85, in which the first range of joint angles is between one degree and sixty-five degrees, and the second range of joint angles is between one degree and sixty-five degrees.

[00581] Example 87 - The surgical instrument of Examples 80, 81, 82, 83, 84, 85 or 86, in which the surgical end actuator comprises a firing member that is configured for axial displacement within the surgical end actuator , and wherein the elongated drive shaft assembly further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in the distal direction in response to a firing motion applied thereto, and in the direction proximal in response to a retraction movement applied to it.

[00582] Example 88 - The surgical instrument of Examples 80, 81, 82, 83, 84, 85, 86 or 87, in which the first link of the end actuator is curved, and wherein the second link of the end actuator is curved.

[00583] Example 89 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further comprises a hinge system comprising a first hinge driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. A first link of the end actuator is pivotally coupled to the surgical end actuator. The first link of the end actuator is coupled to the first pivot actuator at a first attachment point. A second pivot driver is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in the distal and proximal directions. A second end actuator link is pivotally coupled to the surgical end actuator. The second end actuator link is coupled to the second pivot actuator at a second attachment point. The articulation system further comprises first means for restricting displacement of the first attachment point to a first trajectory having a first predetermined shape and a first length. The articulation system further comprises a second means for restricting displacement of the second attachment point to a second trajectory having a second predetermined shape and a second length.

[00584] Example 90 - The surgical instrument of Example 89, in which the first means for restraint comprises a first axial slot at a first distal end of the first hinge driver, and wherein the second means for restraint comprises a second axial slot at a second distal end of the second pivot driver.

[00585] Example 91 - The surgical instrument of Example 90, in which the first and second axial slots are parallel to each other.

[00586] Example 92 - The surgical instrument of Examples 89, 90 or 91, in which the first and second lengths are equal to each other.

[00587] Example 93 - The surgical instrument of Examples 89, 90, 91 or 92, in which the first link of the end actuator is pivotable about the first attachment point, and the second link of the end actuator is pivotable around the second fixing point.

[00588] Example 94 - The surgical instrument of Examples 89, 90, 91, 92 or 93, in which the surgical end actuator is configured to pivot about the articulation axis through a first range of articulation angles about a first lateral side of the geometric axis of the drive shaft, and through a second range of pivot angles on a second lateral side of the geometric axis of the drive shaft.

[00589] Example 95 - The surgical instrument of Example 94, in which the first range of joint angles is between one degree and sixty-five degrees, and the second range of joint angles is between one degree and sixty-five degrees.

[00590] Example 96 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further comprises a hinge system comprising a first hinge driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. A first link of the curved end actuator is pivotably coupled to the surgical end actuator and movably coupled to the first pivot actuator. A first pin projects from the first link of the curved end actuator, and is movably received in a first axial slot in the first pivot actuator. A second pivot driver is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in the distal and proximal directions. A second link of the curved end actuator is pivotably coupled to the surgical end actuator and movably coupled to the second pivot actuator. A second pin projects from the second link of the curved end actuator, and is movably received in a second axial slot in the second pivot actuator.

[00591] Example 97 - The surgical instrument of Example 96, in which the first pin is capable of rotating within the first axial slot, and the second pin is capable of rotating in the second axial slot.

[00592] Example 98 - The surgical instrument of Example 97, in which the first and second axial slots are parallel to each other.

[00593] Example 99 - The surgical instrument of Examples 96, 97 or 98, in which the surgical end actuator comprises a firing member that is configured for axial displacement within the surgical end actuator, and wherein the shaft assembly The elongated trigger member further comprises an axially movable firing bar which operatively interfaces with the firing member and which is selectively movable in the distal direction in response to a firing motion applied thereto, and in the proximal direction in response to a retracting motion. applied to it.

[00594] Example 100 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further comprises a pivot system comprising a pivot driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. A central pivot link is pivotally coupled to the elongated drive shaft assembly for pivotal displacement relative thereto. An intermediate link is movably coupled to the articulation driver and the central articulation link. An end actuator driver is movably coupled to the center pivot link and the surgical end actuator.

[00595] Example 101 - The surgical instrument of Example 100, in which the central pivot link is pivotably coupled to the elongated drive shaft assembly for pivoting displacement relative thereto around a geometric axis of the link that is displaced in relation to the geometric axis of articulation.

[00596] Example 102 - The surgical instrument of Example 101, in which the first axial slot is parallel to the geometric axis of the drive shaft, and the second axial slot is parallel to the geometric axis of the drive shaft.

[00597] Example 103 - The surgical instrument of Examples 101 or 102, in which the central pivot link comprises a first central link end that is movably coupled to the intermediate link, and a second central link end that is fixed in a movable mode to the end actuator driver, the first central link end being a first distance from the geometric axis of the link, the second central link end being a second distance from the geometric axis of the link, and being that the first distance differs from the second distance.

[00598] Example 104 - The surgical instrument of Example 103, in which the first distance is smaller than the second distance.

[00599] Example 105 - The surgical instrument of Examples 100, 101, 102, 103 or 104, in which the central pivot link includes a first length and the intermediate link includes a second length, wherein the end actuator driver includes a third length and the second length being shorter than the first and third lengths.

[00600] Example 106 - The surgical instrument of Example 105, in which the first length is shorter than the third length.

[00601] Example 107 - The surgical instrument of Examples 100, 101, 102, 103, 104, 105 or 106, in which the intermediate link curves in a first direction.

[00602] Example 108 - The surgical instrument of Example 107, characterized by the fact that the end actuator driver curves in a second direction that is opposite to the first direction.

[00603] Example 109 - The surgical instrument of Examples 100, 101, 102, 103, 104, 105, 106, 107 or 108, in which the surgical end actuator is pushed in a first joint direction by applying a movement of pulling to said hinge actuator, and said surgical end actuator is pulled in a second hinge direction by applying a pushing motion to said hinge actuator.

[00604] Example 110 - The surgical instrument of Examples 100, 101, 102, 103, 104, 105, 106, 107, 108 or 109, in which the surgical end actuator is selectively pivotable between a non-articulated position and the first positions articulated through a first range of articulation angles, and the surgical end actuator is articulated between the non-articulated position and the second articulated positions through a second range of articulation angles.

[00605] Example 111 - The surgical instrument of Example 110, in which the first range of joint angles is between one degree and ninety degrees, and the second range of joint angles is between one degree and ninety degrees.

[00606] Example 112 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical instrument further includes a pivot system comprising a pivot driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. A central pivot link is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a geometric axis of the link that is displaced relative to the pivot axis. A curved intermediate link is movably coupled to the pivot driver and the central pivot link. A curved end actuator driver is movably coupled to the center pivot link and the surgical end actuator.

[00607] Example 113 - The surgical instrument of Example 112, in which the central pivot link comprises a first central link end that is movably coupled to the intermediate link, and a second central link end that is movably attached to the end actuator driver, the first central link end being a first distance from the geometric axis of the link, the second central link end being a second distance from the geometric axis of the link, and the first distance differs from the second distance.

[00608] Example 114 - The surgical instrument of Example 113, in which the first distance is smaller than the second distance.

[00609] Example 115 - The surgical instrument of Examples 112, 113 or 114, in which the central pivot link includes a first length and the intermediate link includes a second length, and the end actuator driver includes a third length, and with the second length being shorter than the first and third lengths.

[00610] Example 116 - The surgical instrument of Example 115, in which the first length is shorter than the third length.

[00611] Example 117 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. A surgical end actuator is pivotably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical end actuator also comprises a firing member that is configured for axial displacement within the surgical end actuator. The surgical instrument further includes a hinge system comprising a distal hinge driver that is supported for selective longitudinal displacement relative to the elongated drive shaft assembly in a distal direction and a proximal direction. A central pivot link is movably attached to the distal end of the elongated drive shaft assembly. An intermediate link is movably coupled to the distal articulation link and the central articulation link. An end actuator driver is movably coupled to the center link and the surgical end actuator.

[00612] Example 118 - The surgical instrument of Example 117, in which the surgical end actuator defines a geometric axis of the end actuator, wherein the end actuator is selectively articulable between a first non-articulated position, in which the geometric axis of the end actuator is aligned with the geometric axis of the drive shaft, and a first maximum hinged position about a first lateral side of said geometric axis of the drive shaft, in which the geometric axis of the end actuator extends perpendicular to the geometric axis of the drive shaft, and a second maximum hinged position on a second lateral side of the drive shaft geometric axis, in which the end actuator geometric axis is perpendicular to the drive shaft geometric axis.

[00613] Example 119 - The surgical instrument of Examples 117 or 118, in which the central pivot link comprises a first central link end that is movably coupled to the intermediate link, and a second central link end that is fixed in a movable mode to the end actuator driver, the first central link end being a first distance from the geometric axis of the link, the second central link end being a second distance from the geometric axis of the link, and being that the first distance differs from the second distance.

[00614] Example 120 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. The surgical instrument further comprises a surgical end actuator comprising a distal end and a proximal end. The proximal end is pivotally coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis extending transversely relative to the drive shaft axis. The surgical end actuator is selectively pivoted about the hinge axis from a non-hinged position, where the distal end of the surgical end actuator is situated a non-hinged distance from the hinge axis, to hinged positions, in that the distal end of the surgical end actuator is located at a corresponding hinged distance from the pivot axis, which is less than the non-articulated distance.

[00615] Example 121- The surgical instrument of Example 120, wherein the elongated drive shaft assembly comprises a pivot member that defines the pivot axis, and wherein the proximal end of the surgical end actuator comprises an elongated slot configured to slidingly receive the pivot member within it.

[00616] Example 122 - The surgical instrument of Examples 120 or 121, which further comprises the means for selectively applying joint movements to the surgical end actuator.

[00617] Example 123 - The surgical instrument of Example 122, in which the means for selective application comprises a rotating gear in engagement with the surgical end actuator.

[00618] Example 124 - The surgical instrument of Example 123, in which the proximal end of the surgical end actuator comprises an elliptical gear profile in engagement with the rotating gear.

[00619] Example 125 - The surgical instrument of Examples 123 or 124, in which the means for selective application comprises an axial and selectively movable distal joint driver in operational interface with the rotating gear.

[00620] Example 126 - The surgical instrument of Example 125, which further comprises a drive slot in the axial and selectively movable distal hinge driver, and a drive pin that is fixed to the rotating gear and is slidably received in the drive slot. drive.

[00621] Example 127 - The surgical instrument of Examples 120, 121, 122, 123, 124, 125 or 126, in which the surgical end actuator defines a geometric axis of the end actuator situated so that when the end actuator When the surgical end actuator is articulated in a fully articulated position among the articulated positions, the surgical axis of the end actuator is perpendicular to the geometric axis of the drive shaft.

[00622] Example 128 - The surgical instrument of Examples 122, 123, 124, 125, 126 or 127, in which the means for selective application comprise a central articulation link that is supported for rotational displacement about the articulation axis. An axially and selectively movable pivot driver interfaces with the central pivot link at a first location on a first side of the axis of the drive shaft. The means for selective application further comprises a pivot actuator link that includes a first end, which is coupled to the surgical end actuator, and a second end, which is coupled to the central pivot link at a second location on a second side of the shaft. geometry of the drive shaft.

[00623] Example 129 - The surgical instrument of Example 128, in which the means for selective application comprise a central pivot gear that is supported for displacement about the pivot axis, and a gear profile that is situated on the second end of the articulation drive link. The gear profile is in mesh engagement with the center pivot gear.

[00624] Example 130 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft and includes a distal drive shaft portion. The surgical instrument further comprises a surgical end actuator that defines a geometric axis of the end actuator and includes a distal end and a proximal end. The proximal end is movably coupled to the distal drive shaft portion for selective displacement between a non-hinged position where the axis of the end actuator is aligned with the axis of the drive shaft and the distal end of the actuator. The surgical end is located at a non-hinged distance from the distal end portion of the elongated drive shaft assembly to hinged positions, with the geometric axis of the end actuator being transverse to the geometric axis of the drive shaft and the distal end of the surgical end. surgical end is situated a corresponding hinged distance from the distal drive shaft portion, which is less than the non-articulated distance.

[00625] Example 131 - The surgical instrument of Example 130, in which the proximal end of the surgical end actuator is movably coupled to the distal drive shaft portion of the elongated drive shaft assembly by means of an axial pivot actuator and selectively movable and an articulating link.

[00626] Example 132 - The surgical instrument of Example 131, in which, when the surgical end actuator is articulated in one of the articulated positions, the geometric axis of the end actuator is perpendicular to the geometric axis of the drive shaft.

[00627] Example 133 - A surgical instrument comprising an elongated drive shaft assembly that defines a geometric axis of the drive shaft. The surgical instrument further comprises a surgical end actuator that includes a distal end and a proximal end. The proximal end is movably coupled to the elongated drive shaft assembly for selective pivoting displacement about a pivot axis that extends transversely with respect to the drive shaft's geometric axis and moves translationally with respect to the axis. geometric articulation. A articulation system operationally interfaces with the surgical end actuator to selectively apply articulation movements thereto.

[00628] Example 134 - The surgical instrument of Example 133, in which the articulation system comprises a rotating gear that is in meshed engagement with the surgical end actuator, and means for rotating the rotating gear.

[00629] Example 135 - The surgical instrument of Example 134, which further comprises an elliptical gear segment on the proximal end of the surgical end actuator in engagement with the rotating gear.

[00630] Example 136 - The surgical instrument of Examples 134 or 135, in which the means for rotating the rotating gear comprises an axial and selectively movable distal pivot driver, which includes a drive slot and a drive pin that is fixed to the rotating gear and is slidably received into the drive slot.

[00631] Example 137 - The surgical instrument of Example 136, in which the drive slot is transverse to the geometric axis of the drive shaft.

[00632] Example 138 - The surgical instrument of Examples 133, 134, 135, 136 or 137, in which the surgical end actuator is configured to cut and staple tissue.

[00633] Example 139 - The surgical instrument of Examples 133, 134, 135, 136, 137 or 138, in which the articulation system comprises a central articulation link that is supported for rotational displacement about the articulation axis. An axially and selectively movable pivot driver interfaces with the central pivot link at a first location on a first side of the axis of the drive shaft. The articulation system further comprises a articulation drive link that includes a first end, which is coupled to the surgical end actuator, and a second end, which is coupled to the central articulation link at a second location on a second side of the axis. of the drive shaft.

[00634] Example 140 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. A surgical end actuator is pivotally coupled to the elongated drive shaft assembly for selective articulation with respect to the elongated drive shaft assembly about a pivot axis that is transverse to the geometric axis of the drive shaft. The surgical instrument further comprises a pivot system that includes a pivot wire that is coupled to the surgical end actuator at an attachment point, and is seated on a proximal pulley that is supported on the elongated drive shaft assembly. The proximal pulley defines a geometric axis of the proximal pulley that is located at a tension distance from the attachment point. A pivot driver is coupled to the pivot wire to selectively cause the pivot wire to rotate about the proximal pulley in the first and second pivot directions. An adjustable tensioning assembly interfaces with the proximal pulley to selectively adjust the tensioning distance.

[00635] Example 141 - The surgical instrument of Example 140, which further comprises a distal pulley that is attached to the surgical end actuator and that defines the attachment point.

[00636] Example 142 - The surgical instrument of Example 141, in which the distal pulley defines the geometric axis of articulation.

[00637] Example 143 - The surgical instrument of Examples 140, 141 or 142, in which the adjustable tensioning assembly comprises a pulley support that supports the proximal pulley. A mounting shaft is coupled to the pulley bracket and is supported on a portion of the elongated drive shaft assembly for selective rotation relative thereto. The mounting shaft is eccentrically fixed to the pulley bracket, so that rotation of the mounting shaft causes the proximal pulley to move axially to adjust the tension distance between the geometric axis of the proximal pulley and the attachment point.

[00638] Example 144 - The surgical instrument of Example 143, in which the mounting axis defines a geometric axis of the mounting axis that is displaced relative to the geometric axis of the proximal pulley.

[00639] Example 145 - The surgical instrument of Examples 140, 141 or 142, in which the adjustable tensioning assembly comprises a pulley support that supports the proximal pulley. A mounting member is attached to the pulley support and is slidably supported on said elongated drive shaft assembly for selective axial displacement relative thereto. The adjustable tensioning assembly further comprises means for selectively axially moving the mounting member on the elongated drive shaft assembly.

[00640] Example 146 - The surgical instrument of Example 145, in which the means for selectively moving axially comprises a tensioning screw that is mounted on the elongated drive shaft assembly and is configured to axially move the mounting member within an axial slot in the elongated drive shaft assembly.

[00641] Example 147 - The surgical instrument of Example 145, in which the means for selectively moving axially comprises a rotatable cam assembly that is mounted on the elongated drive shaft assembly and is configured to axially move the mounting member within of an axial slot in the elongated drive shaft assembly.

[00642] Example 148 - The surgical instrument of Example 147, in which the rotating cam assembly comprises a tension cam that is configured for cam contact with the mounting member. A mounting spindle is coupled to the tension cam and is supported on a portion of the elongated drive shaft assembly for selective rotation relative thereto. The mounting spindle is fixed to the tension cam such that rotation of the mounting spindle in a first direction causes the tension cam to axially tilt the mounting member within the axial slot.

[00643] Example 149 - The surgical instrument of Example 148, in which the mounting spindle has a knurled outer surface and is configured to be received within a knurled hole in the elongated drive shaft assembly portion.

[00644] Example 150 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. A surgical end actuator is pivotally coupled to the elongated drive shaft assembly for selective articulation with respect to the elongated drive shaft assembly about a pivot axis that is transverse to the geometric axis of the drive shaft. The surgical instrument further comprises a linkage system that includes a linkage wire that is seated over a distal pulley that is attached to the surgical end actuator and a proximal pulley that is supported over the elongated drive shaft assembly. A pivot driver is coupled to the pivot wire to selectively cause the pivot wire to rotate about the proximal pulley in the first and second pivot directions. An adjustable tensioning assembly is supported on the elongated drive shaft assembly and configured to selectively contact a portion of the pivot wire in a direction that is transverse to the first and second directions of rotation to increase an amount of tension in the joint wire.

[00645] Example 151 - The surgical instrument of Example 150, in which the pivot wire comprises a first wire end and a second wire end, and wherein the first and second wire ends operatively interconnect with the actuator. articulation.

[00646] Example 152 - The surgical instrument of Example 151, in which the articulation driver comprises a distal end portion that includes a pair of clips. The clips define a mounting space between them. The first wire end comprises a first tab attached to the wire which is received within the mounting space, and the second wire end comprises a second tab attached thereto and is received within the mounting space between the pair. of clips.

[00647] Example 153 - The surgical instrument of examples 150, 151 or 152, in which the articulation wire is coupled in a non-rotational manner to the distal pulley.

[00648] Example 154 - A surgical instrument comprising an elongated drive shaft assembly that defines a drive shaft geometric axis. A surgical end actuator is pivotally coupled to the elongated drive shaft assembly for selective articulation with respect to the elongated drive shaft assembly about a pivot axis that is transverse to the geometric axis of the drive shaft. The surgical instrument further comprises a linkage system that includes a linkage wire that is seated over a distal pulley that is attached to the surgical end actuator and a proximal pulley that is supported over the elongated drive shaft assembly. The pivot wire comprises a first wire end and a second wire end. A pivot driver is coupled to the pivot wire to selectively cause the pivot wire to rotate about the proximal pulley in the first and second pivot directions. The pivot driver includes a first clip that is attached to the first end of the wire, and a second clip that is attached to the second end of the wire and is spaced relative to the first clip. The pivot system also includes means that are coupled to the first and second clips for moving the first and second cable ends toward each other to increase an amount of tension in the pivot wire.

[00649] Example 155 - The surgical instrument of Example 154, in which the means that are coupled to the first and second clips for moving the first and second handle ends towards each other comprise a rotatable member that is coupled to the first and to the second tabs, such that rotation of the rotatable member in a second rotary direction causes the first and second tabs to move away from each other.

[00650] Example 156 - The surgical instrument of Example 155, in which the rotating member comprises a tension screw that is in threaded engagement with the first and second clips.

[00651] Example 157 - The surgical instrument of Example 154, in which said first cable end comprises a first tab that is attached to the wire that is received between the first and second clips, and wherein the second wire end comprises a second tab which is attached to the wire and is received between the first and second tabs.

[00652] Example 158 - The surgical instrument of examples 154, 155, 156 or 157, in which the articulation wire is non-rotarily coupled to the distal pulley.

[00653] Example 159 - The surgical instrument of Examples 154, 155, 156, 157 or 158, in which the surgical end actuator is configured to cut and staple tissue.

[00654] Example 160 - A surgical instrument comprising a surgical end actuator that includes a first claw and a second claw, one of the first claw and the second claw being selectively movable with respect to the other of the first claw and the second claw claw, by applying a closing movement to the surgical end actuator. The surgical instrument further comprises an elongated drive shaft assembly that includes a closure member assembly that is supported for axial displacement relative to the surgical end actuator. The closing member assembly comprises a proximal closing member that is configured to be axially advanced a full distance of the closing stroke upon application thereof of a closing actuating movement. A distal closing member movably interfaces with the proximal closing member such that the distal closing member moves an axial closing distance in response to the axial movement of the proximal closing member through the full distance of the closing stroke to thereby causing the distal closing member to apply the closing movement to said surgical end actuator, and the axial closing distance being less than the full closing stroke distance.

[00655] Example 161 - The surgical instrument of Example 160, in which the proximal closing member comprises a distal end, and wherein the distal closing member comprises a proximal end that is slidably attached to the distal end of the closing member proximal so that as the proximal closing member moves through the full closing stroke distance, the distal closing member does not begin to move axially through the axial closing distance until the proximal closing member has moved axially through a portion of said full closing course distance.

[00656] Example 162 - The surgical instrument of Example 161, in which the elongated drive shaft assembly comprises a central column assembly that is coupled to the surgical end actuator, and wherein the proximal closing member comprises a closing sleeve proximal which is supported upon a portion of the column assembly for axial displacement through the full distance of the closing stroke thereon, and wherein the distal closing member comprises a distal closing sleeve which is slidably seated upon another portion of the column assembly and is movably coupled to the proximal closing sleeve.

[00657] Example 163 - The surgical instrument of Example 162, in which the proximal closing sleeve has an opening at a distal end thereof, and wherein a proximal end of the distal closing sleeve extends through the opening and is configured to prevent the proximal end of the distal closure sleeve from separating from the distal end of the proximal closure sleeve.

[00658] Example 164 - The surgical instrument of Example 163, in which the distal end of the proximal closing sleeve is flared inwardly around the opening, and wherein the proximal end of the distal closing sleeve is flared outwardly in order to prevent the proximal end of the distal closure sleeve from separating from the distal end of the proximal closure sleeve while facilitating axial displacement of the proximal closure sleeve through a portion of the complete closing stroke distance relative to the sleeve distal closure.

[00659] Example 165 - The surgical instrument of Example 162, in which the proximal closing sleeve comprises an inwardly extending flange that defines an opening at a distal end thereof, and a proximal end of the distal closing sleeve is extends through the opening and comprises an outwardly extending flange which cooperates with the inwardly extending flange to prevent the proximal end of said distal closing sleeve from separating from the distal end of said proximal closing sleeve .

[00660] Example 166 - The surgical instrument of Example 162, in which the proximal closing sleeve comprises a contact portion that is proximal to the distal end of the proximal closing sleeve. The contact portion is configured to come into axial contact with the proximal end of the distal closing sleeve after the proximal closing sleeve has advanced axially through a predetermined portion of the full closing stroke distance.

[00661] Example 167 - The surgical instrument of Example 166, in which the contact portion comprises a crimped portion of the proximal closing sleeve.

[00662] Example 168 - The surgical instrument of Example 166, in which the contact portion comprises at least one inwardly extending flap member that is formed in the proximal closing sleeve and is oriented to contact a corresponding portion of the proximal end of the distal closing sleeve.

[00663] Example 169 - The surgical instrument of Example 166, in which the contact portion comprises an inwardly extending flange that is formed over a stop member that is fixed to an inner wall of the proximal closing sleeve.

[00664] Example 170 - A surgical instrument comprising a surgical end actuator that includes a first claw and a second claw, one of the first claw and the second claw being selectively movable with respect to the other of the first claw and the second claw claw, by applying a closing movement to the surgical end actuator. The surgical instrument further comprises an elongated drive shaft assembly that includes a closure member assembly that is supported for axial displacement relative to the surgical end actuator. The closing member assembly comprises a proximal closing member that is configured to be axially advanced a full distance of the closing stroke upon application thereof of a closing actuating movement. A distal closing member is supported for axial displacement through an axial closing distance that is less than the full closing stroke distance in order to apply closing movement to the surgical end actuator; A closing stroke reduction assembly interfaces the proximal closing member and the distal closing member so that, as the proximal closing member moves through the full distance of the closing stroke, the distal closing member does not start. to move axially through the closing distance until the proximal closing member has moved axially through a portion of the complete closing stroke distance.

[00665] Example 171 - The surgical instrument of Example 170, in which the elongated drive shaft assembly comprises a central column assembly that is coupled to the surgical end actuator, and wherein the proximal closing member comprises a closing sleeve proximal which is supported on a portion of the column assembly for axial displacement through the full distance of the closing stroke thereon, and wherein the distal closing member comprises a distal closing sleeve that is slidably supported on a further portion of the column assembly for axial displacement through the closing distance.

[00666] Example 172 - The surgical instrument of Examples 170 or 171, in which the closing stroke reduction assembly comprises a proximal mounting member coupled to the proximal closing sleeve for axial displacement thereof through the full travel distance. closure, and a distal mounting member that is coupled to the distal closure sleeve for axial displacement thereof through the closure distance.

[00667] Example 173 - The surgical instrument of Example 172, in which the proximal mounting member comprises a contact portion that is configured to contact at least one of the proximal mounting member and the proximal closing sleeve after proximal closing sleeve has moved through the full distance portion of the closing stroke.

[00668] Example 174 - The surgical instrument of Example 173, in which the distal mounting member defines a distal protrusion, and wherein the proximal mounting member defines a proximal protrusion that is spaced relative to the distal protrusion in order to form therebetween a distal displacement zone, and wherein the contact portion is spaced relative to at least one of the proximal mounting member and the proximal closing sleeve, in order to define a proximal displacement zone between the contact and at least one of the proximal mounting member and the proximal closing sleeve.

[00669] Example 175 - The surgical instrument of Example 174, in which the proximal displacement zone has a proximal axial width, and the distal displacement zone has an axial width that differs from the proximal axial width.

[00670] Example 176 - The surgical instrument of examples 172, 173, 174 or 175, which additionally comprises a propensity member that is situated between the proximal mounting member and the distal mounting member.

[00671] Example 177 - The surgical instrument of examples 174 or 175, which additionally comprises a propensity member that is supported within the distal displacement zone.

[00672] Example 178 - A surgical instrument comprising a surgical end actuator that includes a first claw and a second claw, one of the first claw and the second claw being selectively movable with respect to the other of the first claw and the second claw claw, by applying a closing movement to the surgical end actuator. The surgical instrument further comprises an elongated drive shaft assembly that includes a closure member assembly that is supported for axial displacement relative to the surgical end actuator. The closing member assembly comprises a proximal closing member that is configured to be axially advanced a full distance of the closing stroke upon application thereof of a closing actuating movement. The proximal closing member is configured to apply a maximum closing force upon reaching one end of the maximum closing stroke distance. A distal closing member is supported for axial displacement through an axial closing distance that is less than the full closing stroke distance in order to apply closing movement to the surgical end actuator; A closing stroke reduction assembly interfaces the proximal closing member and the distal closing member so that, as the proximal closing member moves through the full distance of the closing stroke, the proximal closing member applies to the distal closing member another closing force that is less than the maximum closing force.

[00673] Example 179 - The surgical instrument of Example 178, in which the closing stroke reduction assembly comprises a proximal mounting member that is coupled to the proximal closing member for axial displacement thereof through the full travel distance. closure. A distal mounting member is coupled to the distal closing member for axial displacement thereof through the axial closing distance. A propensity member is situated between a portion of the proximal mounting member and another portion of the distal mounting member.

[00674] The entire description of:

[00675] US Patent No. 5,403,312, entitled "ELECTROSURGICAL HEMOSTATIC DEVICE", which was granted on April 4, 1995;

[00676] US Patent No. 7,000,818, entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS", which was granted on February 21, 2006;

[00677] US Patent No. 7,422,139, entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK", which was granted on September 9, 2008;

[00678] US Patent No. 7,464,849, entitled "ELECTROMECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS", which was granted on December 16, 2008;

[00679] US Patent No. 7,670,334, entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR", which was granted on March 2, 2010;

[00680] US Patent No. 7,753,245, entitled "SURGICAL STAPLING INSTRUMENTS", which was granted on July 13, 2010;

[00681] US Patent No. 8,393,514, entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE", which was granted on March 12, 2013;

[00682] US Patent Application Serial No. 11/343,803, entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES", now US Patent No. 7,845,537;

[00683] US Patent Application Serial No. 12/031,573, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES", filed on February 14, 2008;

[00684] US Patent Application Serial No. 12/031,873, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", filed on February 15, 2008, now US Patent No. 7,980,443;

[00685] US Patent Application Serial No. 12/235,782, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT", now US Patent No. 8,210,411;

[00686] US Patent Application Serial No. 12/249,117, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now US Patent No. 8,608,045;

[00687] US Patent Application Serial No. 12/647,100, entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY", filed on December 24, 2009, now US Patent No. 8,220,688;

[00688] US Patent Application Serial No. 12/893,461, entitled "STAPLE CARTRIDGE", filed on September 29, 2012, now US Patent No. 8,733,613;

[00689] US Patent Application Serial No. 13/036,647, entitled "SURGICAL STAPLING INSTRUMENT", filed on February 28, 2011, now US Patent No. 8,561,870;

[00690] US Patent Application Serial No. 13/118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", now US Patent No. 2012/9,072,535;

[00691] US Patent Application Serial No. 13/524,049, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", filed on June 15, 2012, now US Patent No. 9,101,358;

[00692] US Patent Application Serial No. 13/800,025, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on March 13, 2013, now US Patent Application Publication No. 2014/0263551;

[00693] US Patent Application Serial No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on March 13, 2013, now US Patent Application Publication No. 2014/0263552;

[00694] US Patent Application Publication No. 2007/0175955, entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM", filed on January 31, 2006; It is

[00695] US Patent Application Publication No. 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on April 22, 2010, now US Patent No. 8,308,040, are incorporated herein by reference.

[00696] Although various embodiments of the devices have been described herein in connection with certain disclosed embodiments, many modifications and variations of these embodiments can be implemented. Furthermore, where materials for certain components are described, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform one or more given functions. The aforementioned description and embodiments are intended to encompass all such modifications and variations.

[00697] The devices described herein may be designed so that they are discarded after a single use, or may be designed so that they are used multiple times. In either case, however, the device can be refurbished for reuse after at least one use. Reconditioning may include any combination of the steps of disassembling the device, followed by cleaning or replacing specific parts, and subsequent reassembly. In particular, the device may be disassembled and any number of specific parts or parts of the device may be selectively replaced or removed, in any combination. By cleaning and/or replacing specific parts, the device can be reassembled for subsequent use in the reconditioning facility or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will understand that reconditioning a device may use a variety of techniques for disassembly, cleaning/replacement, and reassembly. The use of these techniques, as well as the resulting refurbished device, are all within the scope of this application.

[00698] By way of example only, the aspects described here can be processed before surgery. First, a new or used instrument can be obtained and, if necessary, cleaned. The instrument can then be sterilized. In a sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. Radiation can kill bacteria on the instrument and in the container. The sterilized instrument can then be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device may also be sterilized using any other known technique, including, but not limited to, beta or gamma radiation, ethylene oxide, plasma peroxide, or water vapor.

[00699] Although this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the description. It is therefore intended that this application covers any variations, uses or adaptations of the invention using its general principles.

[00700] Any patent, publication or other descriptive material, in whole or in part, which is taken to be incorporated by reference into the present invention, is incorporated into the present invention only to the extent that the incorporated materials do not conflict with existing definitions, statements or other descriptive material set forth in this description. Accordingly, and to the extent necessary, the description as explicitly set forth herein supersedes any conflicting material incorporated into the present invention by reference. Any material, or portion thereof, which is incorporated herein by reference but which conflicts with existing definitions, statements, or other descriptive material set forth herein is incorporated herein only to the extent there is no conflict between the material incorporated and the existing description material.

Claims (20)

1. Surgical instrument (10010; 11010), characterized by the fact that it comprises: an elongated drive shaft assembly (10200; 11200) that defines a geometric axis of the drive shaft (SA; SA-SA); and a surgical end actuator (10300; 11300) comprising a distal end and a proximal end, the proximal end being pivotally coupled to the elongated drive shaft assembly (10200; 11200) for selective pivoting displacement around a pivot axis (B-B) extending transversely with respect to the drive shaft axis (SA; SA-SA), with the surgical end actuator (10300; 11300) selectively pivoting around the pivot axis. articulation (B-B) from a disarticulated position, wherein the distal end of the surgical end actuator (10300; 11300) is located at a disarticulated distance (D1) from the articulating axis (B-B), for articulated positions, wherein the distal end of the surgical end actuator (10300; 11300) is located at a corresponding hinged distance (D2) from the pivot axis (B-B), which is less than the disarticulated distance (D1); and means for selective application of pivoting movements to the surgical end actuator (10300; 11300), the means for selective application comprising a rotating gear (10840; 11930) in mesh engagement with the surgical end actuator (10300; 11300) . 2. Surgical instrument (10010; 11010), according to claim 1, characterized by the fact that the proximal end of the surgical end actuator (10300; 11300) comprises an elliptical gear profile (10396) in mesh engagement with the gear swivel (10840; 11930). 3. Surgical instrument (10010; 11010), according to claim 2, characterized by the fact that the means for selective application comprises an axial distal joint driver (10820; 11820) and selectively movable in operational interface with the rotating gear ( 10840; 11930). 4. Surgical instrument (10010; 11010), according to claim 3, characterized by the fact that it further comprises: a drive slot (10822) in the axial distal joint driver (10820; 11820) and selectively movable; and a drive pin (10844) secured to the rotating gear (10840; 11930) and slidably received in the drive slot (10822). 5. Surgical instrument (10010; 11010), characterized by the fact that it comprises: an elongated drive shaft assembly (10200; 11200) defining a geometric axis of the drive shaft (SA; SA-SA) and comprising a portion of distal drive shaft; and a surgical end actuator (10300; 11300) comprising a distal end and a proximal end, the proximal end being pivotally coupled to the elongated drive shaft assembly (10200; 11200) for selective displacement about a axis of articulation (B-B) extending transversely with respect to the axis of the drive shaft (SA; SA-SA), the surgical end actuator (10300; 11300) being selectively pivotable about the axis of articulation (B-B ) from a disjointed position in which the distal end of the surgical end actuator (10300; 11300) is located an inarticulate distance (D1) from the pivot axis (B-B) for hinged positions in which the distal end of the surgical end actuator (10300; 11300) is located at an articulated distance (D2) corresponding to the geometric axis of articulation (B-B), which is smaller than the disarticulated distance (D1); and means for selective application of hinge movements to the surgical end actuator (10300; 11300), wherein the means for selective application comprises: a central hinge link (11900) supported for rotational displacement about the hinge axis (BB ); a selectively and axially movable articulation driver (11820) that interfaces with the central articulation link (11900) at a first location on a first side of the geometric axis of the drive shaft (SA; SA-SA); and a pivot drive link (11920) comprising a first end (11933) coupled to the surgical end actuator (10300; 11300) and a second end (11924) coupled to the central pivot link (11900) at a second location on a second side of the geometric axis of the drive shaft (SA; SA-SA). 6. Surgical instrument (10010; 11010), according to claim 5, characterized by the fact that the means for selective application comprises: a central articulation gear (11930) supported for displacement around a geometric axis of articulation (BB ); and a gear profile (11926) at the second end (11924) of the pivot drive link (11920), the gear profile (11926) in mesh engagement with the center pivot gear (11930). 7. Surgical instrument (10010; 11010), characterized by the fact that it comprises: an elongated drive shaft assembly (10200; 11200) that defines a geometric axis of the drive shaft (SA; SA-SA); a surgical end actuator (10300; 11300) comprising a distal end and a proximal end, the proximal end being movably coupled to the elongated drive shaft assembly (10200; 11200) for selective pivoting displacement about a geometric axis of articulation (B-B) extending transversely in relation to the geometric axis of the drive shaft (SA; SA-SA), and translational displacement in relation to the geometric axis of articulation (B-B); and a articulation system in operational interface with the surgical end actuator (10300; 11300) to selectively apply articulation movements thereto, the articulation system comprising: a rotating gear (10840; 11930) in engagement with the actuator surgical extremity (10300; 11300); and means for rotating the rotating gear (10840; 11930). 8. Surgical instrument (10010; 11010), according to claim 7, characterized by the fact that an elliptical gear segment at the proximal end of the surgical end actuator (10300; 11300) in mesh engagement with the rotating gear (10840; 11930). 9. Surgical instrument (10010; 11010), according to claim 7, characterized by the fact that the means for rotating the rotating gear (10840; 11930) comprises: an axial distal joint driver (10820; 11820) and selectively movable comprising a drive slot (10822); and a drive pin (10844) secured to the rotating gear (10840; 11930) and slidably received in the drive slot (10822). 10. Surgical instrument (10010; 11010), according to claim 9, characterized by the fact that the drive slot (10822) is transverse to the geometric axis of the drive shaft (SA; SA-SA). 11. Surgical instrument (10010; 11010), characterized by the fact that it comprises: an elongated drive shaft assembly (10200; 11200) defining a geometric axis of the drive shaft (SA; SA-SA); a surgical end actuator (10300; 11300) comprising a distal end and a proximal end, said proximal end being movably coupled to said elongated drive shaft assembly (10200; 11200) for selective pivoting displacement about an axis articulation geometry (B-B) extending transversely in relation to the geometric axis of the drive shaft (SA; SA-SA) and translational displacement in relation to said articulation geometric axis (B-B); and a articulation system that operationally interfaces with the surgical end actuator (10300; 11300) to selectively apply articulation movements thereto, wherein said surgical end actuator (10300; 11300) is configured to cut and staple tissue. 12. Surgical instrument (10010; 11010), characterized by the fact that it comprises: an elongated drive shaft assembly (10200; 11200) defining a geometric axis of the drive shaft (SA; SA-SA); a surgical end actuator (10300; 11300) comprising a distal end and a proximal end, said proximal end being movably coupled to said elongated drive shaft assembly (10200; 11200) for selective pivoting displacement about an axis articulation geometry (B-B) extending transversely with respect to said geometric axis of the drive shaft (SA; SA-SA) and translational displacement with respect to said articulation geometric axis (B-B); and a articulation system that operationally interfaces with said surgical end actuator (10300; 11300) to selectively apply articulation movements thereto, wherein said articulation system comprises: a central articulation link (11900) supported for displacement rotational around said geometric axis of articulation (B-B); a selectively axially movable pivot driver interfacing with said central pivot link (11900) at a first location on a first side of said geometric axis of the drive shaft (SA; SA-SA); and a pivot drive link (11920) comprising a first end coupled to said surgical end actuator (10300; 11300) and a second end coupled to said central pivot link (11900) at a second location on a second side of said geometric axis of the drive shaft (SA; SA-SA). 13. Surgical instrument (10010; 11010), characterized by the fact that it comprises: an elongated shaft assembly defining a geometric axis of the drive shaft (SA; SA-SA); and a surgical end actuator (10300; 11300) configured to cut and staple tissue, wherein said surgical end actuator (10300; 11300) comprises: a distal end; and a proximal end pivotally coupled to said elongated drive shaft assembly (10200; 11200) for selective pivoting displacement about a pivot axis (B-B) extending transversely with respect to said drive shaft geometric axis (SA ;SA-SA); wherein said surgical end actuator (10300; 11300) is selectively hinged about said hinge axis (B-B) between a disjointed position and a plurality of hinged positions, wherein said distal end is located at a disjointed distance (D1) of said pivot axis (B-B) in said non-hinged position of said surgical end actuator (10300; 11300), wherein said distal end is located at a corresponding pivot distance (D2) from said pivot axis (D2) articulation (B-B) in each said articulated position of said surgical end actuator (10300; 11300), and wherein each said corresponding articulated distance (D2) is less than said disarticulated distance (D1). 14. Surgical instrument (10010; 11010), according to claim 13, characterized by the fact that it further comprises a rotating gear (10840; 11930) in mesh engagement with the surgical end actuator (10300; 11300). 15. Surgical instrument (10010; 11010), according to claim 14, characterized in that the proximal end comprises an elliptical gear profile (10396) in mesh engagement with the rotating gear (10840; 11930). 16. Surgical instrument (10010; 11010), according to claim 15, characterized by the fact that it further comprises: a selectively axially movable distal joint driver that operably interfaces with the rotating gear (10840; 11930); a drive slot (10822) in the axially selectively movable distal hinge driver; and a drive pin (10844) secured to the rotating gear (10840; 11930) and slidably received in the drive slot (10822). 17. Surgical instrument (10010; 11010), characterized in that it comprises: an elongated drive shaft assembly (10200; 11200) comprising a distal drive shaft portion, wherein said drive shaft assembly (10200; 11200) elongated defines a geometric axis of the drive shaft (SA; SA-SA); and a surgical end actuator (10300; 11300) configured to cut and staple tissue, wherein said surgical end actuator (10300; 11300) comprises a distal end and a proximal end, wherein said surgical end actuator (10300) ; 11300) defines an end actuator axis (10300; 11300), wherein said proximal end is movably coupled to said distal drive shaft portion for selective displacement between a disjointed position, in which said axis of end actuator (10300; 11300) is aligned with said geometric axis of the drive shaft (SA; SA-SA), and articulated positions, wherein said geometric axis of end actuator (10300; 11300) is transverse to the said drive shaft geometric axis (SA; SA-SA), wherein said distal end is located a disjointed distance (D1) from said distal drive shaft portion in said non-hinged position of said surgical end actuator ( 10300; 11300), wherein said distal end is located a corresponding pivot distance (D2) from said distal drive shaft portion at each said pivot position of said end actuator (10300; 11300) and wherein each said pivot distance ( corresponding D2) is smaller than said disjointed distance (D1). 18. Surgical instrument (10010; 11010), according to claim 17, characterized by the fact that it further comprises a rotating gear (10840; 11930) in mesh engagement with the surgical end actuator (10300; 11300). 19. Surgical instrument (10010; 11010), according to claim 18, characterized by the fact that the proximal end comprises an elliptical gear profile (10396) in mesh engagement with the rotating gear (10840; 11930). 20. Surgical instrument (10010; 11010), according to claim 19, characterized by the fact that it further comprises: a selectively axially movable distal joint driver that interfaces operably with the rotating gear (10840; 11930); a drive slot (10822) in the axially selectively movable distal hinge driver; and a drive pin (10844) secured to the rotating gear (10840; 11930) and slidably received in the drive slot (10822).