BR112019027049B1 - INTERCHANGEABLE TOOL SET - Google Patents

Abstract

The present invention relates to a set of interchangeable tools. The interchangeable tool assembly includes a first clamp configured to hold a staple cartridge for a first period of time and a radio frequency cartridge for a second period of time. A second claw is attached to the first claw. A surface of the second claw defines a plurality of staple-forming pockets configured to form staples applied from the staple cartridge. An electrically insulating material covers the surface segments of the second claw beyond the clip-forming pockets. The clip-forming pockets define at least one return path for the radio frequency energy delivered by the radio frequency cartridge.

Description

FIELD OF TECHNIQUE

[0001] The present description relates to electrosurgical devices and, in various aspects, to compression claw components that are designed to conduct electrical energy in a tissue compressed therewith.

BACKGROUND

[0002] In some aspects, an electrosurgical device can be configured to induce a hemostatic seal in a tissue and/or between tissues. A hemostatic seal can be created by a combination of a compressive force applied to the tissue and an application of electrical energy to the tissue. In some aspects of an electrosurgical device, compression force may be provided by compressing tissue between sets of jaws. Additionally, electrical energy can be supplied by one or more electrodes arranged inside or on some components of the claw assemblies. The amount of electrical energy sufficient to effect hemostatic sealing may depend, in part, on the thickness, density and/or quality of the tissue to be sealed.

[0003] It can be understood that an application of excessive electrical energy to a tissue can result in burning or fibrosis of the tissue. However, applying insufficient electrical energy to a tissue can result in an ineffective hemostatic seal. Therefore, it may be necessary for a user of the electrosurgical device to adjust the amount of electrical energy applied to the tissue compressed between the device's sets of jaws based on the thickness, density, and quality of the tissue. If tissue compressed between gripper assemblies is essentially homogeneous, the user of the electrosurgical device can use simple controls to adjust the amount of electrical energy applied to the tissue. However, it can be recognized that some hemostatic seal fabrics are heterogeneous in any one or more of their thickness, density and/or quality. As a result, a single control for the amount of electrical energy applied to the tissue compressed between the gripper assemblies can result in burned portions of the tissue as well as insufficiently sealed portions. It is, therefore, desirable to have an electrosurgical device that can be configured to apply a variety of electrical energies to a portion of tissue compressed between the claw assemblies.

SUMMARY

[0004] In another aspect, a set of interchangeable tools is provided. The interchangeable tool assembly comprises a first gripper configured to hold a staple cartridge for a first period of time and a radio frequency cartridge for a second period of time; a second claw coupled to the first claw, wherein a surface of the second claw defines a plurality of staple-forming pockets configured to form staples applied from the staple cartridge; an electrically insulating material covering segments of the surface of the second gripper other than the clip-forming pockets, the clip-forming pockets defining at least one return path for radio frequency energy delivered by the radio frequency cartridge.

[0005] In another aspect, a surgical tool set is provided. The surgical tool assembly comprises an elongated channel configured to support a staple cartridge for a first period of time and a radiofrequency cartridge for a second period of time; and an anvil coupled to the elongated channel, the anvil comprising: a surface that faces the elongated channel and defines a plurality of staple-forming pockets configured to form staples applied from the staple cartridge; and an electrically insulating material covering segments of the surface of the second claw, the plurality of clip-forming pockets providing a plurality of different return trajectories for radio frequency energy delivered by the radio frequency cartridge.

[0006] In another aspect, an interchangeable instrument set is provided. The interchangeable instrument assembly comprises an end actuator configured to releasably couple to a drive shaft assembly, the end actuator comprising: an elongated channel configured to support a staple cartridge for a first period of time and a radio frequency cartridge for a second period of time; and an anvil coupled to the elongated channel, the anvil comprising an electrically insulating material and defining a plurality of different return trajectories for radio frequency energy delivered by the radio frequency cartridge.

FIGURES

[0007] The innovative characteristics of the aspects described here are presented in particular in the attached embodiments. However, these aspects, both with regard to organization and methods of operation, can be better understood by reference to the following description, taken in conjunction with the attached drawings.

[0008] Figure 1 is a perspective view of a surgical system that includes a handle assembly coupled to an interchangeable surgical tool assembly that is configured to be used in conjunction with conventional surgical staple/fastener cartridges and radiofrequency cartridges ( RF) in accordance with an aspect of this description.

[0009] Figure 2 is an exploded perspective view of the surgical system of Figure 1, in accordance with an aspect of this description.

[0010] Figure 3 is another exploded perspective view of portions of the handle assembly and the interchangeable surgical tool assembly of Figures 1 and 2, in accordance with an aspect of this description.

[0011] Figure 4 is an exploded assembly view of a proximal portion of the interchangeable surgical tool assembly of Figures 1 to 3, in accordance with an aspect of this description.

[0012] Figure 5 is another exploded assembly view of a distal portion of the interchangeable surgical tool assembly of Figures 1 to 5, in accordance with an aspect of this description.

[0013] Figure 6 is a partial cross-sectional view of the end actuator depicted in Figures 1 to 5 supporting an RF cartridge thereon and with tissue secured between the cartridge and the anvil, in accordance with an aspect of this description. .

[0014] Figure 7 is a partial cross-sectional view of the anvil of Figure 6, in accordance with an aspect of this description.

[0015] Figure 8 is another exploded assembly view of a portion of the interchangeable surgical tool assembly of Figures 1 to 5, in accordance with an aspect of this description.

[0016] Figure 9 is another exploded assembly view of the interchangeable surgical tool assembly and handle assembly of Figures 1 and 2, in accordance with an aspect of this description.

[0017] Figure 10 is a perspective view of an RF cartridge and an elongated channel of the interchangeable surgical tool assembly of Figures 1 to 5, in accordance with an aspect of this description.

[0018] Figure 11 is a partial perspective view of portions of the RF cartridge and the elongated channel of Figure 10 with a cutting member, in accordance with an aspect of this description.

[0019] Figure 12 is another perspective view of the RF cartridge installed in the elongated channel of Figure 10 and illustrating a portion of a flexible drive shaft circuit arrangement, in accordance with an aspect of this description.

[0020] Figure 13 is a cross-sectional end view of the RF cartridge and elongated channel of Figure 12, taken along lines 13-13 in Figure 12, in accordance with an aspect of this description.

[0021] Figure 14 is a top cross-sectional view of a portion of the interchangeable surgical tool assembly of Figures 1 and 5 with its end actuator in a hinged position, in accordance with an aspect of this description.

[0022] Figure 15 is a perspective view of an integrated circuit board arrangement and RF generator plus configuration, in accordance with an aspect of this description.

[0023] Figures 16A and 16B are a block diagram of a control circuit of the surgical instrument of Figure 1 comprising two drawing sheets, in accordance with an aspect of this description.

[0024] Figure 17 is a block diagram of the control circuit of the surgical instrument of Figure 1 illustrating the interfaces between the handle assembly, the power assembly and the handle assembly and the interchangeable drive shaft assembly, of according to one aspect of this description.

[0025] Figure 18 is a schematic diagram of a surgical instrument configured to control various functions, in accordance with an aspect of this description.

[0026] Figure 19 is a perspective view of various aspects of a surgical system, in accordance with an aspect of this description.

[0027] Figure 20 is a partial cross-sectional view of an end actuator of the surgical system of Figure 19, in accordance with an aspect of this description.

[0028] Figure 21 is a partial perspective view of a radio frequency cartridge supported by an elongated channel of the end actuator of Figure 20, in accordance with an aspect of this description.

[0029] Figure 22 is an exploded perspective view of portions of a handle assembly and a set of interchangeable tools of the surgical system of Figure 19, in accordance with an aspect of this description.

DESCRIPTION

[0030] The applicant of this application holds the following patent applications filed simultaneously with it and which are, each, incorporated into this document by reference in their respective entireties: Power of attorney document No. END8184USNP/170063, entitled "SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME", by inventors Jeffrey D. Messerly et al., filed June 28, 2017. Power of Attorney Document No. END8183USNP/170064, titled "SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS", by inventors Jeffrey D. Messerly et al., filed June 28, 2017. Power of Attorney Document No. END8190USNP/170065, entitled "SHAFT MODULE CIRCUITRY ARRANGEMENTS", by inventors Jeffrey D. Messerly et al., filed June 28, 2017. Power of Attorney Document No. END8189USNP/170066, entitled "SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR INDEPENDENT ENERGY DELIVERY OVER SEGMENTED SECTIONS", by inventors Jeffrey D. Messerly et al. , filed June 28, 2017. Power of Attorney Document No. END8185USNP/ 160045170067, entitled "FLEXIBLE CIRCUIT ARRANGEMENT FOR SURGICAL FASTENING INSTRUMENTS", by inventors Jeffrey D. Messerly et al., filed June 28, 2017. No. of power of attorney document END8181USNP/170069, entitled "SYSTEMS AND METHODS FOR CONTROLLING CONTROL CIRCUITS FOR AN INDEPENDENT ENERGY DELIVERY OVER SEGMENTED SECTIONS", by inventors David C. Yates et al., filed on June 28, 2017. Document no. power of attorney END8187USNP/170070, titled "SURGICAL END EFFECTOR FOR APPLYING ELECTROSURGICAL ENERGY TO DIFFERENT ELECTRODES ON DIFFERENT TIME PERIODS", from inventors Tamara Widenhouse et al., filed June 28, 2017. Power of attorney document number END8182USNP/170071, titled "ELECTROSURGICAL CARTRIDGE FOR USE IN THIN PROFILE SURGICAL CUTTING AND STAPLING INSTRUMENT", by inventors Tamara Widenhouse et al., filed June 28, 2017. Power of Attorney Document No. END8186USNP/170072, titled "SURGICAL END EFFECTOR TO ADJUST JAW COMPRESSION ", by inventors Frederick E. Shelton, IV et al., filed June 2017. Power of Attorney Document No. END8224USNP/170073, titled "CARTRIDGE ARRANGEMENTS FOR SURGICAL CUTTING AND FASTENING INSTRUMENTS WITH LOCKOUT DISABLEMENT FEATURES", by inventors Jason L. Harris et al., filed June 28, 2017. Power of Attorney Document No. END8229USNP/170074, entitled "SYSTEMS AND METHODS OF DISPLAYING SURGICAL INSTRUMENT STATUS", for inventors Jeffrey D. Messerly et al., filed 28 June 2017.

[0031] Electrosurgical devices can be used in many surgical operations. Electrosurgical devices can apply electrical energy to tissue to treat tissue. An electrosurgical device may comprise an instrument having a distally mounted end actuator comprising one or more electrodes. The end actuator can be positioned against the tissue so that electrical current can be introduced into the tissue. Electrosurgical devices can be configured for monopolar or bipolar operation. During monopolar operation, current can be introduced into the tissue by an active electrode (or source) in the end actuator and returned through a return electrode. The return electrode may be a grounding pad situated separately on a patient's body. During bipolar operation, current can be introduced into the tissue and returned from it respectively by the active and return electrodes of the end actuator.

[0032] The end actuator may include two or more gripper members. At least one of the claw members may have at least one electrode. At least one gripper may be movable from a position spaced apart from the opposite gripper to receive tissues in a position in which the space between the gripper members is smaller than that of the first position. This movement of the mobile claw can compress the tissue retained between it. The heat generated by the flow of current through the tissue in combination with the compression obtained by the movement of the gripper can form hemostatic seals within the tissue and/or between tissues and thus can be particularly useful for sealing blood vessels, e.g. example. The end actuator may comprise a cutting member. The cutting member may be movable relative to the tissue and electrodes for transection of the tissue.

[0033] Electrosurgical devices may also include mechanisms for holding tissue together, such as a stapling device, and/or mechanisms for cutting tissue, such as a tissue knife. An electrosurgical device may include a drive shaft for placing the end actuator in a position adjacent to the tissue undergoing treatment. The drive shaft can be straight or curved, foldable or non-foldable. In an electrosurgical device that includes a straight, bendable drive shaft, the drive shaft may have one or more hinged joints to allow controlled flexion of the drive shaft. Such joints may allow a user of the electrosurgical device to place the end actuator in contact with tissue at an angle to the drive shaft when the tissue being treated is not readily accessible with the use of an electrosurgical device that has a shaft. non-folding straight drive.

[0034] The electrical energy applied by the electrosurgical devices can be transmitted to the instrument by a generator in communication with the handpiece. Electrical energy may be in the form of radio frequency ("RF") energy. RF energy is a form of electrical energy that can be in the frequency range of 200 kilohertz (kHz) to 1 megahertz (MHz). In application, an electrosurgical instrument can transmit low-frequency RF energy through tissue, which causes friction, or ionic agitation, i.e. resistive heating, which therefore increases the temperature of the tissue. Because a sharp boundary is created between the affected tissue and surrounding tissue, surgeons can operate with a high level of precision and control without sacrificing adjacent non-target tissue. The low operating temperatures of RF energy are useful for removing, shrinking, or sculpting soft tissue while simultaneously cauterizing blood vessels. RF energy works particularly well on connective tissue, which primarily comprises collagen and shrinks when it comes into contact with heat.

[0035] RF energy may be in a frequency range described in document EN 60601-2-2:2009+A11:2011, Definition 201.3.218 - "HIGH FREQUENCY". For example, the frequency in monopolar RF applications can typically be restricted to less than 5 MHz. However, in bipolar RF applications, the frequency can be almost any. Frequencies above 200 kHz can typically be used for monopolar applications to avoid unwanted stimulation of nerves and muscles that would result from using a low frequency current. Lower frequencies may be used for bipolar applications if risk analysis shows that the possibility of neuromuscular stimulation has been mitigated to an acceptable level. Typically, frequencies above 5 MHz are not used in order to minimize problems associated with high-frequency stray currents. Higher frequencies can, however, be used in the case of bipolar applications. It is generally accepted that 10 mA is the lower threshold for thermal effects on tissue.

[0036] Figures 1 and 2 depict a motor-driven surgical system 10 that can be used to perform a variety of different surgical procedures. In the illustrated arrangement, the surgical system 10 comprises an interchangeable surgical tool assembly 1000 that is operatively coupled to a handle assembly 500. In another aspect of the surgical system, the interchangeable surgical tool assembly may be effectively employed with a handle assembly 500. tool of a robotically controlled or automated surgical system. For example, the surgical tool assembly 1000 disclosed herein may be employed with various robotic systems, instruments, components and methods such as, but not limited to, those disclosed in U.S. Patent No. 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", which is incorporated herein by reference in its entirety.

[0037] In the illustrated aspect, the grip assembly 500 may comprise a grip compartment 502 that includes a pistol grip portion 504 that can be held and manipulated by the practitioner. As will be briefly discussed below, the grip assembly 500 operatively supports a plurality of drive systems, which are configured to generate and apply various control movements to corresponding portions of the interchangeable surgical tool assembly 1000. As shown in Figure 2, the assembly handle structure 500 may also include a handle structure 506 that operatively supports the plurality of drive systems. For example, the handle structure 506 may operatively support a "first" closing drive system or system, generally designated as 510, which may be employed to apply closing and opening movements to the interchangeable surgical tool assembly. 1000. In at least one form, the closing drive system 510 may include an actuator in the form of a closing trigger 512, pivotally supported by the handle structure 506. This arrangement enables the closing trigger 512 to be manipulated by a physician, so that when the physician wields the pistol grip assembly portion 504 of the grip assembly 500, the closing trigger 512 can be easily rotated from a home or "non-actuated" position to a "triggered" position. " and, more particularly, to a fully compressed or fully actuated position. In use, to actuate the closure trigger system 510, the practitioner presses the closure trigger 512 toward the pistol grip portion 504. As described in more detail in U.S. Patent Application Serial No. 14/226,142, titled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", now publishing US Patent Application No. 2015/0272575, which is incorporated herein by reference in its entirety in the present invention, when the physician depresses the closing trigger 512 completely to achieve a stroke full closing, the closing trigger system 510 is configured to lock the closing trigger 512 in the fully depressed or fully actuated position. When the practitioner wishes to unlock the closing trigger 512 to enable it to be tilted to the non-actuated position, the practitioner simply activates a closing release button assembly 518 that enables the closing trigger to return to the non-actuated position. The close release button assembly 518 may also be configured to interact with various sensors that communicate with a microcontroller in the grip assembly 500 to track the position of the close trigger 512. Further discussion regarding configuration and operation of the closure release button assembly 518 can be found in US Patent Application Publication No. 2015/0272575.

[0038] In at least one form, the grip assembly 500 and the grip structure 506 may operatively support another drive system referred to in the present invention as a firing drive system 530, which is configured to apply firing motions to the portions corresponding parts of the interchangeable surgical tool set that is attached thereto. As described in detail in US Patent Application Publication No. 0272575, the firing drive system 530 may employ an electric motor 505 that is situated in the pistol grip portion 504 of the grip assembly 500. In various forms, the Motor 505 may be a brushed DC drive motor with a maximum rotational speed of approximately 25,000 RPM, for example. In other arrangements, the motor 505 may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable type of electric motor. The motor 505 may be powered by a power supply 522 which, in one form, may comprise a removable power source. The power source may support a plurality of lithium-ion ("Li-ion") or other suitable batteries therein. Multiple batteries connected in series or parallel may be used as the power source 522 for the surgical system 10. Furthermore, the power source 522 may be replaceable and/or rechargeable.

[0039] The electric motor 505 is configured to axially drive a longitudinally movable drive member 540 (Figure 3) in the distal and proximal directions depending on the polarity of the motor. For example, when the electric motor 505 is driven in a direction of rotation, the longitudinally movable drive member will be axially driven in a distal direction "DD". When the motor 505 is driven in the opposite rotary direction, the longitudinally movable drive member 540 will be axially driven in the proximal "PD" direction. The handle assembly 500 may include a switch 513 that may be configured to reverse the polarity applied to the electric motor 505 by the power source 522 or otherwise control the motor 505. The handle assembly 500 may also include a sensor or sensors ( not shown) which are configured to detect the position of the drive member and/or the direction in which the drive member is being moved. Actuation of the motor 505 may be controlled by a firing trigger (not shown) that is in a position adjacent the closing trigger 512 and pivotably supported on the grip assembly 500. The firing trigger may be pivoted between a non-actuated position and an acted position. The trigger may be biased to the non-actuated position by means of a spring or other biasing arrangement so that when the practitioner releases the trigger, it may be pivoted or otherwise returned to the non-actuated position. actuated by means of spring or propensity arrangement. In at least one form, the firing trigger may be positioned "off-center" of the closing trigger 512. As discussed in US Patent Application Publication No. 2015/0272575, the grip assembly 500 may be equipped with a button. trigger safety guard (not shown) to prevent inadvertent actuation of the trigger. When the closing trigger 512 is in the non-actuated position, the safety button is contained within the grip assembly 500, where the practitioner cannot readily access it and move it between a safety position, which prevents trigger actuation. firing position, and a firing position at which the firing trigger can be fired. As the clinician presses the close trigger, the safety button and firing trigger pivot downward to a position where they can then be manipulated by the clinician.

[0040] In at least one form, the longitudinally movable drive member 540 may have a tooth rack 542 formed thereon for meshed engagement with a corresponding drive gear arrangement (not shown) that interfaces with the motor. See Figure 3. Additional details regarding those features can be found in US Patent Application Publication No. 2015/0272575. In at least one arrangement, however, the longitudinally movable drive member is insulated to protect it from inadvertent RF energy. At least one form also includes a manually actuable "retraction" assembly, which is configured to enable the practitioner to manually retract the longitudinally movable drive member if the motor 505 ceases to operate. The retraction assembly may include a retraction lever or handle assembly that is stored within the handle assembly 500 under a removable door 550. See Figure 2. The lever may be configured to be manually pivoted in ratchet engagement with the teeth on the driving member. In this way, the practitioner can manually retract the drive member 540 using the retraction handle assembly to engage the drive member in the proximal "PD" direction. US Patent No. 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", the description of which is incorporated herein by reference in the present invention, discloses rescue arrangements and other components, arrangements and systems that also may be employed with any of the various interchangeable surgical tool sets disclosed in the present invention.

[0041] In the illustrated aspect, the interchangeable surgical tool assembly 1000 includes a surgical end actuator 1500 that comprises a first claw 1600 and a second claw 1800. In one arrangement, the first claw comprises an elongated channel 1602 that is configured to support operatively a conventional (mechanical) surgical staples/fastener cartridge 1400 (Figure 4) or a radiofrequency (RF) cartridge 1700 (Figures 1 and 2) therein. The second claw 1800 comprises an anvil 1810 that is pivotably supported relative to the elongated channel 1602. The anvil 1810 may be selectively moved toward and away from a surgical cartridge supported in the elongated channel 1602 and between open and closed positions. , through actuation of the closure drive system 510. In the illustrated arrangement, the anvil 1810 is pivotably supported on a proximal end portion of the elongated channel 1602 for selective pivoting displacement about a pivot axis that is transverse to the SA drive shaft geometric axis. Actuation of the closure drive system 510 may result in distal axial movement of a proximal closure member or proximal closure tube 1910 that is secured to a hinge connector 1920.

[0042] Returning to Figure 4, the pivot connector 1920 includes upper and lower protuberances 1922, 1924 that project distally from a distal end of the pivot connector 1920 to be movably coupled to an actuator closure sleeve. distal closure tube segment or end 1930. See Figure 3. The distal closure tube segment 1930 includes an upper protuberance 1932 and a lower protuberance (not shown) that project proximally from a proximal end thereof. An upper double pivot link 1940 includes proximal and distal pins 1941, 1942 that engage corresponding holes in the upper protuberances 1922, 1932 of the hinge connector 1920 and the distal closure tube segment 1930, respectively. Similarly, an upper double pivot link 1944 includes proximal and distal pins 1945, 1946 that engage corresponding holes in the lower protrusions 1924 of the hinge connector tube segment 1920 and the distal closure tube segment 1930, respectively.

[0043] Still referring to Figure 4, in the illustrated example, the distal closure tube segment 1930 includes positive claw opening features or tabs 1936, 1938 that correspond to corresponding portions of the anvil 1810 to apply opening movements to the anvil 1810 , as the distal closure tube segment 1930 is retracted in the proximal direction PD to an initial position. Additional details relating to the opening and closing of the anvil 1810 can be found in the US Patent Application, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES", proxy document no. END8208USNP/170096, filed on the same date as this document, the description of which is incorporated herein by reference into the present invention.

[0044] As shown in Figure 5, in at least one arrangement, the interchangeable surgical tool assembly 1000 includes a tool frame assembly 1200 comprising a tool chassis 1210 that operatively supports a nozzle assembly 1240 therein. As further discussed in detail in the US Patent Application, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", proxy document no. END8209USNP/170097, filed on the same date as this document, and which is incorporated herein by reference in In their entirety in the present invention, the tool chassis 1210 and the nozzle arrangement 1240 facilitate rotation of the surgical end actuator 1500 about a drive shaft axis SA relative to the tool chassis 1210. Such rotational displacement is represented by arrow R in Figure 1. As also shown in Figures 4 and 5, the interchangeable surgical tool assembly 1000 includes a central column assembly 1250 that operatively supports the proximal closure tube 1910 and is coupled to the surgical end actuator 1500. In In various circumstances, to facilitate assembly, the center column assembly 1250 may be manufactured from an upper center column segment 1251 and a lower center column segment 1252 that are interconnected together by means of press-fitting, adhesive, welding, etc. . In assembled form, the central column assembly 1250 includes a proximal end 1253 that is pivotably supported on the tool chassis 1210. In one arrangement, for example, the proximal end 1253 of the central column assembly 1250 is attached to a dorsal bearing ( not shown) which is configured to be supported within the tool chassis 1210. This arrangement facilitates rotary attachment of the center column assembly 1250 to the tool chassis so that the center column assembly 1250 can be selectively rotated around a geometric axis of SA drive shaft in relation to tool chassis 1210.

[0045] As shown in Figure 4, the upper center column segment 1251 terminates in an upper tab mounting feature 1260 and the lower center column segment 1252 terminates in a lower tab mounting feature 1270. The upper tab 1260 is formed with a tab slot 1262 therein that is adapted to mountably support an upper mounting link 1264 therein. Similarly, the lower pin crimp feature 1270 is formed with a pin slot 1272 therein that is adapted to mountably support a lower mounting link 1274 therein. The upper mounting link 1264 includes a pivot socket 1266 therein that is offset from the SA drive shaft axis. The pivot socket 1266 is adapted to rotatably receive therein a pivot pin 1634 that is formed in a channel cap or anvil retainer 1630 that is secured to a proximal end portion 1610 of the elongated channel 1602. The lower mounting linkage 1274 includes the lower pivot pin 1276 that is adapted to be received within a pivot hole 1611 formed in the proximal end portion 1610 of the elongated channel 1602. The lower pivot pin 1276 as well as the pivot hole 1611 is offset relative to to the SA drive shaft geometric axis. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define the pivot axis AA about which the surgical end actuator 1500 can pivot relative to the drive shaft axis SA. See Figure 1. Although the pivot axis AA is transverse to the drive shaft axis SA, in at least one arrangement, the pivot axis AA is laterally offset therefrom and does not intersect the pivot axis. of SA drive.

[0046] Returning to Figure 5, a proximal end 1912 of the proximal closure tube 1910 is rotationally coupled to a closure shuttle 1914 by a connector 1916 that is seated in an annular groove 1915 in the proximal closure tube segment 1910. The shuttle 1914 is supported for axial displacement within the tool chassis 1210 and has a pair of hooks 1917 thereon configured to engage the closing drive system 510 when the tool chassis 1210 is coupled to the grip frame 506. The chassis tool frame 1210 additionally supports a lock assembly 1280 to releasably lock the tool chassis 1210 to the grip frame 506. Additional details regarding the tool chassis 1210 and the lock assembly 1280 can be found in the US Patent Application, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", power of attorney document no. END8209USNP/170097, deposited on the same date as this document and whose complete description is incorporated herein by reference.

[0047] The firing drive system 530 in the grip assembly 500 is configured to be operatively coupled to a firing system 1300 that is operatively supported in the interchangeable surgical tool assembly 1000. The firing system 1300 may include an intermediate portion of firing drive shaft 1310 that is configured to be axially moved in the distal and proximal directions in response to corresponding firing movements applied thereto by the firing drive system 530. See Figure 4. As shown in Figure 5, a proximal end 1312 of the firing drive shaft intermediate portion 1310 has a firing drive shaft attachment tab 1314 formed thereon that is configured to be seated in a mounting base 544 (Figure 3) that is located at the distal end of the member. longitudinally movable drive shaft 540 of the firing drive system 530 within the grip assembly 500. This arrangement facilitates axial movement of the intermediate firing drive shaft portion 1310 upon actuation of the firing drive system 530. In the illustrated example, the firing drive shaft intermediate portion 1600 is configured for attachment to a distal cutting portion or knife bar 1320. As shown in Figure 4, the knife bar 1320 is connected to a firing member or knife member 1330. The knife member 1330 comprises a knife body 1332 that operatively supports a fabric cutting blade 1334 therein. The knife body 1332 may additionally include tabs or anvil engagement features 1336 and channel engagement features or a foot 1338. The anvil engagement features 1336 may serve to apply additional closing movements to the anvil 1810 as the knife member 1330 is advanced distally through end actuator 1500.

[0048] In the illustrated example, the surgical end actuator 1500 is selectively pivotable about the AA hinge axis by a hinge system 1360. In one form, the hinge system 1360 includes a proximal hinge actuator 1370 that is coupled to pivoting mode to a pivot link 1380. As can be seen more particularly in Figure 4, a travel securing tab 1373 is formed on a distal end 1372 of the proximal pivot actuator 1370. A pivot hole 1374 is formed in the pivot tab 1370. displacement attachment 1373 and is configured to pivotally receive a proximal link pin 1382 formed in the proximal end 1381 of the pivot link 1380. A distal end 1383 of the pivot link 1380 includes a pivot hole 1384 that is configured to pivotally receive therein a channel pin 1618 formed in the proximal end portion 1610 of the elongated channel 1602. In this way, axial movement of the proximal hinge driver 1370 will thereby apply pivoting movements to the elongated channel 1602 to thereby cause the surgical end actuator 1500 to pivot about the AA hinge axis relative to the central column assembly 1250. In various circumstances, the proximal hinge actuator 1370 may be held in position by the hinge lock 1390 when the proximal hinge driver 1370 is not being moved in the proximal or distal directions. Additional details relating to an exemplary form of the 1390 articulation lock can be found in the US Patent Application, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME", proxy document no. END8217USNP/170102, filed on the same date as the present document, the description of which is incorporated herein by reference into the present invention.

[0049] In addition to the foregoing, the interchangeable surgical tool assembly 1000 may include a displacer assembly 1100 that may be configured to selectively and releasably couple the proximal hinge driver 1310 to the trigger system 1300. As illustrated in Figure 5 In one form, the displacer assembly 1100 includes a locking collar or locking sleeve 1110 positioned about the firing drive shaft intermediate portion 1310 of the firing system 1300, wherein the locking sleeve 1110 is rotatable. between an engaged position, in which the locking sleeve 1110 operatively couples the proximal pivot driver 1370 to the firing member assembly 1300, and a disengaged position, in which the proximal pivot driver 1370 is not operatively coupled to the firing member assembly. firing 1300. When the locking sleeve 1110 is in its engaged position, the distal movement of the firing member assembly 1300 may distally move the proximal pivot actuator 1370 and, correspondingly, the proximal movement of the firing member assembly 1300. can move the proximal pivot actuator 1370 proximally. When the locking sleeve 1110 is in its disengaged position, movement of the firing member assembly 1300 is not transmitted to the proximal pivot actuator 1370 and, as a result, the firing member assembly 1370 trigger 1300 may move independently of the proximal hinge driver 1370. In various circumstances, the proximal hinge driver 1370 may be held in position by the pivot lock 1390 when the proximal hinge driver 1370 is not being moved in the proximal or distal direction by the 1300 firing member assembly.

[0050] In the illustrated arrangement, the firing drive shaft intermediate portion 1310 of the firing member assembly 1300 is formed with two opposing flat sides with a drive notch 1316 formed therein. See Figure 5. As can also be seen in Figure 5, locking sleeve 1110 comprises a cylindrical, or at least substantially cylindrical, body that includes a longitudinal opening that is configured to receive the intermediate portion of the firing drive shaft. 1310 through it. The locking sleeve 1110 may comprise diametrically opposed and inwardly facing locking protrusions which, when the locking sleeve 1110 is in one position, are engageably received within corresponding portions of the drive notch 1316 in the drive shaft intermediate portion. 1310 and, when in another position, are not received within the drive notch 1316 to thus allow relative axial movement between the locking sleeve 1110 and the intermediate shot drive shaft 1310. As can further be seen in Figure 5, the locking sleeve 1110 additionally includes a locking member 1112 that is sized to be movably received within a notch 1375 in a proximal end of the proximal pivot driver 1370. Such an arrangement allows the locking sleeve 1110 to rotate slightly. in and out of engagement with the intermediate firing drive shaft portion 1310, while remaining in position for engagement or in engagement with the notch 1375 in the proximal pivot actuator 1370. More particularly, when the locking sleeve 1110 is in its engaged position, the locking projections are positioned within the drive notch 1316 defined in the intermediate portion of the firing drive shaft 1310 so that a distal pushing force and/or a proximal pulling force can be transmitted from the assembly from the firing member 1300 to the locking sleeve 1110. Such axial pushing or pulling motion is then transmitted from the locking sleeve 1110 to the proximal hinge actuator 1370, to thereby articulate the surgical end actuator 1500. In effect, The firing member assembly 1300, the locking sleeve 1110, and the proximal pivot driver 1370 will move together when the locking sleeve 1110 is in its engaged (pivot) position. On the other hand, when the locking sleeve 1110 is in its disengaged position, the locking protrusions are not received within the drive notch 1316 of the firing drive shaft intermediate portion 1310 and, as a result, a distal pushing force and/or a proximal pulling force may not be transmitted from the trigger assembly 1300 to the locking sleeve 1110 (and the proximal pivot driver 1370).

[0051] In the illustrated example, the relative movement of the locking sleeve 1110 between its engaged and disengaged positions can be controlled by the displacer assembly 1100 that interfaces with the proximal closure tube 1910. Still referring to Figure 5, the displacer assembly Displacer 1100 further includes a displacer key 1120 that is configured to be slidably received within a key groove formed on the outer perimeter of the locking sleeve 1110. Such an arrangement allows the displacer key 1120 to move axially relative to the sleeve. 1110. As discussed in more detail in the US Patent Application, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER", proxy document no. END8209USNP/170097, filed on the same date as this document, the description of which is incorporated herein into By way of reference in the present invention, a displacer key portion 1120 is configured to cam interact with a cam opening (not shown) in the proximal closure tube portion 1910. Furthermore, in the illustrated example, the assembly of Displacer 1100 further includes a key barrel 1130 that is rotatably received in a proximal end portion of the proximal closure tube portion 1910. A portion of the displacer key 1120 extends through an axial slot segment in the key barrel. 1130 and is movably received within an arcuate slot segment in the key barrel 1130. The key barrel torsion spring 1132 is mounted in the key barrel 1130 and engages a portion of the nozzle assembly 1240 to apply a rotation or torsional force that serves to rotate the key barrel 1130 until the displacer key portion 1120 reaches an end portion of the cam opening in the proximal closure tube portion 1910. When in this position, the switching cylinder 1130 can apply a torsional force to displacer 1120 which thereby causes locking sleeve 1110 to rotate to its engaged position with the intermediate firing drive shaft portion 1310. This position also corresponds to the non-actuated configuration of the proximal shutoff tube 1910 (and segment of the distal closure tube 1930).

[0052] In one arrangement, for example, when the proximal closure tube 1910 is in a non-actuated configuration (the anvil 1810 is in an open position spaced in the opposite direction to the cartridge mounted in the elongated channel 1602) the actuation of the intermediate portion of trigger drive shaft 1310 will result in axial movement of the proximal hinge actuator 1370 to facilitate articulation of the end actuator 1500. Once the user has pivoted the surgical end actuator 1500 to a desired orientation, the user can then actuate the proximal closure tube portion 1910. Actuation of the proximal closure tube portion 1910 will result in distal displacement of the distal closure tube segment 1930 to ultimately apply a closing motion to the anvil 1810. This distal displacement of the closure tube portion proximal 1910 will result in opening cam therein that cam-interacts with a cam portion of the displacer key 1120 to thereby cause the displacer key 1120 to rotate the locking sleeve 1110 in an actuating direction. Such rotation of the locking sleeve 1110 will result in disengagement of the locking protuberances from the drive notch 1316 in the firing drive shaft intermediate portion 1310. When in such a configuration, the firing drive system 530 can be actuated to actuate the intermediate portion of firing drive shaft 1310 without actuating the proximal linkage actuator 1370. Additional details relating to the operation of the key drum 1130 and the locking sleeve 1110, as well as alternative linkage actuation and firing arrangements that may be employed with the various sets of interchangeable surgical tools described herein can be found in US Patent Application Serial No. 13/803,086, now US Patent Application Publication No. 2014/0263541 and US Patent Application Publication Serial No. 15/019,196 , the full descriptions of which are incorporated herein by reference into the present invention.

[0053] As also illustrated in Figures 5 and 15, the interchangeable surgical tool assembly 1000 may comprise a slip ring assembly 1150 that may be configured to conduct electrical power to and/or from the surgical end actuator 1500 and/or communicate signals to and/or from the surgical end actuator 1500 back to an integrated circuit board 1152 while facilitating rotational displacement of the drive shaft and end actuator 1500 about the axis of the drive shaft SA relative to to tool chassis 1210 by rotating nozzle assembly 1240. As shown in Figure 15, in at least one arrangement, integrated circuit board 1152 includes an integrated connector 1154 that is configured to interface with a housing connector 562 ( Figure 9) that communicates with a microprocessor 560 that is supported in the grip assembly 500 or robotic system controller, for example. The slip ring assembly 1150 is configured to interface with a proximal connector 1153 that interfaces with the integrated circuit board 1152. Additional details about the slip ring assembly 1150 and associated connectors can be found in U.S. Patent Application No. serial number, 13/803,086, currently publishing US Patent Application No. 2014/0263541, and US Patent Application Serial No. 15/019,196, each of which is incorporated herein by reference in its entirety , as well as in US Patent Application Serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", currently publishing US Patent Application Serial No. 2014/0263552, which is incorporated herein by reference in its entirety.

[0054] An exemplary version of the interchangeable surgical tool set 1000 disclosed in the present invention may be employed in connection with a standard (mechanical) surgical fastener cartridge 1400 or a cartridge 1700 that is configured to facilitate cutting of tissue with the knife and seal the cut tissue with the use of radiofrequency (RF) energy. Again with reference to Figure 4, a conventional or standard mechanical type cartridge 1400 is shown. Such cartridge arrangements are known and may comprise a cartridge body 1402 that is sized and shaped to be removably received and supported in the elongated channel 1602 For example, the cartridge body 1402 may be configured to be removably retained in snap engagement with the elongated channel 1602. The cartridge body 1402 includes an elongated slot 1404 to accommodate axial displacement of the knife member 1330 through the. same. The cartridge body 1402 operatively supports therein a plurality of staple drivers (not shown) that are aligned in rows on each side of a centrally disposed elongate slot 1404. The drivers are associated with corresponding staple/fastener pockets 1412 that open through the upper platform surface 1410 of the cartridge body 1402. Each of the staple drivers supports one or more staples or surgical fasteners (not shown) therein. A slider assembly 1420 is supported within a proximal end of the cartridge body 1402 and is situated proximally to the triggers and fasteners in an initial position when the cartridge 1400 is new and unfired. The slider assembly 1420 includes a plurality of angled or wedge-shaped cams 1422 with each cam 1422 corresponding to a specific row of fasteners or drivers situated on one side of the slot 1404. The slider assembly 1420 is configured to be placed in contact and driven by the knife member 1330, as the knife member is driven distally through the tissue that is secured between the anvil and the cartridge platform surface 1410. As the drives are driven upward toward the surface of the cartridge platform 1410, the fastener (or fasteners) supported thereon are driven out of their clamp pockets 1412 and through the fabric that is clamped between the anvil and the cartridge.

[0055] Still referring to Figure 4, the anvil 1810, in at least one form, includes an anvil mounting portion 1820 that has a pair of anvil trunnions 1822 that project laterally therefrom to be received in a manner pivoted on corresponding trunnion bases 1614 formed in the vertical walls 1622 of the proximal end portion 1610 of the elongated channel 1602. The anvil swivel pins 1822 are pivotally retained in their corresponding swivel pin bases 1614 by the channel cover or anvil retainer 1630. The anvil mounting portion 1820 is movably or pivotably supported in the elongated channel 1602 for selective pivoting displacement thereof about a fixed anvil pivot axis that is transverse to the axis of the drive shaft SA . As shown in Figures 6 and 7, in at least one form, the anvil 1810 includes an anvil body portion 1812 that is manufactured from an electrically conductive metallic material, for example, and has a clip-forming lower surface 1813 which has a series of fastener-forming pockets 1814 formed therein on each side of a centrally disposed anvil slot 1815 that is configured to slidably accommodate the knife member 1330 therein. The anvil slot 1815 opens into an upper opening 1816 that extends longitudinally through the anvil body 1812 to accommodate the anvil engagement features 1336 on the knife member 1330 during firing. When a cartridge of conventional mechanical surgical staples/fasteners 1400 is installed in the elongated channel 1602, the staples/fasteners are driven through the fabric T and into forming contact with corresponding fastener forming pockets 1814. The anvil body 1812 may have a opening in the upper portion of it to facilitate installation, for example. An anvil cap 1818 may be inserted therein and welded to the anvil body 1812 to close the opening and improve the overall rigidity of the anvil body 1812. As shown in Figure 7, to facilitate the use of the end actuator 1500 in connection with RF cartridges 1700, the fabric-facing segments 1817 of the lower fastener-forming surface 1813 may have electrically insulating material 1819 therein.

[0056] In the illustrated arrangement, the interchangeable surgical tool assembly 1000 is configured with a firing member locking system, generally designated as 1640. See Figure 8. As shown in Figure 8, the elongated channel 1602 includes a surface bottom or lower portion 1620 having two vertical side walls 1622 projecting therefrom. A centrally disposed longitudinal channel slot 1624 is formed through the lower portion 1620 to facilitate axial displacement of the knife member 1330 therethrough. The channel slot 1624 opens into a longitudinal passage 1626 which accommodates the channel engagement feature or foot 1338 in the knife member 1330. The passage 1626 serves to define two inwardly extending protruding portions 1628 which serve to engage the portions. corresponding portions of the channel or foot engagement feature 1338. The firing member 1640 locking system includes proximal openings 1642 located on each side of the channel slot 1624 that are configured to receive corresponding portions of the channel or foot engagement feature 1338 when knife member 1330 is in an initial position. A knife locking spring 1650 is supported at the proximal end 1610 of the elongated channel 1602 and serves to force the knife member 1330 downward. As shown in Figure 8, the knife locking spring 1650 includes two distal termination spring arms 1652 that are configured to engage corresponding center channel engagement features 1337 in the knife body 1332. The spring arms 1652 are configured to tilt The 1337 center channel hitch features downwards. Thus, when in the home (unfired) position, the knife member 1330 is tilted downward so that the channel or foot engagement features 1338 are received within the corresponding proximal openings 1642 in the elongated channel 1602. When in the locked position , if one attempts to distally advance the knife 1330, the central channel engagement features 1137 and/or foot 1338 could engage the vertical projections 1654 on the elongated channel 1602 (Figures 8 and 11) and the knife 1330 could not be fired.

[0057] Still referring to Figure 8, the firing member locking system 1640 also includes an unlocking assembly 1660 formed or supported on a distal end of the firing member body 1332. The unlocking assembly 1660 includes a projection that extends distally 1662 that is configured to engage an unlocking feature 1426 formed in the slider assembly 1420 when the slider assembly 1420 is in its home position on an unfired surgical stapler cartridge 1400. Thus, when a surgical stapler cartridge 1400 unfired feature 1400 is suitably installed in the elongated channel 1602, the projection 1662 on the unlocking assembly 1660 contacts the unlocking feature 1426 on the slider assembly 1420 which serves to tilt the knife member 1330 upwardly so that the features channel 1137 and/or foot 1338 clear the vertical projections 1654 at the bottom of the channel 1620 to facilitate axial passage of the knife member 1330 through the elongated channel 1602. If a partially fired cartridge 1400 is inadvertently installed in the elongated channel, the slider assembly 1420 will not be in the home position and the knife member 1330 will remain in the locked position.

[0058] The attachment of the interchangeable surgical tool assembly 1000 to the grip assembly 500 will now be described with reference to Figures 3 and 9. To begin the coupling process, the practitioner can position the tool chassis 1210 of the interchangeable surgical tool assembly 1000 above or adjacent to the distal end of the handle structure 506 so that the tapered attachment portions 1212 formed on the tool chassis 1210 are aligned with the engagement slots 507 on the handle structure 506. The practitioner can then move the assembly of interchangeable surgical tool 1000 along an installation axis IA that is perpendicular to the drive axis SA to seat the tapered attachment portions 1212 in "operational engagement" with the corresponding socket receiver slots 507 at the distal end of the assembly frame. grip 506. In doing so, the drive shaft attachment tab 1314 on the firing drive shaft intermediate portion 1310 will also be seated on the base 544 on the longitudinally movable drive member 540 within the grip assembly 500 and the portions of a pin 516 in a closing link 514 will be seated in the corresponding hooks 1917 in the closing shuttle 1914. As used in the present invention, the term "operable engagement" in reference to two components means that the two components are sufficiently engaged with each other so that , by applying an actuation movement to them, the components can execute the intended action, function and/or procedure. Additionally, during this process, the integrated connector 1154 on the surgical tool assembly 1000 is coupled to the housing connector 562 that communicates with the microprocessor 560 that is supported on the grip assembly 500 or robotic system controller, for example.

[0059] During a typical surgical procedure, the physician may introduce the surgical tip actuator 1500 into the surgical site through a trocar or other opening in the patient to access the target tissue. In doing so, the practitioner typically axially aligns the surgical end actuator 1500 along the axis of drive shaft SA (non-hinged state). Since the surgical end actuator 1500 passes through the trocar port, for example, the physician may need to pivot the end actuator 1500 to advantageously position it adjacent to the target tissue. That is, before closing the anvil 1810 over the target tissue so that the closing drive system 510 remains unactuated. When in this position, actuation of the trigger actuator system 530 will result in the application of hinge movements to the proximal hinge actuator 1370. Once the end actuator 1500 has reached the desired hinged position, the trigger actuator system 530 is deactivated and the pivot lock 1390 can retain the surgical end actuator 1500 in the pivoted position. The physician can then actuate the closure drive system 510 to close the anvil 1810 over the target tissue. Such actuation of the closure drive system 510 may also result in the displacer assembly 1100 detaching the proximal hinge actuator 1370 from the intermediate portion of the firing drive shaft 1310. Thus, once the target tissue has been captured in the closure actuator surgical end 1500, the clinician may again actuate the firing drive system 530 to axially advance the firing member 1330 through the surgical staples/staples cartridge 1400 or RF cartridge 1700 to cut the clamped tissue and fire the staples/fasteners into the T cutting fabric. Other closing and triggering drive arrangements, actuator arrangements (portable, manual and automated or robotic) may also be employed to control the axial movement of closing system components, linkage system components and /or firing system components of the surgical tool assembly 1000 without departing from the scope of the present description.

[0060] As indicated above, the surgical tool assembly 1000 is configured to be used in conjunction with conventional mechanical surgical staples/fastener cartridges 1400, as well as RF cartridges 1700. In at least one way, the cartridge 1700 can facilitate the mechanically cutting the tissue that is clamped between the anvil 1810 and the RF cartridge 1700 with the knife member 1330, while the electric coagulation current is applied to the tissue in the current path. Alternative arrangements for mechanically cutting and coagulating tissue using electrical current are disclosed, for example, in US Patent Nos. 5,403,312, and 7,780,663 and in US Patent Application Serial No. 15/142,609, entitled "ELECTROSURGICAL INSTRUMENT WITH ELECTRICALLY CONDUCTIVE GAP SETTING AND TISSUE ENGAGING MEMBERS", the entirety of the descriptions of each of said references being incorporated herein by reference. Such instruments can, for example, improve hemostasis, reduce surgical complexity, as well as time in the operating room.

[0061] As shown in Figures 10 to 12, in at least one arrangement, the RF surgical cartridge 1700 includes a cartridge body 1710 that is sized and shaped to be received and removably supported in the elongated channel 1602. For example, The cartridge body 1710 may be configured to be removably retained in snap engagement with the elongated channel 1602. In various arrangements, the cartridge body 1710 may be manufactured from a polymeric material, such as, for example, a thermoplastic. engineering solutions such as Vectra™ liquid crystal polymer (LCP) and the 1602 elongated channel can be manufactured from metal. In at least one aspect, the cartridge body 1710 includes a centrally disposed elongate slot 1712 that extends longitudinally through the cartridge body to accommodate longitudinal displacement of the knife 1330 therethrough. As shown in Figures 10 and 11, a pair of locking engagement tails 1714 extends proximally from the cartridge body 1710. Each locking engagement tail 1714 has a locking block 1716 formed on the underside thereof that is sized to be received within a corresponding proximal opening portion 1642 in the channel bottom 1620. Thus, when the cartridge 1700 is properly installed in the elongated channel 1602, the locking engagement tails 1714 cover the openings 1642 and protrusions 1654 to retain the 1330 knife in an unlocked position ready for firing.

[0062] Now referring to Figures 10 to 13, in the illustrated example, the cartridge body 1710 is formed with a centrally disposed elevated electrode block 1720. As can be seen more particularly in Figure 6, the elongated slit 1712 extends through from the center of the electrode block 1720 and serves to divide the block 1720 into a left block segment 1720L and a right block segment 1720R. A right flexible circuit assembly 1730R is attached to the right block segment 1720R and a left flexible circuit assembly 1730L is attached to the left block segment 1720L. In at least one arrangement, for example, the straight flexible circuit 1730R comprises a plurality of electrical conductors 1732R which may include, for example, wider electrical conductors/conductors for RF purposes and thinner electrical conductors for conventional stapling purposes that are supported or secured or embedded in a right insulating sheath/member 1734R which is secured to the right block 1720R. Additionally, the 1730R Right Flexible Circuit Assembly includes a 1736R "phase one" proximal right electrode and a 1738R "phase two" distal right electrode. Similarly, the left flexible circuit assembly 1730L comprises a plurality of electrical conductors 1732L which may include, for example, wider electrical conductors/conductors for RF purposes and thinner electrical conductors for conventional clamping purposes that are supported or secured or embedded in a left insulating member/housing 1734L that is secured to the left block 1720L. Additionally, the 1730L left flexible circuit assembly includes a 1736L "phase one" proximal left electrode and a 1738L "phase two" distal left electrode. The left and right electrical leads 1732L, 1732R are attached to a distal integrated microcircuit 1740 mounted on the distal end portion of the cartridge body 1710. In one arrangement, for example, each of the right and left flexible circuits 1730R, 1730L may have a total "CW" width of approximately 0.025 inch and each of the 1736R, 1736L, 1738R, 1738R electrodes has an "EW" width of approximately 0.010 inch, for example. See Figure 13. However, other widths/sizes are contemplated that can be used in alternative aspects.

[0063] In at least one arrangement, RF energy is supplied to the surgical tool assembly 1000 by a conventional RF generator 400 through a supply conductor 402. In at least one arrangement, the supply conductor 402 includes a set of male plug 406 that is configured to be plugged into corresponding female connectors 410 that are attached to a segmented RF circuit 1160 on an integrated circuit board 1152. See Figure 15. This arrangement facilitates rotational movement of the drive shaft and end actuator 1500 about the axis of the drive shaft SA relative to the tool chassis 1210 upon rotation of the nozzle assembly 1240 without winding the supply conductor 402 of the generator 400. An integrated on/off switch 420 is supported on the fastener assembly 1280 and tool chassis 1210 to turn the RF generator on and off. When the tool assembly 1000 is operatively coupled to the grip assembly 500 or robotic system, the integrated segmented RF circuit 1160 communicates with the microprocessor 560 via connectors 1154 and 562. As shown in Figure 1, the grip assembly 500 can also include a display screen 430 for viewing information about the progress of sealing, stapling, knife location, cartridge status, fabric, temperature, etc. As can also be seen in Figure 15, the slip ring assembly 1150 interfaces with a distal connector 1162 that includes a flexible drive shaft circuit strip or assembly 1164 that may include a plurality of narrow electrical conductors 1166 for activities related to clipping and wider electrical conductors 1168 used for RF purposes. As shown in Figures 14 and 15, the flexible drive shaft circuit strip 1164 is centrally supported between the laminated plates or bars 1322 that form the knife bar 1320. This arrangement facilitates sufficient bending of the knife bar 1320 and the strip. of flexible drive shaft circuitry 1164 during articulation of the end actuator 1500 while remaining sufficiently rigid to allow the knife member 1330 to be advanced distally through the trapped tissue.

[0064] Again referring to Figure 10, in at least one illustrated arrangement, the elongated channel 1602 includes a channel circuit 1670 supported in a recess 1621 that extends from the proximal end 1610 of the elongated channel 1602 to a distal location 1623 in the lower portion of the elongated channel 1620. The channel circuit 1670 includes a proximal contact portion 1672 that contacts a distal contact portion 1169 of the flexible drive shaft circuit strip 1164 for electrical contact therewith. A distal end 1674 of the channel circuit 1670 is received within a corresponding wall recess 1625 formed in one of the channel walls 1622 and is folded over and secured to an upper edge 1627 of the channel wall 1622. A series of corresponding exposed contacts 1676 are provided at the distal end 1674 of the channel circuit 1670, as shown in Figure. 10. As can also be seen in Figure 10, one end 1752 of a flexible cartridge circuit 1750 is attached to the distal integrated microcircuit 1740 and is affixed to the distal end portion of the cartridge body 1710. Another end 1754 is folded over the edge of the cartridge platform surface 1711 and includes exposed contacts 1756 configured to make electrical contact with the exposed contacts 1676 of the channel circuit 1670. In this way, when the RF cartridge 1700 is installed in the elongated channel 1602, the electrodes as well as the distal integrated microcircuit 1740 are powered by and communicate with the integrated circuit board 1152 through the contact between the flexible cartridge circuit 1750, the flexible channel circuit 1670, the flexible drive shaft circuit 1164 and slip ring assembly 1150.

[0065] Figures 16A and 16B are a block diagram of a control circuit 700 of the surgical instrument 10 of Figure 1 comprising two drawing sheets in accordance with an aspect of this description. Referring primarily to Figures 16A and 16B, a handle assembly 702 may include a motor 714, which may be controlled by a motor driver 715 and may be employed by the surgical instrument firing system 10. In various forms, the motor 714 may be a brushed direct current (DC) drive motor with a maximum rotational speed of approximately 25,000 RPM. In other arrangements, the motor 714 may include a brushless motor, a wireless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. Motor driver 715 may comprise an H-bridge driver comprising field effect transistors (FETs) 719, for example. The motor 714 may be powered by the power pack 706 releasably mounted on the grip assembly 500 to provide control power to the surgical instrument 10. The power pack 706 may comprise a battery that may include a plurality of battery cells connected in series. which may be used as the power source to power the surgical instrument 10. In certain circumstances, the battery cells of the power pack 706 may be replaceable and/or rechargeable. In at least one example, the battery cells may be lithium ion batteries that may be separably attachable to the power pack 706.

[0066] The drive shaft assembly 704 may include a drive shaft assembly controller 722 that may communicate with a safety controller and a power management controller 716 through an interface, while the drive shaft assembly 704 and power assembly 706 are coupled to cable assembly 702. For example, the interface may comprise a first interface portion 725, which may include one or more electrical connectors for mating engagement with corresponding electrical connectors of the shaft assembly. drive shaft, and a second interface portion 727, which may include one or more electrical connectors for mating engagement with corresponding electrical connectors of the power supply assembly, to enable electrical communication between the drive shaft assembly controller 722 and the power management controller 716 while the drive shaft assembly 704 and power assembly 706 are coupled to the grip assembly 702. One or more communication signals may be transmitted through the interface to communicate one or more of the power requirements of the interchangeable drive shaft assembly secured 704 to the power management controller 716. In response, the power management controller may modulate the battery power output of the power assembly 706, as described below in more detail, in accordance with the power requirements of the fixed drive shaft assembly 704. The connectors may comprise switches that can be activated upon engagement by mechanical coupling of the cable assembly 702 to the drive shaft assembly 704 and/or the power assembly 706 to allow for electrical communication between the drive shaft assembly controller 722 and the power management controller 716.

[0067] The interface may facilitate the transmission of one or more communication signals between the power management controller 716 and the drive shaft assembly controller 722 by routing these communication signals through a main controller 717 located in the assembly cable 702, for example. In other circumstances, the interface may facilitate a direct line of communication between the power management controller 716 and the drive shaft assembly controller 722 via the cable assembly 702, while the drive shaft assembly 704 and the drive shaft assembly power supply 706 are coupled to cable assembly 702.

[0068] The main controller 717 can be any single-core or multi-core processor, such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the main controller 717 may be a Core Cortex-M4F LM4F230H5QR ARM processor, available from Texas Instruments, for example, which comprises an integrated memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a look-ahead buffer to optimize performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with the StellarisWare® program, memory 2 KB electrically erasable programmable read-only (EEPROM), one or more pulse width modulation (PWM) modules, one or more analog quadrature encoder inputs (QEI), one or more analog-to-digital converters ( 12-bit ADC) with 12 analog input channels, details of which are available in the product datasheet.

[0069] The safety controller may be a safety controller platform comprising two controller-based families such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also from Texas Instruments. The safety controller can be configured specifically for IEC 61508 and ISO 26262 safety-critical applications, among others, to provide advanced integrated safety features while providing scalable performance, connectivity, and memory options.

[0070] The power supply assembly 706 may include a power management circuit that may comprise the power management controller 716, a power modulator 738, and a current sensing circuit 736. The power management circuit may be configured to modulate the output power of the battery based on the power needs of the drive shaft assembly 704, while the drive shaft assembly 704 and the power supply assembly 706 are coupled to the cable assembly 702. The power management controller 716 may be programmed to control the power modulator 738 of the power output of the power assembly 706 and the current sensing circuit 736 may be employed to monitor the power output of the power assembly 706 to provide feedback to the power management controller 716 over the power output of the battery so that the power management controller 716 can adjust the power output of the power pack 706 to maintain a desired output. The power management controller 716 and/or the drive shaft assembly controller 722 may each comprise one or more processors and/or memory units that may store various software modules.

[0071] Surgical instrument 10 (Figures 1 to 5) may comprise an output device 742 that may include devices for providing sensory feedback to a user. Such devices may comprise, for example, visual feedback devices (e.g., a monitor with an LCD screen, LED indicators), auditory feedback devices (e.g., a speaker, a buzzer) or tactile feedback devices (e.g., e.g. haptic actuators). In certain circumstances, the output device 742 may comprise a display 743 that may be included in the cable assembly 702. The drive shaft assembly controller 722 and/or the power management controller 716 may provide feedback to a user of the surgical instrument 10 through the output device 742. The interface may be configured to connect the drive shaft assembly controller 722 and/or the power management controller 716 to the output device 742. The output device 742 may, in instead, be integrated with the power assembly 706. In these circumstances, communication between the output device 742 and the drive shaft assembly controller 722 can be done through the interface, while the drive shaft assembly 704 is coupled to cable assembly 702.

[0072] Control circuit 700 comprises circuit segments configured to control the operations of the energized surgical instrument 10. A safety controller segment (segment 1) comprises a safety controller and the main controller segment 717 (segment 2). The safety controller and/or main controller 717 are configured to interact with one or more additional circuit segments such as an acceleration segment, a display segment, a drive shaft segment, an encoder segment, a motor segment , and a food segment. Each of the circuit segments may be coupled to the safety controller and/or the main controller 717. The main controller 717 is also coupled to a flash memory. The 717 main controller also comprises a serial communication interface. The main controller 717 comprises a plurality of inputs coupled, for example, to one or more circuit segments, a battery, and/or a plurality of switches. The segmented circuit may be implemented by any suitable circuit, such as, for example, a printed circuit board assembly (PCBA) within the powered surgical instrument 10. It should be understood that the term processor as used herein includes any microprocessor, processor, controller, controllers, or other basic computing device that incorporates the functions of a computer's central processing unit (CPU) into an integrated circuit or at most a few integrated circuits. The 717 main controller is a multipurpose programmable device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. This is an example of sequential digital logic, as it has internal memory. Control circuit 700 may be configured to implement one or more of the processes described herein.

[0073] The acceleration segment (segment 3) comprises an accelerometer. The accelerometer is configured to detect the movement or acceleration of the energized surgical instrument 10. Input from the accelerometer may be used to transition to and from a sleep mode, identify the orientation of the energized surgical instrument, and/or or identify when the surgical instrument is dropped. In some examples, the acceleration segment is coupled to the safety controller and/or the main controller 717.

[0074] The screen or display segment (segment 4) comprises a screen connector coupled to the main controller 717. The screen connector couples the primary controller 717 to a screen through one or more drivers of the screen's integrated circuits. The drivers of the screen's integrated circuits may be integrated with the screen and/or may be located separately from the screen. The screen may comprise any suitable screen, such as, for example, an organic light emitting diode (OLED) screen, a liquid crystal display (LCD), and/or any other suitable screen. In some examples, the screen segment is coupled to the safety controller.

[0075] The drive shaft segment (segment 5) comprises controls for an interchangeable drive shaft assembly 500 coupled to the surgical instrument 10 (Figures 1 to 5) and/or one or more controls for an end actuator 1500 coupled to the interchangeable drive shaft assembly 500. The drive shaft segment comprises a drive shaft connector configured to couple the main controller 717 to a drive shaft PCBA. The drive shaft PCBA comprises a low-power microprocessor with a ferroelectric random access memory (FRAM), a toggle switch, a drive shaft release Hall effect switch, and a drive shaft PCBA EEPROM memory . The drive shaft PCBA EEPROM comprises one or more parameters, routines, and/or programs specific to the interchangeable drive shaft assembly 500 and/or the drive shaft PCBA. The drive shaft PCBA may be coupled to the interchangeable drive shaft assembly 500 and/or may be integral with the surgical instrument 10. In some examples, the drive shaft segment comprises a second drive shaft EEPROM. The second drive shaft EEPROM comprises a plurality of algorithms, routines, parameters and/or other data that correspond to one or more sets of drive shafts 500 and/or end actuators 1500 that may interface with the powered surgical instrument 10 .

[0076] The position encoder segment (segment 6) comprises one or more magnetic rotation angle position encoders. One or more magnetic rotation angle position encoders are configured to identify the rotational position of the motor 714, an interchangeable drive shaft assembly 500, and/or an end actuator 1500 of the surgical instrument 10 (Figures 1 to 5). In some examples, magnetic rotation angle position encoders may be coupled to the safety controller and/or the main controller 717.

[0077] The motor circuit segment (segment 7) comprises a motor 714 configured to control the movements of the energized surgical instrument 10 (Figures 1 to 5). The motor 714 is coupled to the main microcontroller processor 717 by an H-bridge driver comprising one or more H-bridge field effect transistors (FETs) and a motor controller. The H-bridge driver is also coupled to the safety controller. A motor current sensor is coupled in series with the motor to measure the current drain from the motor. The motor current sensor is in signal communication with the 717 main controller and/or the safety processor. In some examples, the 714 engine is coupled to an engine electromagnetic interference (EMI) filter.

[0078] The motor controller controls a first motor flag and a second motor flag to indicate the state and position of the motor 714 to the main controller 717. The main controller 717 provides a high pulse width modulation (PWM) signal ), a PWM low signal, a direction signal, a synchronization signal, and a motor reset signal to the motor controller through a buffer. The power segment is configured to supply a segment voltage to each of the circuit segments.

[0079] The power segment (segment 8) comprises a battery coupled to the safety controller, the main controller 717, and additional circuit segments. The battery is coupled to the segmented circuit by a battery connector and a current sensor. The current sensor is configured to measure the total current draw of the segmented circuit. In some examples, one or more voltage converters are configured to provide predetermined voltage values to one or more circuit segments. For example, in some examples, the segmented circuit may comprise 3.3 V voltage converters and/or 5 V voltage converters. A voltage amplification converter is configured to provide a voltage rise up to a predetermined amount, such as , for example, up to 13 V. The voltage boost converter is configured to provide additional voltage and/or current during power-intensive operations and prevent blackout or low power conditions.

[0080] A plurality of switches are coupled to the safety controller and/or the main controller 717. The switches may be configured to control the operations of the surgical instrument 10 (Figures 1 to 5), the segmented circuit, and/or indicate a surgical instrument status 10. An ejection port switch and a Hall effect switch for ejection are configured to indicate the status of an ejection port. A plurality of pivot keys, such as, for example, a left-side pivot key for the left side, a right-side pivot key for the left side, a center pivot key for the left side, a left-side pivot key right-side pivot switch, a right-side pivot switch, and a right-side pivot switch are configured to control the articulation of a 500 interchangeable drive shaft assembly (Figures 1 and 3). and/or the end actuator 300 (Figures 1 and 4). A left side reverse switch and a right side reverse switch are coupled to the 717 main controller. The left side switches comprising the left side pivot switch for the left side, the right side pivot switch for the left side , the center pivot switch for the left side and the reverse switch for the left side are coupled to the 717 primary controller by a left bend connector. The right side switches comprising the left pivot switch for the right side, the right pivot switch for the right side, the center pivot switch for the right side, and the right side reverse switch are coupled to the 717 main controller via a right-hand bend connector. A trigger switch, a grip release switch, and a key engaged with the drive shaft are coupled to the 717 main controller.

[0081] Any suitable mechanical, electromechanical, or solid-state switches may be employed to implement the plurality of switches, in any combination. For example, the switches may limit the operated switches by the movement of components associated with the surgical instrument 10 (Figures 1 to 5) or the presence of an object. These switches can be used to control various functions associated with the surgical instrument 10. A limit switch is an electromechanical device consisting of an actuator mechanically linked to a set of contacts. When an object comes into contact with the actuator, the device operates the contacts to make or break an electrical connection. Limit switches are used in a variety of applications and environments because of their robustness, ease of installation, and reliability of operation. They can determine the presence or absence, passage, positioning and end of displacement of an object. In other implementations, the switches may be solid-state switches that operate under the influence of a magnetic field, such as Hall effect devices, magnetoresistive (MR) devices, giant magnetoresistive ("GMR") devices, magnetometers, between others. In other implementations, the switches may be solid-state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. Furthermore, the switches can be solid-state devices such as transistors (e.g., FET, junction FET, metal-oxide semiconductor FET (MOSFET), bipolars, and the like). Other switches may include conductorless switches, ultrasonic switches, accelerometers, inertia sensors, among others.

[0082] Figure 17 is another block diagram of the control circuit 700 of the surgical instrument of Figure 1 that illustrates the interfaces between the handle assembly 702 and the power assembly 706 and between the handle assembly 702 and the power assembly. interchangeable drive shaft 704, in accordance with an aspect of this description. The cable assembly 702 may comprise a main controller 717, a drive shaft assembly connector 726, and a power assembly connector 730. The power assembly 706 may include a power assembly connector 732, a power management circuit, power management circuit 734 which may comprise the power management controller 716, a power modulator 738, and a current sensing circuit 736. The drive shaft assembly connectors 730, 732 form an interface 727. The power management circuit 734 can be configured to modulate the output power of the battery 707 based on the power needs of the interchangeable drive shaft assembly 704 while the interchangeable drive shaft assembly 704 and the power supply assembly 706 are coupled to the cable assembly 702. power management controller 716 may be programmed to control the power modulator 738 of the power output of the power pack 706 and the current sensing circuit 736 may be employed to monitor the power output of the power pack 706 to provide feedback to the power management controller 716 over the power output of the battery 707 so that the power management controller 716 can adjust the power output of the power pack 706 to maintain a desired output. The drive shaft assembly 704 comprises a drive shaft processor 719 coupled to a non-volatile memory 721 and a drive shaft assembly connector 728 for electrically coupling the drive shaft assembly 704 to the grip assembly 702. The connectors of the drive shaft assembly 726, 728 form an interface 725. The main controller 717, the drive shaft processor 719, and/or the power management controller 716 may be configured to implement one or more of the processes described herein.

[0083] The surgical instrument 10 (Figures 1 to 5) may comprise an output device 742 for sensory feedback to a user. Such devices may comprise visual feedback devices (e.g., an LCD monitor, LED indicators), auditory feedback devices (e.g., a speaker, a buzzer), or tactile feedback devices (e.g., actuators). haptics). In certain circumstances, the output device 742 may comprise a display 743 that may be included in the cable assembly 702. The drive shaft assembly controller 722 and/or the power management controller 716 may provide feedback to a user of the surgical instrument 10 through the output device 742. The interface 727 may be configured to connect the drive shaft assembly controller 722 and/or the power management controller 716 to the output device 742. The output device 742 may be integrated with the power assembly 706. Communication between the output device 742 and the drive shaft assembly controller 722 can be done through the interface 725 while the interchangeable drive shaft assembly 704 is coupled to the cable assembly 702. Having described a control circuit 700 (Figures 16A, 16B and 6) for controlling the operation of the surgical instrument 10 (Figures 1 to 5), the description now turns to various configurations of the surgical instrument 10 (Figures 1 to 5) and the control circuit 700.

[0084] Figure 18 is a schematic diagram of a surgical instrument 600 configured to control various functions in accordance with an aspect of this description. In one aspect, the surgical instrument 600 is programmed to control the distal translation of a displacement member, such as the I-beam 614. The surgical instrument 600 comprises an end actuator 602 that may comprise an anvil 616, a beam with I-profile 614 and a removable staple cartridge 618 that can be interchanged with an RF cartridge 609 (shown in dashed line). The end actuator 602, anvil 616, I-beam 618, and RF cartridge 609 may be configured as described herein, for example, in relation to Figures 1 through 15. For brevity and clarity of description, several aspects of the present disclosure may be described with reference to Figure 18. It will be understood that the components shown schematically in Figure 18 as the control circuit 610, sensors 638, position sensor 634, end actuator 602, I-beam 614, cartridge of staples 618, RF cartridge 609, anvil 616, are described in connection with Figures 1 to 17 of the present description.

[0085] Consequently, the components represented schematically in Figure 18 can be readily replaced by the equivalent physical and functional components described in connection with Figures 1 to 17. For example, in one aspect, the control circuit 610 can be implemented as per the circuit control sensor 700 shown and described in connection with Figures 16 and 17. In one aspect, sensors 638 can be implemented as a limit switch, an electromechanical device, solid state switches, Hall effect devices, magnetoresistive (MR) devices giant magnetoresistive sensors (GMR), magnetometers, among others. In other implementations, sensors 638 may be solid-state switches that operate under the influence of light, such as optical sensors, infrared sensors, ultraviolet sensors, among others. Furthermore, the switches can be solid-state devices such as transistors (e.g., FET, junction FET, metal-oxide semiconductor FET (MOSFET), bipolars, and the like). In other implementations, sensors 638 may include conductorless electrical switches, ultrasonic switches, accelerometers, inertial sensors, among others. In one aspect, the position sensor 634 may be implemented as an absolute positioning system, which comprises a rotary magnetic absolute positioning system implemented as a single integrated circuit rotary magnetic position sensor, AS5055EQFT, available from Austria Microsystems. AG. The position sensor 634 may interface with the control circuit 700 to provide an absolute positioning system. The position may include multiple Hall effect elements situated above a magnet and coupled to a CORDIC (for Digital Computer for Coordinate Rotation) processor, also known as the digit-by-digit method and Volder's algorithm, which is provided to implement an algorithm Simple and efficient to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bit shift and lookup table operations. In one aspect, the end actuator 602 may be implemented as a surgical end actuator 1500 shown and described in connection with Figures 1, 2, and 4. In one aspect, the I-beam 614 may be implemented as the member of a knife 1330 comprising a knife body 1332 that operatively supports a fabric cutting blade 1334 thereon and may additionally include tabs or anvil engagement features 1336 and channel engagement features or a foot 1338 as shown and described in in connection with Figures 2 to 4, 8, 11 and 14. In one aspect, the staple cartridge 618 can be implemented as the standard surgical (mechanical) fastener cartridge 1400 shown and described in connection with Figure 4. In one aspect , the RF cartridge 609 can be implemented like the radio frequency (RF) cartridge 1700 shown and described in connection with Figures 1, 2, 6 and 10 to 13. In one aspect, the anvil 616 can be implemented with the anvil 1810 shown and described in connection with Figures 1, 2, 4 and 6. These and other sensor arrangements are described in Commonly Owned US Patent Application No. 15/628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, which is incorporated herein by reference in its entirety.

[0086] The position, movement, displacement and/or translation of a linear displacement member, such as I-beam 614, can be measured by an absolute positioning system, sensor arrangement and position sensor represented as the position sensor 634. Because the I-beam 614 is coupled to a longitudinally movable drive member 540, the position of the I-beam 614 can be determined by measuring the position of the longitudinally movable drive member 540 with the use of the position sensor 634. Accordingly, in the following description, the position, displacement and/or translation of the I-beam 614 can be obtained by the position sensor 634, as described herein. A control circuit 610, such as the control circuit 700 described in Figures 16A and 16B, can be programmed to control the translation of the displacement member, such as the I-beam 614, as described in the present invention. The control circuit 610, in some examples, may comprise one or more microcontrollers, microprocessors, or other processors suitable for executing instructions that cause the processor or processors to control the traveling member, e.g., the I-beam. 614, in the manner described. In one aspect, a timer/counter 631 provides an output signal, such as elapsed time or a digital count, to the control circuit 610 to correlate the position of the I-beam 614, as determined by the position sensor 634, with the output of the timer/counter circuit 631 so that the control circuit 610 can determine the position of the I-beam 614 at a specific time (t) relative to an initial position. The timer/counter circuit 631 may be configured to measure elapsed time, count external events, or measure external events.

[0087] The control circuit 610 may generate a motor setpoint signal 622. The motor setpoint signal 622 may be provided to a motor controller 608. The motor controller 608 may comprise one or more circuits configured to provide a drive signal from motor 624 to motor 604 to drive motor 604 as described herein. In some examples, the motor 604 may be a brushed direct current (DC) electric motor, such as the motor 505 shown in Figure 1. For example, the speed of the motor 604 may be proportional to the drive signal of the motor 624. In As examples, the motor 604 may be a brushless DC electric motor and the motor drive signal 624 may comprise a pulse width modulated (PWM) signal supplied to one or more stator windings of the motor 604. Furthermore, In some examples, the motor controller 608 may be omitted, and the control circuit 610 may generate the motor drive signal 624 directly.

[0088] The motor 604 may receive power from a power source 612. The power source 612 may be or include a battery, a supercapacitor, or any other suitable power source 612. The motor 604 may be mechanically coupled to the I-beam 614 via a transmission 606. The transmission 606 may include one or more gears or other linkage components for coupling the motor 604 to the I-beam 614. A sensor position sensor 634 may detect a position of the I-beam 614. The position sensor 634 may be or include any type of sensor that is capable of generating position data that indicates a position of the I-beam 614. In some For example, the position sensor 634 may include an encoder configured to provide a series of pulses to the control circuit 610 as the I-beam 614 translates distally and proximally. The control circuit 610 may track the pulses to determine the position of the I-beam 614. Another suitable position sensor may be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals that indicate movement of the I-beam 614. Additionally, in some examples, the position sensor 634 may be omitted. When the motor 604 is a stepper motor, the control circuit 610 can track the position of the I-beam 614 by aggregating the number and direction of steps that the motor 604 has been instructed to perform. The position sensor 634 may be located in the end actuator 602 or in any other portion of the instrument.

[0089] The control circuit 610 may be in communication with one or more sensors 638. The sensors 638 may be positioned on the end actuator 602 and adapted to work with the surgical instrument 600 to measure various derived parameters such as gap distance. as a function of time, tissue compression as a function of time and deformation of the anvil as a function of time. The sensors 638 may comprise, for example, a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor and/or any other sensors suitable for measuring one or more parameters of the end actuator 602. The sensors 638 may include one or more sensors.

[0090] The one or more sensors 638 may comprise a strain gauge, such as a microstress gauge, configured to measure the magnitude of mechanical stress on anvil 616 during a tight condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors 638 may comprise a pressure sensor configured to detect a pressure generated by the presence of tissue compressed between the anvil 616 and the staple cartridge 618. The sensors 638 may be configured to detect the impedance of a section of tissue situated between the anvil. 616 and staple cartridge 618 which is indicative of the thickness and/or integrity of the tissue located between them.

[0091] Sensors 638 can be configured to measure the forces exerted on the anvil 616 by the closing drive system. For example, one or more sensors 638 may be at an interaction point between the closure tube 1910 (Figures 1 through 4) and the anvil 616 to detect the closure forces applied by the closure tube 1910 to the anvil 616. The forces exerted on the anvil 616 may be representative of the tissue compression experienced by the tissue section captured between the anvil 616 and the staple cartridge 618. The one or more sensors 638 may be positioned at various interaction points along the closure drive system. to detect the closing forces applied to the anvil 616 by the closing drive system. The one or more sensors 638 may be sampled in real time during a grasp operation by a processor, as described in Figures 16A and 16B. The control circuit 610 receives real-time sample measurements to provide and analyze the time-based information and evaluate, in real time, the closing forces applied to the anvil 616.

[0092] A current sensor 636 can be used to measure the current drawn by the motor 604. The force required to advance the I-beam 614 corresponds to the current drawn by the motor 604. The force is converted into a digital signal and provided to the 610 control circuit.

[0093] The RF power source 400 is coupled to the end actuator 602 and is applied to the RF cartridge 609 when the RF cartridge 609 is loaded into the end actuator 602 in place of the clamp cartridge 618. The control circuit 610 controls the delivery of RF energy to the RF cartridge 609.

[0094] Electrosurgical instruments apply electrosurgical energy to seal the tissue. However, sometimes the tissue can be sealed with staples released by a staple cartridge, and at other times the tissue can be sealed by applying electrosurgical energy. This requires the user to have two separate instruments. Therefore, it would be desirable to provide an elongated drive shaft for use with a surgical stapler in which an interchangeable RF cartridge is used in place of a staple cartridge. In situations in which an interchangeable RF cartridge is used in place of a staple cartridge, the present disclosure provides various techniques for covering selected surfaces with non-conductive coatings to determine the electrical path of applied radio frequency (RF) energy when the staple cartridges are used. Interchangeable RF clamps are used in place of cartridge staples.

[0095] Figure 19 is a perspective view of a surgical system 4000. The surgical system 4000 is similar to the motor-driven surgical system 10 in that the surgical system 4000 is configured to be used in conjunction with the fastener cartridges. /surgical stapler 1400 and the radiofrequency cartridges 1700. However, the surgical system 4000 is different from the motor-driven surgical system 10 in that the surgical system 4000 is also configured to be used in conjunction with the radiofrequency cartridges 4002 or which are similar to, but different from, radio frequency cartridges 1700 and are described in more detail below. The surgical system 4000 is also different from the motor-driven surgical system 10 in that the surgical system 4000 includes a firing system 4004 (see Figure 22) that is similar to, but different from, the firing system 1300 of the motor-driven surgical system. per engine 10 and is described in more detail below.

[0096] As shown in Figure 19, the surgical system 4000 includes a handle assembly 4006 and a set of interchangeable tools 4008 attachable to the handle assembly 4006. The handle assembly 4006 is similar or identical to the handle assembly 500 and the assembly of interchangeable tools 4008 is similar or identical to the set of interchangeable tools 1000. The set of interchangeable tools 4008 includes an end actuator 4010 that includes a first claw 4012 and a second claw 4014. The first claw 4012 includes an elongated channel 4016 that is The second claw 4014 is configured to removably support the radiofrequency cartridge 4002. In various aspects, the elongated channel 4016 may also be configured to removably support the surgical clamp/stapler cartridge 1400 and the radiofrequency cartridge 1700. The second claw 4014 comprises an anvil 4018. The end actuator 4010 is similar or identical to the end actuator 1500, the first claw 4012 is similar or identical to the first claw 1600, the second claw 4014 is similar or identical to the second claw 1800, the elongated channel 4016 is similar or identical to the elongated channel 1602 and the anvil 4018 is similar or identical to the anvil 1810.

[0097] Figure 20 is a partial cross-section of the end actuator 4010 of the surgical system 4000, in various aspects, showing the interface between the radiofrequency cartridge 4002 and the anvil 4018 when the end actuator 4010 is in a position completely closed. For simplicity, the elongated channel 4016 is not shown in Figure 20. The radio frequency cartridge 4002 is similar to the radio frequency cartridge 1700, but is different in that the radio frequency cartridge 4002 includes a cartridge platform surface 4020 that defines at least two protrusions 4022. Although only one of the protrusions 4022 is shown in the cross section of Figure 20, it will be recognized that a first of the protrusions 4022 is positioned on one side of a centrally disposed elongate slot 4024 of the radio frequency cartridge 4002 and a second of the protrusions 4022 is positioned on the opposite side of the centrally disposed elongated slot 4024 of the radio frequency cartridge 4002 (see, for example, Figure 21).

[0098] The radio frequency cartridge 4002 is also different from the radio frequency cartridge 1700 in that the radio frequency cartridge 4002 includes insulating housing members 4026 that respectively define the protrusions 4028 that are associated with the protrusions 4022. Although only one of the insulating shell members 4026 and one of the protrusions 4028 are shown in the cross section of Figure 20, it will be recognized that a first of one of the insulating shell members 4026 and a first of the protuberances 4028 are positioned on one side of the centrally elongated slit. arranged 4024 of the radio frequency cartridge 4002 and a second of the insulating housing members 4026 and a second of the protuberances 4028 are positioned on the opposite side of the centrally arranged elongated slot 4024 of the radio frequency cartridge 4002 (see, for example, Figure 21). . The protuberances 4028 are positioned between the protuberances 4022 of the platform surface of the cartridge 4020 and the anvil 4018 of the interchangeable tool set 4008.

[0099] Radio frequency cartridge 4002 is also different from radio frequency cartridge 1700 in that radio frequency cartridge 4002 additionally includes flexible circuit assemblies 4030 that define, respectively, protrusions 4032 that are associated with protrusions 4022 and protrusions 4028 Although only one of the flexible circuit assemblies 4030 and one of the protrusions 4032 are shown in the cross section of Figure 20, it will be recognized that a first of the flexible circuit assemblies 4030 and a first of the protuberances 4032 are positioned on one side. of the centrally disposed elongate slot 4024 of the radio frequency cartridge 4002 and a second of the flexible circuit assemblies 4030 and a second of the protuberances 4032 are positioned on the opposite side of the centrally disposed elongate slot 4024 of the radio frequency cartridge 4002 (see, for example, Figure 21). The protuberances 4032 are positioned between the protuberances 4028 and the anvil 4020 of the interchangeable tool set 4004. In addition to the protuberances 4022, 4028, 4032, the surface of the cartridge platform 4020 is similar to the surface of the cartridge platform 1711, the casing members insulator 4026 are similar to insulator housing members 1734 and flexible circuit assemblies 4030 are similar to flexible circuit assemblies 1730. When the fabric T (Figure 6) is positioned between the radiofrequency cartridge 4002 and the anvil 4018, and the anvil 4018 is moved toward the radiofrequency staple cartridge 4002 to clamp the tissue positioned between the radiofrequency staple cartridge 4002 and the anvil 4018, the minimum gap a or distance d1 between the anvil 4018 and the radiofrequency staple cartridge 4002 near the distal end of the end actuator 4010 is realized when the insulating material 1819 positioned on the fabric-facing segments 1817 of the stapler forming the bottom surface 1813 of the anvil 4018 is placed in physical contact with the protuberances 4032. Since this physical contact between the material of isolation 1819 and the protrusions 4032 is established, the protrusions 4032 physically prevent (1) the anvil 4018 from being brought closer to the radiofrequency cartridge 4002 (2) and the tissue from being compressed further. Creating this minimum gap or distance d1 also operates to help prevent the formation of an electrical short circuit between the radio frequency cartridge 4002 and the anvil 4018.

[0100] An example of an RF cartridge that conducts RF energy through tissue from an electrode to an internal surface of a staple pocket is shown in Figures 6 and 7. Accordingly, returning briefly to Figures 6 and 7, it is Shown is a partial cross-sectional view of the end actuator 1500 depicted in Figures 1 to 5 supporting an RF cartridge 1700 (Figures 10 to 12) 4002 (Figures 19 and 21) within it and the fabric T clamped between the cartridge 1400 ( Figure 4) and the anvil 1810 and a partial cross-sectional view of the anvil 1810. In the example illustrated in Figures 6 and 7, the anvil 1810 comprises non-conductive masking except in the pockets 1814, such that all surfaces not involved in the formation of the clamps are masked and coated with a non-conductive electrically insulating material 1819 creating a variation in the return path surface containing cavities and minimizing the extent of fouling and tissue adhesion experienced by flat opposing electrodes. As shown in Figures 6, in at least one form, the anvil 1810 includes an anvil body portion 1812 that is manufactured from an electrically conductive metallic material, for example, and has a clip-forming lower surface 1813 that has a a series of fastener-forming pockets 1814 formed therein on each side of a centrally disposed anvil slot 1815 that is configured to slideably accommodate the knife member 1330 (Figures 2 to 4, 22) therein. The anvil slot 1815 opens into an upper opening 1816 that extends longitudinally through the anvil body to accommodate the anvil engagement features 1336 (Figure 4) on the knife member 1330 during firing. When a cartridge of conventional mechanical surgical clamps/staples 1400 (Figure 4) is installed in the elongated channel 1602, the clamps/fasteners are brought into forming contact with corresponding fastener forming pockets 1814. The anvil body 1812 may have an opening on the upper portion of it to facilitate installation, for example. An anvil cap 1818 may be inserted therein and welded to the anvil body 1812 to close the opening and improve the overall rigidity of the anvil body 1812. As shown in Figure 7, to facilitate the use of the end actuator 1500 (Figures 1 and 2) in conjunction with the RF cartridges 1700, 4002 the fabric-facing segments 1817 of the lower fastener forming surface 1813 may have electrically insulating material 1819 therein. Accordingly, the features described with reference to Figures 6 and 7 can be applied to the end actuator 4010 (Figures 19 and 21) and the RF cartridge 4002 (Figures 19 to 21).

[0101] Figure 21 is a partial perspective view of the radio frequency cartridge 4002 supported by the elongated channel 4016, according to various aspects. 21. It will be recognized that protuberances 4022, 4028 are hidden from view in Figure 21.

[0102] Figure 22 is an exploded perspective assembly view of portions of the grip assembly 4006 and the interchangeable tool assembly 4008, according to various aspects. The grip assembly 4006 is similar or identical in many respects to the grip assembly 500. The interchangeable tool assembly 4008 is similar to the interchangeable tool assembly 1000, but is different in that the portion of the firing system 4004 associated with the assembly of interchangeable tool system 4008 is different from the portion of the firing system 1300 associated with the interchangeable tool system 1000. The portion of the firing system 4004 associated with the grip assembly 4006 is similar or identical to the portion of the firing system 1300 associated with the grip assembly 500. The portion of the firing system 4004 associated with the grip assembly 4006 includes a firing drive system 4034 that includes a longitudinal drive member 4036. The longitudinal drive member 4036 has a tooth rack 4038 formed thereon and has a fixation support 4040 at its distal end. The firing drive system 4034, the longitudinal drive member 4036, the tooth rack 4038, and the clamping support 4040 are similar or identical to the shot drive system 530, the longitudinal drive member 540, the tooth rack 542 and to the mounting bracket 544 of the firing system 1300.

[0103] The portion of the firing system 4004 associated with the interchangeable tool set 4008 includes a nozzle assembly 4042, a firing drive shaft intermediate portion 4044, a firing drive shaft securing tab 4046, a firing bar knife member 4048, a knife member/firing member 4050, and a proximal closure tube that are similar or identical to the nozzle assembly 1240, the firing drive shaft intermediate portion 1310, the firing drive shaft securing tab 1314, the knife bar 1320, the knife member/firing member 1330, and the proximal closure tube 1910. However, the portion of the firing system 4004 associated with the interchangeable tool set 4008 is different from the portion of the firing system 1300 associated with the interchangeable tool set 1000, in that the portion of the firing system 4004 associated with the interchangeable tool set 4008 additionally includes an electrically insulating material 4056 (an electrically non-conductive material) that functions to prevent radio frequency energy from inadvertently passing from the portion of the firing system 4004 associated with the interchangeable tool assembly 4008 to the grip assembly 4006. In situations where radiofrequency energy is applied to the surgical instrument 4000, the firing member/knife member 4050 may conduct radiofrequency energy. radio frequency. Without the electrically insulating material 4056, the firing member/knife member 4050 may inadvertently conduct radio frequency energy through the knife bar 4048, through the drive shaft intermediate portion 4044, and/or through the drive shaft securing tab. firing system 4046 for the portion of the firing system 4004 associated with the grip assembly 4006.

[0104] In various aspects, the electrically insulating material 4056 is a coating that covers the firing drive shaft fixing tab 4046. When the firing drive shaft fixing tab 4046 is seated on the fixing pad 4040 In the grip assembly 4006, the electrically insulating material 4056 functions to electrically isolate the longitudinal drive member 4036 from the firing drive system 4034 and the grip assembly 4006 from the interchangeable tool assembly 4008. In other words, the longitudinal drive member 4036 and the handle assembly 4006 are protected against inadvertent reception of radio frequency energy from the interchangeable tool assembly 4008. In other aspects, the electrically insulating material 4056 may also encompass other portions of the firing system 4004 to electrically isolate the limb. of the longitudinal drive shaft 4036 and the grip assembly 4006 of the interchangeable tool assembly 4008. For example, the electrically insulating material 4056 may also cover other portions of a proximal end 4058 of the firing drive shaft intermediate portion 4044. Thus, upon selectively covering various portions of the firing system 4004 associated with the interchangeable tool assembly 4008 with the electrically insulating material 4056, a conductive path of radio frequency energy may be designed to electrically isolate the grip assembly 4006 from the interchangeable tool assembly 4008 to cases where the 1700 radiofrequency cartridge or 4002 radiofrequency cartridge is being used with the 4000 surgical system.

[0105] Aspects of the surgical instrument can be practiced without the specific details disclosed in the present invention. Some aspects were shown as block diagrams rather than details. Parts of this description may be presented in terms of instructions that operate on data stored in a computer's memory. In general, the aspects described here, which can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or any combination thereof, can be viewed as being composed of various types of "circuitry" electrical”. Accordingly, "electrical circuit" includes, but is not limited to, electrical circuits that have at least one distinct electrical circuit, electrical circuits that have at least one integrated circuit, electrical circuits that have at least one integrated circuit for a specific application, electrical circuits that form a general purpose computing device configured by a computer program (e.g., a general purpose computer or processor configured by a computer program that at least partially executes the processes and/or devices described herein), electrical circuits that form a memory device (e.g., forms of random access memory), and/or electrical circuits that form a communications device (e.g., a modem, routers or optical-electrical equipment). These aspects can be implemented in analog or digital form, or combinations thereof.

[0106] The aforementioned description presented aspects of the devices and/or processes through the use of block diagrams, flowcharts, and/or examples, which may contain one or more functions and/or operations. Each function and/or operation within such block diagrams, flowcharts or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware or virtually any combination thereof. In one aspect, various portions of the subject matter described herein can be implemented by means of application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs), programmable logic devices (PLDs), circuits, registers and/or software components, e.g. programs, subroutines, logic and/or combinations of hardware and software components, logic gates, or other integrated formats. Some aspects disclosed herein, in whole or in part, may be equivalently implemented on integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems). computer), as one or more programs operating on one or more processors (e.g., as one or more programs operating on one or more microprocessors), as firmware, or virtually any combination thereof, and which design the circuitry and /or writing code for the software and firmware would be within the scope of practice of a person skilled in the art in light of this description.

[0107] The mechanisms of the disclosed subject matter may be distributed as a program product in a variety of forms, and an illustrative aspect of the subject matter described herein is applicable regardless of the specific type of signal transmission media used to actually perform the distribution. Examples of a signal transmission medium include, but are not limited to, the following: a recordable-type medium such as a floppy disk, a hard disk drive, a compact disc (CD), a digital video disc (DVD), a tape digital, a computer memory, etc.; and a transmission-type medium, such as a digital and/or analog communications medium (e.g., a fiber optic cable, a waveguide, an electrically conductive communications link, an electrically conductive communications link (e.g., example, transmitter, receiver, transmission logic, reception logic), etc.).

[0108] The aforementioned description of one or more aspects has been presented for purposes of illustration and description. This description is not intended to be exhaustive nor to limit the invention to the precise form disclosed. Modifications or variations are possible in light of the above teachings. These aspects were chosen and described for the purpose of illustrating the principles and practical application and thus enabling those skilled in the art to use the aspects and with modifications as are convenient for the specific use contemplated. It is intended that the achievements presented in the annex define the global scope.

[0109] Various aspects of the subject matter described herein are defined in the following numbered examples: Example 1. A set of interchangeable tools comprising: a first claw configured to hold a staple cartridge for a first period of time and a radio frequency cartridge during a second period of time; a second claw coupled to the first claw, wherein a surface of the second claw defines a plurality of staple-forming pockets configured to form staples applied from the staple cartridge; an electrically insulating material covering segments of the surface of the second gripper other than the clip-forming pockets, the clip-forming pockets defining at least one return path for radio frequency energy delivered by the radio frequency cartridge. Example 2. The set of interchangeable tools according to Example 1, wherein the set of interchangeable tools is configured to be releasably attachable to a grip assembly and wherein at least one component positioned in the set of interchangeable tools comprises electrical insulation to electrically isolate the handle assembly from inadvertent radio frequency energy from the interchangeable tool assembly. Example 3. The set of interchangeable tools according to one or more of Example 1 and Example 2, wherein the set of interchangeable tools is configured to be releasably attachable to a handle assembly and wherein at least one component positioned in the interchangeable tool assembly comprises electrical insulation to electrically isolate the grip assembly from inadvertent radio frequency energy from the interchangeable tool assembly. Example 4. The set of interchangeable tools according to one or more of Example 1 to Example 3, wherein the plurality of clip-forming pockets comprises: a first plurality of clip-forming pockets positioned on a first side of a slot with centrally arranged anvil; and a second plurality of clip-forming pockets positioned on a second side of the centrally disposed anvil slot. Example 5. The interchangeable tool set according to one or more of Example 1 to Example 4, wherein the plurality of clip-forming pockets provides a plurality of different return trajectories for the radio frequency energy delivered by the radio frequency cartridge . Example 6. The set of interchangeable tools according to one or more of Examples 1 to Example 5, with the surface segments of the second claw facing the first claw. Example 7. The set of interchangeable tools according to one or more of Example 1 to Example 6, which further comprises a firing system positioned in the set of interchangeable tools, the firing system being configured to couple to a grip assembly, wherein the firing system is electrically insulated to electrically isolate the grip assembly from inadvertent radio frequency energy. Example 8. The interchangeable tool set according to one or more of Example 1 to Example 7, which further comprises a staple cartridge. Example 9. The set of interchangeable tools, according to one or more of Example 1 to Example 8, with the surgical system additionally comprising the radiofrequency cartridge. Example 10. The interchangeable tool set according to Example 9, wherein the radio frequency cartridge comprises at least two protrusions that collectively provide a minimum clearance distance between the first and second claws. Example 11. A surgical tool assembly comprising: an elongated channel configured to support a staple cartridge for a first period of time and a radiofrequency cartridge for a second period of time; and an anvil coupled to the elongated channel, the anvil comprising: a surface that faces the elongated channel and defines a plurality of staple-forming pockets configured to form staples applied from the staple cartridge; and an electrically insulating material covering segments of the surface of the second claw, the plurality of clip-forming pockets providing a plurality of different return trajectories for radio frequency energy delivered by the radio frequency cartridge. Example 12. The surgical tool assembly according to Example 11, with the elongated channel and the anvil collectively forming an end actuator. Example 13. The surgical tool assembly of one or more of Example 11 to Example 12, wherein the plurality of clip-forming pockets comprises: a first plurality of clip-forming pockets positioned on a first side of an anvil slot centrally willing; and a second plurality of clip-forming pockets positioned on a second side of the centrally disposed anvil slot. Example 14. The surgical tool assembly according to one or more of Example 11 to Example 13, wherein the surface segments of the second claw are other than the clip-forming pockets. Example 15. The surgical tool assembly according to one or more of Example 11 to Example 14, wherein the surgical tool assembly further comprises the staple cartridge. Example 16. The surgical tool assembly according to one or more of Example 11 to Example 15, wherein the surgical tool assembly further comprises the radiofrequency cartridge. Example 17. The surgical tool assembly according to Example 16, wherein the radiofrequency cartridge comprises at least two protrusions that collectively provide a minimum clearance distance between the elongated channel and the anvil. Example 18. An interchangeable instrument assembly comprising: an end actuator configured to releasably couple to a drive shaft assembly, the end actuator comprising: an elongated channel configured to support a staple cartridge during a first period of time and a radio frequency cartridge during a second period of time; and an anvil coupled to the elongated channel, the anvil comprising an electrically insulating material and defining a plurality of different return trajectories for radio frequency energy delivered by the radio frequency cartridge. Example 19. The set of interchangeable tools, according to Example 18, with the electrically insulating material facing the elongated channel. Example 20. The interchangeable tool assembly according to one or more of Example 18 and Example 19, which further comprises the radio frequency cartridge.

Claims (12)

1. An interchangeable tool assembly (4000) comprising: a first claw (4012) configured to support a staple cartridge (1400) for a first period of time and a radio frequency cartridge (1700, 4002) for a second period of time; a second claw (4014) coupled to the first claw (4012), wherein a surface of the second claw (4014) defines a plurality of staple forming pockets (1814) configured to form staples driven from the staple cartridge (1400). ; wherein the radio frequency cartridge (1700, 4002) is configured to route radio frequency energy from an electrode to an internal surface of at least one clamp forming pocket (1814); characterized by the fact that: the interchangeable tool assembly (4000) further comprises an electrically insulating material (1819), the electrically insulating material (1819) covering the entire surface of the second claw (4014) other than the surface of the forming pockets clip (1814), and wherein the clip forming pockets (1814) define at least one return path for radio frequency energy delivered by the radio frequency cartridge (1700, 4002). 2. Interchangeable tool assembly (4000), according to claim 1, characterized by the fact that the interchangeable tool assembly (4000) is configured to be releasably attachable to a grip assembly (4006), and wherein At least one component positioned in the interchangeable tool assembly (4000) comprises electrical insulation (4056) to electrically isolate the grip assembly (4006) from inadvertent radio frequency energy from the interchangeable tool assembly (4000). 3. The interchangeable tool assembly (4000) of claim 1 or 2, wherein the plurality of clip forming pockets (1814) comprises: a first plurality of clip forming pockets (1814) positioned on a first side of a centrally disposed anvil slit (4018) (1815); and a second plurality of clip-forming pockets (1814) positioned on a second side of the centrally disposed anvil slot (4018) (1815). 4. An interchangeable tool assembly (4000) according to any one of claims 1 to 3, wherein the plurality of clip-forming pockets (1814) provide a plurality of different return trajectories for radio frequency energy supplied by the radio frequency cartridge (4002). 5. Interchangeable tool assembly (4000), according to any one of claims 1 to 4, characterized in that the surface of the second claw (4014) faces the first claw (4012). 6. Interchangeable tool assembly (4000), according to any one of claims 1 to 5, characterized by the fact that it further comprises a firing system positioned in the exchangeable tool assembly (4000), wherein the firing system is configured for coupling to a grip assembly (4006), wherein the firing system is electrically isolated to electrically isolate the grip assembly (4006) from inadvertent radio frequency energy, and/or further comprises a staple cartridge (1400) . 7. Interchangeable tool assembly (4000), according to any one of claims 1 to 6, characterized by the fact that the interchangeable tool assembly (4000) further comprises the radio frequency cartridge (1700, 4002), and, optionally, wherein the radio frequency cartridge (1700, 4002) comprises at least two protrusions (4022) that collectively provide a minimum clearance distance between the first and second claws (4012, 4014). 8. The interchangeable tool assembly (4000) of claim 1, wherein the first gripper (4012) comprises an elongated channel (4016) configured to support the staple cartridge (1400) during the first period of time and the radio frequency cartridge (1700, 4002) during the second time period; and wherein the second claw (4014) comprises an anvil (4018) coupled to the elongated channel (4016), wherein the anvil (4018) comprises the surface of the second claw (4014) defining the plurality of clip forming pockets (1814 ) and electrically insulating material (1819). 9. Interchangeable tool assembly (4000), according to claim 8, characterized by the fact that the elongated channel (4016) and the anvil (4018) collectively form an end actuator (14006). 10. The interchangeable tool assembly (4000) of claim 8 or 9, wherein the plurality of clip forming pockets (1814) comprises: a first plurality of clip forming pockets (1814) positioned on a first side of a centrally disposed anvil slit (4018) (1815); and a second plurality of clip-forming pockets (1814) positioned on a second side of the centrally disposed anvil slot (4018) (1815). 11. Interchangeable tool assembly (4000), according to any one of claims 8 to 10, characterized in that the interchangeable tool assembly (4000) further comprises the staple cartridge (1400). 12. Interchangeable tool assembly (4000), according to any one of claims 8 to 11, characterized by the fact that the interchangeable tool assembly (4000) further comprises the radio frequency cartridge (1700, 4002), and, optionally, wherein the radio frequency cartridge (1700, 4002) comprises at least two protrusions (4022) that collectively provide a minimum clearance distance between the elongated channel (4016) and the anvil (4018).