CN105307577B - Including the closure drive device operated by identical rotatable output device and the surgical instruments of percussion drive device - Google Patents

Abstract

The invention discloses a kind of surgical instruments, the surgical instruments may include end effector, be configured to perform the first driving means of first end actuator function, be configured to perform the second drive device and rotatable shaft of the second end actuator function.The rotatable shaft may include the first screw thread and the second screw thread, wherein first driving means can be threadedly engaged with first to perform first end actuator function, wherein the second drive device can be threadedly engaged with second to perform the second end actuator function, and wherein the first screw thread is coextensive or overlapping at least in part with the second screw thread.

Description

Driven including the closure drive device operated by identical rotatable output device and percussion The surgical instruments of device

The cross reference of related application

According to 35U.S.C. § 119 (e) regulation, the requirement of this non-provisional is filed in the name on April 16th, 2013 Referred to as " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR " Copending United States temporary patent application sequence number 61/812,365 rights and interests, this application is incorporated by reference in its entirety this Text.According to 35U.S.C. § 119 (e) regulation, this non-provisional also requires to be filed in the title on April 16th, 2013 For " rights and interests of LINEAR CUTTER WITH POWER " copending United States temporary patent application sequence number 61/812,376, This application is incorporated by reference in its entirety herein.According to 35U.S.C. § 119 (e) regulation, this non-provisional will also Ask and be filed on April 16th, 2013 entitled " LINEAR CUTTER WITH MOTOR AND PISTOL GRIP's " is common The rights and interests of pending U.S. Provisional Patent Application Serial No. 61/812,382, this application are incorporated by reference in its entirety herein.Root According to 35U.S.C. § 119 (e) regulation, this non-provisional also requires to be filed in the entitled of on April 16th, 2013 “SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL” Copending United States temporary patent application sequence number 61/812,385 rights and interests, this application is incorporated by reference in its entirety this Text.According to 35U.S.C. § 119 (e) regulation, this non-provisional also requires to be filed in the title on April 16th, 2013 For " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR's " The rights and interests of copending United States temporary patent application sequence number 61/812,372, this application are incorporated by reference in its entirety this Text.

Background technology

The various forms of the present invention is related to surgical instruments, and in various embodiments, is related to and is designed to cut With the surgery cuts and suture instruments and its nail bin of suture tissue.

Brief description of the drawings

Refer to the following explanation of the embodiment of the present invention, various features of the invention and advantage in conjunction with the accompanying drawings and its obtain Take method will be apparent, and be better understood invention in itself, wherein：

Fig. 1 be include motor driving surgical instruments and three interchangeable end effectors modularization surgery system it is saturating View；

Fig. 2 is the side perspective view that motor drives surgical instruments, wherein for the sake of clarity, removing one of shank shell Point；

Fig. 3 is the exploded assembled view of Fig. 2 surgical instruments；

Fig. 4 is another exploded assembled view of Fig. 2 and Fig. 3 surgical instruments；

Fig. 5 is the side front view that motor drives surgical instruments, wherein removing a part for shank shell；

Fig. 6 is the perspective view of motor-driven system and transmission assembly, and wherein transmission assembly is in the first activation point, its The actuating of middle motor will cause the actuating of the first drive system of Fig. 2-5 surgical instruments.

Fig. 6 A are the perspective view of the alternative transmission balladeur train with locking device；

Fig. 6 B are the motor-driven system of transmission balladeur train and the perspective view of transmission assembly for including Fig. 6 A, wherein transmission group Part is in the first activation point, and the actuating for causing the first drive system and the second drive system are locked in the wherein actuating of motor Determine device locking；

Fig. 6 C are Fig. 6 B motor-driven system and the perspective view of transmission assembly, and wherein transmission assembly is in the second driving The actuating of position, wherein motor locks the actuating for causing the second drive system and the first drive system locking means；

Fig. 7 is Fig. 6 motor-driven system and another perspective view of transmission assembly, and wherein transmission assembly is in second and driven Dynamic position, the wherein actuating of motor will cause the actuating of the second drive system；

Fig. 8 is the side front view that another motor drives surgical instruments, wherein for the sake of clarity, eliminating shank shell A part and other parts；

The perspective view of the motor of surgical instruments, transmission assembly and the first and second drive systems that Fig. 9 is Fig. 8, wherein Its transmission assembly is in the first activation point；

The cross-section front view of motor, transmission assembly and the first and second drive systems that Figure 10 is Fig. 9, wherein transmission group Part is in the first activation point；

Another perspective view of motor, transmission assembly and the first and second drive systems that Figure 11 is Fig. 9 and Figure 10, wherein Transmission assembly is in the second activation point；

Another cross-section front view of motor, transmission assembly and the first and second drive systems that Figure 12 is Fig. 9-11, its Middle transmission assembly is in the second activation point；

Figure 13 is the schematic partial front perspective view for the part that another motor drives surgical instruments；

The side front view of the motor of surgical instruments, transmission assembly and the first and second drive systems that Figure 14 is Figure 13；

Figure 15 is the sectional view of the transmission assembly of Figure 13 and Figure 14 surgical instruments, and the transmission assembly is in the first driving position Put；

Figure 16 is another sectional view of the transmission assembly of Figure 13-15 surgical instruments, and the transmission assembly is in the second driving Position；

Figure 17 is the perspective view that another motor drives surgical instruments construction, wherein for the sake of clarity, removing shell A part；

The perspective view of the motor of surgical instruments, transmission assembly and the first and second drive systems that Figure 18 is Figure 17；

The decomposition assembled view of motor, transmission assembly and the first and second drive systems that Figure 19 is Figure 18；

The section view of some parts of motor, transmission assembly and the first and second drive systems that Figure 20 is Figure 18 and Figure 19 Figure, wherein its transmission shaft assembly are in the first activation point；

Another section view of some parts of motor, transmission assembly and the first and second drive systems that Figure 21 is Figure 20 Figure, wherein its transmission shaft assembly are in the second activation point；

Figure 22 is another motor, transmission assembly and the first and second drivetrains of a kind of form surgical instruments of the present invention The perspective view of system；

The decomposition assembled view of motor, transmission assembly and the first and second drive systems that Figure 23 is Figure 22；

The sectional view of motor, transmission assembly and the first and second drive systems that Figure 24 is Figure 22 and Figure 23, wherein passing Defeated component is in the first activation point；

Another sectional view of motor, transmission assembly and the first and second drive systems that Figure 25 is Figure 22-24, wherein passing Defeated component is in the second activation point；

Figure 26 is Figure 22-25 motor and another sectional view of transmission assembly, and wherein transmission assembly is in the first driving position Put；

Figure 27 is Figure 22-26 motor and another sectional view of transmission assembly, and wherein transmission assembly is in the second driving position Put；

Figure 28 is the side front view for the part that another motor drives surgical instruments, wherein for the sake of clarity, eliminating A part for shell；

Figure 29 is the perspective view for the part that another motor drives surgical instruments, wherein for the sake of clarity, eliminating outer A part for shell；

Figure 30 is the front perspective view of the motor drive unit with the first and second rotary drive systems；

Figure 31 is the bottom perspective view of Figure 30 motor drive unit；

Figure 32 is the perspective view of Figure 31 and Figure 32 motor drive unit, wherein removing shell from motor drive unit；

Figure 33 is the decomposition assembling of the mechanical coupling system for four rotation driving axles to be operatively coupled together View；

Figure 34 is the front perspective view of surgical end-effector, wherein for the sake of clarity, removing outside the end effector A part for shell；

Figure 35 is another front perspective view of Figure 34 surgical end-effector, wherein for the sake of clarity, eliminating closure Some parts of system and lower jaw；

Figure 36 is the exploded perspective assembled view of Figure 34 and Figure 35 surgical end-effector；

Figure 37 is the side front view of Figure 33-36 surgical end-effector, wherein for the sake of clarity, eliminating shell A part；

Figure 38 is the left side perspective view of the other end actuator construction, wherein for the sake of clarity, eliminating the end and holding A part for row device shell；

Figure 39 is the decomposition assembled view of Figure 38 end effector；

Figure 40 is the right side perspective view of Figure 37 and Figure 38 end effector configuration, wherein for the sake of clarity, eliminating Another part of the end effector shell；

The sectional view that the surgical end-effector that Figure 41 is Figure 38-40 constructs；

Figure 42 is the profile perspective of another surgical end-effector；

Figure 43 is the exploded assembled view of Figure 42 surgical end-effector；

Figure 44 is another fragmentary, perspective view of a part for Figure 42 and Figure 43 surgical end-effector；

Figure 45 is another sectional view of Figure 42-44 surgical end-effector；

Figure 46 is the perspective view for the end effector configuration for departing from component with driving；

Figure 47 is the fragmentary, perspective view of Figure 46 surgical end-effector, wherein for the sake of clarity, eliminating the end A part for actuator, and the nearside drivetrain of wherein closed-system is partially disengaged the distal side drivetrain part of closed-system；

Figure 48 is the fragmentary, perspective view of Figure 46 and Figure 47 surgical end-effector, wherein for the sake of clarity, eliminating A part for the end effector, and wherein distal coupler component be placed in the slit in proximal coupler component Nei and Connector pin is driven to be removed from slit；

Figure 49 is another fragmentary, perspective view of Figure 48 surgical end-effector, and this illustrates end effector trigger system Some parts；

Figure 50 is the perspective view of another surgical end-effector construction；

Figure 50 A are the enlarged drawing of a part for Figure 50 surgical end-effector；

Figure 51 is the perspective view of a part for Figure 50 end effector, wherein for the sake of clarity, eliminating shell A part；

Figure 52 is another perspective view of Figure 50 and Figure 51 end effector, wherein for the sake of clarity, eliminating shell With some parts of closed-system；

Figure 53 is another perspective view of Figure 50-52 end effector, wherein for the sake of clarity, eliminating closed-system Some parts and shell a part；

Figure 54 is the perspective view for the other end actuator for departing from component equipped with driving；

Figure 55 is the side front view of Figure 54 end effector；

Figure 56 is the perspective view of a part for Figure 54 and Figure 55 end effector, wherein for the sake of clarity, eliminating A part for the end effector shell；

Figure 57 is another perspective view of Figure 54-56 end effector, and the tool head of the wherein end effector is in Closing position；

Figure 58 is another fragmentary, perspective view of Figure 57 end effector, wherein for the sake of clarity, eliminating the end A part for actuator；

Figure 59 is another perspective view of Figure 58 end effector, wherein having removed driving connector pin；

Figure 60 is another perspective view of Figure 59 end effector, wherein having removed driving connector pin, and closes Driving beam assembly is proximally moved to open tool head；

Figure 61 is the block diagram for the modular motor driving surgical instruments for including handle portions and shaft portion；

Figure 62 is the table of the load current demand for the various operations for describing the total time for completing stroke and various assembly axis；

Figure 63 is divided into Figure 63-A and Figure 63-B, and the figure is electric in the handle portions of modular motor driving surgical instruments The detail view of system；

Figure 64 is that modular motor drives the handle portions of surgical instruments and the block diagram of the electrical system of shaft portion；

Figure 65 shows to eliminate the mechanical switch kinetic control system of the microprocessor control to motor function；

Figure 66 is including connector shell and be positioned in connector shell a pair according to the various embodiments of the disclosure The perspective view of the coupling configuration of pod；

Figure 67 be Figure 66 coupling configuration profile perspective, this diagram depicts according to the various embodiments of the disclosure not It is attached to a pair of drive members to pod and further depict the coupling configuration in unlocked configuration；

Figure 68 be Figure 66 coupling configuration profile perspective, this diagram depicts according to the various embodiments of the disclosure It is attached to a pair of drive members to pod and further depict the coupling configuration in locked configuration；

Figure 69 be Figure 66 coupling configuration profile perspective, this diagram depicts according to the various embodiments of the disclosure It is attached to a pair of drive members to pod and further depict the coupling configuration in unlocked configuration；

Figure 70 is the perspective view according to the insert of Figure 66 of the various embodiments of disclosure coupling configuration；

Figure 71 is the perspective view according to the pod of Figure 66 of the various embodiments of disclosure coupling configuration；

Figure 72 is the perspective view according to the breech lock of Figure 66 of the various embodiments of disclosure coupling configuration；

Figure 73 is the surgical end-effector being used together with surgical instruments shank according to the various embodiments of the disclosure The profile perspective of attachment；

Figure 74 is the drive system according to Figure 73 of the various embodiments of disclosure surgical end-effector attachment Decomposition diagram；

Figure 75 is to be included according to the perspective view of the shank for surgical instruments of the various embodiments of the disclosure, wherein shank Drive system with the first output driving component and the second output driving component；

Figure 76 is the perspective view according to Figure 75 of the various embodiments of disclosure drive system；

Figure 77 is according to the cross-section front view of Figure 75 of the various embodiments of disclosure shank, and this diagram depicts engagement first Output driving component and the drive system for departing from the second output driving component；

Figure 78 is that this diagram depicts engagement according to the cross-section front view of Figure 75 of the various embodiments of disclosure drive system Second output driving component and the drive system for departing from the first output driving component；

Figure 79 is the perspective cutaway view for the surgical instruments for including rotatable drive shaft, and closure drive device can be by described Drive shaft operates, and fires drive device and can be operated by the drive shaft, is beaten wherein closure drive device is shown in part Open configuration and fire drive device and be shown in non-percussion configuration；

Figure 80 is the perspective view of Figure 79 rotatable drive shaft；

Figure 81 be Figure 79 surgical instruments perspective cutaway view, be shown with the closure drive device in open configuration with And the percussion drive device in non-percussion configuration；

Figure 82 be Figure 79 surgical instruments perspective cutaway view, be shown with the closure drive device in closed configuration with And the percussion drive device in non-percussion configuration；

Figure 83 be Figure 79 surgical instruments perspective cutaway view, be shown with the closure drive device in closed configuration with And the percussion drive device in percussion configuration；

Figure 84 be Figure 79 surgical instruments perspective cutaway view, be shown with the percussion drive device in its retracted configuration with And the closure drive device during reopening；

Figure 85 is the end effector of surgical instruments and the partial sectional view of axle shown in closure, non-percussion configuration；

Figure 86 is the perspective view of the transmitting device of the surgical instruments for operation diagram 85, is shown in the configuration pair with Figure 85 The configuration answered；

Figure 87 is the exploded view of Figure 86 transmitting device；

Figure 88 is Figure 85 end effector and the partial sectional view of axle, is shown in the configuration opened, do not fired；

Figure 89 is the perspective view of Figure 86 transmitting device, is shown in configuration corresponding with the configuration shown in Figure 88；

Figure 90 is Figure 85 end effector and the partial sectional view of axle, is shown in the configuration for closing, not firing；

Figure 91 is the perspective view of Figure 86 transmitting device, is shown in configuration corresponding with the configuration shown in Figure 90；

Figure 92 is Figure 85 end effector and the partial sectional view of axle, is shown in the configuration for closing, having fired；

Figure 93 is the perspective view of Figure 86 transmitting device, is shown in configuration corresponding with the configuration shown in Figure 92；

Figure 94 is the perspective view according to the surgery suturing appliance of at least one embodiment；

Figure 95 is the exploded view of the shank of Figure 94 surgery suturing appliance；

Figure 96 is the exploded view of the end effector of Figure 94 surgery suturing appliance；

The motor of surgery suturing appliance and the fragmentary, perspective view of gear assembly that Figure 97 is Figure 94；

Figure 98 is the cross-section front view of Figure 94 surgery suturing appliance；

Figure 99 is the perspective view according to the surgery suturing appliance of at least one embodiment, is shown in opening, is unlatched Situation；

Figure 100 is the perspective view of Figure 99 surgery suturing appliance, is shown in closure, unlatched situation；

Figure 101 is the perspective view of Figure 99 surgery suturing appliance, is shown in closure, the situation of breech lock；

Figure 102 is the plan of Figure 99 surgery suturing appliance；

Figure 103 is the sectional view of Figure 99 surgery suturing appliance；

Figure 104 is the detailed section view of Figure 99 surgery suturing appliance；

Figure 105 is the exploded view of the percussion drive device of Figure 99 surgery suturing appliance；

Figure 106 is the exploded view of the closure drive device of Figure 99 surgery suturing appliance；

Figure 107 is that it includes shank, axle and end and held according to the sectional view of the surgery suturing appliance of at least one embodiment Row device；

Figure 108 is the sectional view of the shank of Figure 107 surgery suturing appliance, is shown in open configuration；

Figure 109 is the sectional view of the shank of Figure 107 surgery suturing appliance, is shown in closed configuration；

Figure 110 is the perspective view of the shank of Figure 107 surgery suturing appliance, is shown as removing some parts；

Figure 111 is that it includes shank and axle according to the perspective view of the surgery suturing appliance of at least one embodiment；

Figure 112 is the perspective view of Figure 111 surgery suturing appliance, is shown as shank and departs from axle；

Figure 113 is the exploded view of Figure 111 surgery suturing appliance；

Figure 114 is the partial sectional view of Figure 111 shank, shows that transmitting device is operatively engaged Figure 111 surgery seam The closed-system of clutch tool；

Figure 115 is the partial sectional view of Figure 111 shank, shows that Figure 114 transmitting device is operatively engaged Figure 111 Surgery suturing appliance trigger system；

Figure 116 is the exploded view of Figure 114 transmitting device；

Figure 117 is to be shown as moving according to the perspective view of the surgery suturing appliance of at least one embodiment, the surgery suturing appliance Except some parts and it is shown in open configuration；

Figure 118 is the perspective view of Figure 117 surgery suturing appliance, and the surgery suturing appliance is shown as removing some parts simultaneously And it is shown in closed configuration；

Figure 119 is that will follow closely the other end actuator construction and its nail bag embodiment before bag is installed in end effector Perspective view；

The end effector and another perspective view of nail bag that Figure 120 is Figure 119, wherein nail bag has been installed to end effector In；And

The end effector and another perspective view of nail bag that Figure 121 is Figure 120, the wherein align member of the nail bag are therefrom Remove.

Through multiple views, part corresponding to corresponding reference symbol instruction.Example as shown herein shows in one form Go out the preferred embodiments of the present invention, and this example should not be not understood as to the scope limiting the invention in any way.

Embodiment

Present applicant possesses the following patent application for being filed on March 1st, 2013, and each of which It is incorporated by reference in its entirety herein：

- entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION " U.S. Patent Application Serial Number 13/782,295；

- entitled " ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/782,323；

- entitled " THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS " U.S. State's patent application serial number 13/782,338；

- entitled " ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT " U.S. Patent Application Serial Number 13/782,499；

- entitled " MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/782,460；

- it is entitled that " the JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS " U.S. is special Sharp patent application serial numbers 13/782,358；

- entitled " SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR " U.S. Patent Application Serial Number 13/782,481；

- entitled " CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS " U.S. Patent Application Serial Number 13/782,518；

- entitled " ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM " U.S. Patent Application Serial Number 13/782,375；And

- entitled " SURGICAL INSTRUMENT SOFT STOP " U.S. Patent Application Serial Number 13/782,536, These applications are incorporated by reference in its entirety accordingly.

Present applicant also possesses the following patent application for being filed on March 14th, 2013, and each of which Each it is incorporated by reference in its entirety herein：

- entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/803,097；

- entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT " U.S. Patent Application Serial Number 13/803,193；

- entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT " U.S. Patent Application Serial Number 13/803,053；

- entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK " U.S. Patent Application Serial Number 13/803,086；

- entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/803,210；

- entitled " MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT " U.S. Patent application Sequence number 13/803,148；

- entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/803,066；

- entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/803,117；

- entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/803,130；And

- entitled " METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT " U.S. Patent application serial number 13/803,159.

Present applicant also possesses the following patent application for being filed on March 25th, 2014, and each of which Each it is incorporated by reference in its entirety herein：

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " U.S. State's patent application serial number 14/226,106；

Entitled " STERILIZATION VERIFICATION CIRCUIT " U.S. Patent Application Serial Number 14/226, 099；

It is entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT's " U.S. Patent Application Serial Number 14/226,094；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL " U.S. Patent Application Serial Number 14/226,117；

Entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES " U.S. Patent Application Serial Number 14/226,075；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 14/226,093；

Entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " U.S. Patent application Sequence number 14/226,116；

Entitled " SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR " U.S. Patent Application Serial Number 14/226,071；

Entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS " United States Patent (USP) Patent application serial numbers 14/226,097；

Entitled " INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS " United States Patent (USP) Patent application serial numbers 14/226,126；

Entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " U.S. Patent Application Serial Number 14/226, 133；

Entitled " the SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT " U.S. Patent application serial number 14/226,081；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION " U.S. Patent Application Serial Number 14/226,076；

Entitled " SURGICAL STAPLING INSTRUMENT SYSTEM " U.S. Patent Application Serial Number 14/ 226,111；And

Entitled " SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT " United States Patent (USP) Shen Please sequence number 14/226,125；

Present applicant also possesses following patent application, and the patent application is submitted and entirely on the same day with the application Text is each herein incorporated by reference：

- entitled " MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (attorney END7406USNP/140054)；

- entitled " SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (agency People file number END7408USNP/140056)；

- entitled " POWERED LINEAR SURGICAL STAPLER " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (attorney END7409USNP/140057)；

- entitled " TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT " United States Patent (USP) Patent application serial numbers _ _ _ _ _ _ _ _ _ _ _ (attorney END7410USNP/140058)；

- entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS” U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (attorney END7411USNP/140059)；

- entitled " POWERED SURGICAL STAPLER " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (act on behalf of People file number END7412USNP/140060)；

- entitled " DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (attorney END7413USNP/140061)；With And

- entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS " U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ (attorney END7414USNP/140062)。

Some exemplary embodiments will now be described, to understand the knot of apparatus and method as disclosed herein on the whole Structure, function, manufacture and purposes principle.One or more examples of these embodiments are shown in the drawings.The common skill of this area Art personnel will be understood that it is nonrestrictive exemplary reality to specifically describe herein and be illustrated in the apparatus and method in accompanying drawing Example is applied, and the scope of multiple embodiments of the present invention is limited only by the appended claims.Carried out with reference to an exemplary embodiment The feature for illustrating or describing can be combined with the feature of other embodiment.These modifications and variations are intended to be included in this hair Within the scope of bright.

" various embodiments ", " some embodiments ", " one embodiment " or " embodiment " that this specification refers in the whole text etc., Mean to be included at least one embodiment with reference to specific features, structure or the characteristic that the embodiment describes.Therefore, this theory Phrase " in various embodiments " that bright book occurs in the whole text, " in certain embodiments ", " in one embodiment " " are implementing Example in " etc. be not necessarily all referring to identical embodiment.In addition, in one or more embodiments, specific features, structure or characteristic It can combine in any suitable manner.Therefore, unrestricted in the case of, the specific spy that shows or describe with reference to one embodiment Sign, structure or characteristic can be combined with the feature structure or characteristic of one or more other embodiments whole or in part.It is such to repair Change and be intended to be included in modification within the scope of the present invention.

Term " nearside " and " distal side " are herein defined as coming relative to the clinician of the handle portions of manipulation of surgical apparatus Use.Term " nearside " refers near the part of clinician, and term " distal side " refers to the portion away from clinician Point.It is also understood that for the sake of succinct and be clear, such as " vertical ", " level ", "up" and "down" can be used with reference to accompanying drawing herein Etc spatial terminology.However, surgical operating instrument uses in many directions and position, and these terms and non-limiting And/or it is absolute.

Various exemplary means and method are provided to perform laparoscopic type and micro-wound surgical operation.However, this area is general Logical technical staff will readily appreciate that various method and apparatus disclosed herein can be used in many surgical operations and application, bag Include and be for example combined with open surgery.With continued reference to present embodiment, one of ordinary skill in the art will enter One step understands that various apparatuses disclosed herein can be in any way in insertion body, such as by natural cavity, by being formed at Otch or puncturing hole in tissue etc..The working portion or end effector portion of apparatus can be plugged directly into patient's body or can Inserted by the device that enters with service aisle, the end effector and slender axles of surgical instruments can be pushed away by service aisle Enter.

Accompanying drawing is gone to, wherein in multiple views, similar numeral represents similar component, and Fig. 1 depicts usual expression For 2 modularization surgical instrument system, it includes motor driving surgical instruments 10, motor driving surgery device in one form Tool can combine a variety of surgical end-effectors such as end effector 1000,2000 and 3000 and use.In embodiment illustrated, Motor driving surgical instruments 10 includes shell 12, and the shell is by being configured to what is grasped, manipulate and activate by clinician Shank 14 forms.With continued reference to present embodiment, it being understood, however, that, with reference to shank 14 and disclosed herein each Various unique and new drive system construction that kind end effector configuration is described effectively can also control outer with robot Department system is used together.Therefore, term " shell " can also cover robot system can accommodate or it is otherwise operable Ground supports the shell or similar portions of various forms of drive systems depicted herein, and the shell or similar portions can be with It is configured to the control campaign that generation can be used for activating end effector configuration as described herein and its corresponding equivalent structure. Term " framework " can refer to a part for handheld surgical.Term " framework " can also represent motor-driven system or robot control Surgical instruments a part and/or a part available for the robot system for being operatively controlled surgical instruments.For example, this Disclosed in text drive system construction and end effector configuration can with entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " U.S. Patent Application Serial Various robot systems, apparatus disclosed in number 13/118,241 (being now U.S. Patent Application Publication 2012/0298719), portion Part and method are used together, and the patent is incorporated by reference in its entirety herein accordingly.

Fig. 2-5 are referred now to, shank 14 can include a pair of shank shell sections 16 and 18, and this can pass through to shank shell section Screw rod, snap in features, adhesive etc. interconnect.In shown construction, the cooperation of shank shell section 16,18 can be by clinician to be formed The pistol grip portion 19 for grasping and manipulating.Such as it will be discussed in further detail below, the operable twelve Earthly Branches in shank of shank 14 Support two rotary drive systems 20,40, the rotary drive system be configured to generate various control motions and by this A little control motions are applied to the respective drive part for being attached to specific end effector thereon.First rotary drive system 20 Such as can be used to move to the corresponding closure drive shaft construction application " closed " being operatively supported in end effector, and The corresponding percussion drive shaft construction that second rotary drive system 40 can be used into the end effector being attached to thereon, which applies, " to be hit Hair " motion.

First rotary drive system 20 and the second rotary drive system 40 are passed through substantially in two drivetrains by motor 80 Between unique and novel " displaceable " transmission assembly 60 of power/motion displacement is powered.First rotary drive system 20 Including the first rotation driving axle 22, the first rotation driving axle is pivotally supported in the shell 12 of shank 14 and limits One drive axis " FDA-FDA ".First drive gear 24 is keyed to or is otherwise non-rotatably attached to the first rotation Turn drive shaft 22, so as to therewith be rotated around the first drive axis FDA-FDA.Similarly, the second rotary drive system 40 include the second rotation driving axle 42, and the second rotation driving axle is pivotally supported in the shell 12 of shank 14 and limited Second drive axis " SDA-SDA ".In at least one construction, the second drive axis SDA-SDA and the first drive shaft axle Line FDA-FDA offsets and is parallel to or substantially parallel to the first drive axis FDA-FDA.As used in this context , term " skew " represents that such as the first drive axis and the second drive axis are not coaxial.Second rotation driving axle 42 has There is the second drive gear 44, second drive gear is keyed to or be otherwise non-rotatably attached to the second drive shaft 42, so as to therewith be rotated around the second drive axis SDA-SDA.In addition, the second drive shaft 42 has the rotatable earth's axis The idler drive gear 46 that neck is connected thereto so that idler drive gear 46 can surround second on the second rotation driving axle 42 Drive axis SDA-SDA is rotated freely.

Referring to Fig. 2-5, in one form, motor 80 includes motor output shaft 81, and the motor output shaft has and can not revolved It is attached to motor driven gear wheel 82 thereon with turning.Motor driven gear wheel 82 is adapted to be enough in transmission assembly 60 with phase Mutual engagement system " operationally " engagement, following article will be discussed in more detail.In at least one form, transmission assembly 60 includes Transmit balladeur train 62, the transmission balladeur train be supported for gear 44 and 46 on the rotation driving axle 42 of drive gear 82 and second it Between axially advance.For example, slideably axle journal is connected in support shaft 63 transmission balladeur train 62, the support shaft is arranged on axle mounting seat In shell 12 on 61 so that transmit gear train of the position perpendicular to rotary drive system of balladeur train.Axle mounting seat 61 is by structure Cause in the slit that can be rigidly supported in shell 10 or other features.Transmission balladeur train 62 includes balladeur train gear 64, the cunning Frame gear be pivotally supported in support shaft 63 and be adapted to be enough in when engage with the driving of drive gear 82 and Gear 44 and 46 optionally engages engagement.In the construction that Fig. 2-5 is described, transmission balladeur train 62 is operatively attached to shift Device or " be used for shift device " 70, the shift unit are configured to make transmission balladeur train 62 in " the first activation point " and " the It is axially displaced between two activation points ".In one form, for example, the device 70 for displacement includes being supported on shank 14 Shift unit solenoid 71 in shell 12.Shift unit solenoid 71 can include bistable solenoid, or can for example include " double It is position, spring-loaded " solenoid.Construction is shown for example including spring 72, the spring will transmit balladeur train 62 towards distal direction " DD " is biased into the first activation point, and in first activation point, balladeur train gear 64 engages engagement with idler drive gear 46, Also engage engagement with drive gear 82 simultaneously.When in first activation point, the startup of motor 80 will cause gear 82,46 With 24 rotation, this will eventually lead to the first drive shaft 22 and rotates.As will be further discussed herein, shift unit solenoid 71 can Activated by being pivotally supported the firing trigger 90 on the shell 12 of shank 14, as shown in Figure 2 and Figure 5.In the reality of illustration Apply in example, firing trigger 90 is pivotally supported on the firing trigger axle 92 in shank 14.Firing trigger 90 by the vertical bias of firing trigger spring 94 to unactuated position.Referring to Fig. 3.Firing trigger 90 is installed for that pair can grasp The percussion switch 96 being supported on control circuit board component 100 with making carries out exercisable actuating.In the construction shown, percussion The actuating of trigger 90 causes the actuating of shift unit solenoid 71.Such as retouched in more detail below in conjunction with Figure 61, Figure 63, Figure 64 State, shank processor 7024 provides drive signal to shift unit solenoid 7032 (71).Now turn to referring to Fig. 2-5, therefore, hit The actuating of hair trigger 90 will cause shift unit solenoid 71 to transmit proximally direction " PD " drawing of balladeur train 62, thus make cunning Frame gear 64 moves into engages engagement with the second drive gear 44.Referring to Fig. 7.When balladeur train gear 64 and drive gear 82 and second During the engagement engagement of drive gear 44, the actuating of motor 80 will cause the second drive shaft 42 to be revolved around the second drive axis " SDA " Turn.As can be also found out from Fig. 2-5, displaceable transmission assembly 60 may also include instruction system 74, and the instruction system includes grasping It is attached to control panel 100 with making and transmits a pair of switches 75 and 76 of indicator lamp 77.Switch 75,76 is used to detect transmission balladeur train 62 position, this causes control system to activate indicator lamp 77 according to the position of transmission balladeur train 62.For example, indicator lamp 77 can transmit Balladeur train 62 is energized when being in the first activation point.This is provided an indication that to clinician：The actuating of motor 80 will cause The actuating of one drive system 20.

Various surgical instruments disclosed herein may also include transmission assembly 60 ', the transmission assembly and the base of transmission assembly 60 This is identical, but also including preventing them being not intended to be caused for locking the first drive system 20 and the second drive system 40 The locked component or device (being typically expressed as 65) of accidental activation occur when dynamic.For example, Fig. 6 A show to include the first driving locking Part 66 and second drives the alternative transmission balladeur train 62 ' of locking piece 68.First driving locking piece 66 is included on transmission balladeur train 62 ' First gear engagement member or tooth, when the driving of balladeur train gear 64 and idler gear 46 engages (that is, when the place of transmission assembly 60 ' When the first activation point), first gear engagement member or tooth are positioned to engage with the intermeshing of the second drive gear 44.Referring to Fig. 6 B.Therefore, when transmission assembly 60 ' is in the first activation point, the first driving locking piece 66 is nibbled with the second drive gear 44 Splice grafting, which merges, prevents it from being rotated against when the first drive shaft 22 rotates in the above described manner.Equally, when transmission assembly 60 ' is in the During two activation points (i.e. balladeur train gear 64 engages engagement with the second drive gear 44), the second driving locking piece 68 just drives with centre The engagement engagement of moving gear 46.Referring to Fig. 6 C.Therefore, when transmission assembly 60 ' is in the second activation point, the second driving locking piece 68 prevent idler gear 46 from rotating, and this also prevents the first drive gear 24 from rotating.Thus, when clinician operate motor 80 so that During dynamic first drive system 20, during the second drive system 40 is locked into place.Equally, when clinician's actuating second is driven During dynamic system 40, during the first drive system 20 is locked into place.

Such as described below in conjunction with Figure 61, Figure 63, Figure 64, the control system for motor 80 can program as follows： When a tooth root is maintained at vertical or other defined positions according to the orientation of other matching gears in gear 42,44, control system System is parked in some orientation all the time.This feature is by for avoiding any interference in displacement between gear teeth.When displacement, Locking component also shifts and locks non-rotating gears system position.When combination includes storehouse/anvil block construction or the end of other clamping configurations Portion's actuator is in use, by another advantage obtained from locking non-rotating (that is, being not powered on) gear train will be pressed from both sides in percussion Tool and/anvil block are maintained at settling position.

For example, motor 80, which can be the DC that maximum (top) speed is about 25,000RPM, brush drive motor.In other constructions, Motor can include brushless motor, wireless motor, syncmotor, stepper motor or any other suitable electro-motor, including The motor of hot pressing.Motor 80 can be powered by power supply 84, and in a form, the power supply may include power supply group 86, the power supply group Removedly it is stored in shank 14.Such as from Fig. 2-5, it is seen, for example, power supply group 86 can be removably received in shank 14 In pistol grip portion 19.In order to enter power supply group 86, clinician removes the removable cap for being attached to pistol grip portion 19 17, as shown in the figure.Power supply group 86 can be operably supported multiple battery (not shown) in power supply group.Battery can each include Such as lithium ion (" LI ") or other suitable batteries.Power supply group 86 is adapted to be enough in removably operationally attached It is connected to and is equally operably coupled to motor 80 and the control circuit board component 100 in shank 14.Can be used to connect Power supply of the multiple batteries of connection as surgical instruments.In addition, for example, power supply 84 can be it is interchangeable and/or chargeable, and And in the case of at least one, CR123 batteries can be included.Motor 80 can be by being pivotally mounted to the pistol grip of shank 14 " rocking arm-trigger " 110 in portion 19 activates.Rocking arm trigger 110 is configured to actuating and is operably coupled to control panel 100 the first motor switch 112.First motor switch 112 can include pressure switch, and the pressure switch is by the way that rocking arm is triggered Device 110, which is pivoted into, to be in contact with it to activate.The actuating of first motor switch 112 will cause the actuating of motor 80 so that sliding tooth Wheel 82 rotates in the first rotational direction.Second motor switch 114 is also attached to circuit board 100 and is mounted to be triggered by rocking arm Device 110 selective contacts with.The actuating of second motor switch 114 will cause the actuating of motor 80 so that drive gear 82 is Two sides rotate up.For example, in use, the polarity of voltage that power supply 84 is provided can operate electronic horse in the clockwise direction Up to 80, wherein the polarity of voltage being applied to by battery on electro-motor can be opposite, to operate in the counterclockwise direction Electro-motor 80.As other forms described herein, shank 14, which may also include, to be configured to detect drive system motion Direction sensor.One particular implementation of motor 80 below in association with description brushless DC motor 7038 Figure 61, Figure 63, Figure 64 are described.DC motors 7038 can be hot pressing.

Fig. 8-12 shows another form of surgical instruments 10 ', in addition to difference as described below, surgical instruments 10 ' Can be identical with surgical instruments 10.Surgical instruments 10 ' will be with identical with part identical those parts in above-mentioned surgical instruments 10 Element number represents.Surgical instruments 10 ' can be operated similarly but different from those portions of the corresponding component in surgical instruments 10 Part will with same parts number add " ' " or certain situation under add " " " represent.As seen from Figure 8, for example, the first drive shaft Axis " FDA " offsets with the second drive axis " SDA " and is parallel to or substantially parallel to the second drive axis " SDA ".It is main Will be referring to Fig. 9, for example, transmission assembly 60 and more specifically transmission balladeur train 62 " can be touched by being operatively attached to percussion Send out the manual transfer of link assembly 120 of device 90 '.As seen from Figure, for example, link assembly 120 includes the first transmission connecting rod 122, this first transmission connecting rod be pivotally coupled to firing trigger 90 ' and it is axially extending be pivotally coupled to transmit yoke 124. Transmitting yoke 124, movably pin joint extremely transmits balladeur train 62 ".Therefore, the actuating of firing trigger 90 ' causes the axle for transmitting balladeur train 62 " To motion.It will thus be appreciated that link assembly 120 perform substantially with above-mentioned shift unit solenoid 71 performed by those are similar Actuating movement.As used in the context of this embodiment relative to the transmission motion of balladeur train 62 ", term " can move manually Position " refer in addition to pressing firing trigger 90 ' without using electric power or other power devices in the case of, make transmission balladeur train Moved between the first activation point and the second activation point.

As equally from Fig. 8-12, the second drive gear 44 ' passes through distance piece 45 and centre in the second drive shaft 42 ' Gear 46 ' is spaced apart.Second drive gear 44 ' is keyed to or is otherwise non-rotatably attached to the second drive shaft 42 ', Idler drive gear 46 ' is rotatably journaled in the second drive shaft 42 ' simultaneously, with free relative to second drive shaft Rotation.In a form, for example, distal side drive gear 130 is supported in a manner of engagement is engaged with idler drive gear 46 '. Similarly, distal side drive gear 136 is supported in a manner of engagement is engaged with the second drive gear 44 '.However, in this construction In, transmission balladeur train 62 " also includes the transmission gear assembly 140 being centrally located, and the transmission gear assembly is operatively attached to pass Defeated balladeur train 62 ' is with therewith axially traveling.Referring still to Fig. 8-12, transmission gear assembly 140 includes the displacement being centrally located Device drive gear 142, the shift unit drive gear slidably mate engaging motor drive gear 82.Therefore, motor sliding tooth The rotation of wheel 82 causes the rotation of shift unit drive gear 142.In addition, the taper drive gear 144 proximally extended is attached to Shift unit drive gear 142 and the proximal gear pod 146 for being adapted to be enough in and being attached to proximate drive gear 136 Optionally engagement engagement.Equally, it is adapted to be enough in and be attached to distal side towards the taper drive gear 148 of distal side extension The distal side gear pod 150 of drive gear 130 optionally engages engagement.

When clinician it is expected to activate the first drive system 20, clinician moves firing trigger 90 ', so as to pass Defeated gear assembly 140 is axially moved to make the taper drive gear 148 towards distal side extension with being attached to distal side drive gear 130 The placement engagement engagement of distal side gear pod 150.Referring to Fig. 8-10.When at that position, the operation to motor 80 will cause horse Up to drive gear 82, shift unit drive gear 142, distal side drive gear 130, idler drive gear 46 ', the first drive gear 24 And first drive shaft 22 rotation.When clinician it is expected to activate the second drive system 40, clinician will fire and trigger Device 90 ' moves to position shown in Figure 11 and Figure 12, so that the taper drive gear 144 proximally extended is with being attached to nearside drive The placement engagement engagement of proximal gear pod 146 of moving gear 136.When at that position, the operation to motor 80 will cause to drive Moving gear 82, shift unit drive gear 142, proximate drive gear 136, the second drive gear 44 ' and the second drive shaft 42 ' Rotation.As equally from Fig. 8-12, sensor 152 and 154 can be used to detect the position for transmitting balladeur train 62 ", such as below will It is discussed in more detail.For example, sensor 152 and 154 may be used at the Hall effect below in conjunction with Figure 61, Figure 63, Figure 64 description Sensor 7028 is implemented.

Figure 13-16 shows another form of motor driving surgical instruments 310, in addition to difference as described below, outside Section's apparatus 310 can be identical with surgical instruments 10.Surgical instruments 310 ' and those portions of part identical in above-mentioned surgical instruments 10 Part will be numbered with similar elements and represented.In this construction, the first drive system 20 and the second drive system 40 are led to by motor 80 Unique and novel " displaceable " transmission assembly 360 is crossed to power.First drive system 20 include have be keyed to thereon or with Other modes are non-rotatably attached to the first drive shaft 22 of the first driving wheel 324 thereon.Similarly, the second drive system 40 include having the second driving for being keyed to and being non-rotatably attached to the second driving wheel 344 thereon thereon or otherwise Axle 42.Such as from Figure 14, it is seen, for example, the first drive axis " FDA " are offset with the second drive axis " SDA " and parallel or base Parallel to the second drive axis " SDA " on this.

Referring still to Figure 13-16, in one form, motor 80 includes the first motor belt pulley 382, the first motor skin Belt wheel is non-rotatably attached to the axle of motor 80.The driving of first motor belt pulley 382 is received on the first driving wheel 324 First transmission belt 385.In addition, the second motor belt pulley 384 is nonrotatably mounted to the motor drive shaft, and it is operable thereon Ground supports the second transmission belt 387.Second transmission belt 387 is also received on the second driving wheel 344 in the second drive shaft 42.Example Such as, the first transmission belt 385 and the second transmission belt 387 may include V-belt.

Apparatus 310 also includes transmission assembly 360, and the transmission assembly includes being supported for axially advancing in apparatus housings Transmission balladeur train 362.When transmit balladeur train 362 is axially moved by shift unit solenoid 71 when, transmit balladeur train 362 operationally with It is supported in response to being contacted and the idle pulley balladeur train 374 of lateral movement interacts with transmission balladeur train 362.Idle pulley balladeur train 374 Including the first idle pulley 375 and the second idle pulley 376 mounted thereto.In the construction shown, spring 72 is at distal direction " DD " Upper to bias transmission balladeur train 362 towards the first activation point, in first activation point, transmission balladeur train 362 causes idle pulley balladeur train 374 Moved on the first lateral " FLD ", this causes the first idle pulley 375 to tense the first transmission belt 385.At the second idle pulley 376 When the position, the second idle pulley 376 is oriented to be disengaged with the second transmission belt 387.Therefore, the operation of motor 80 will cause The rotation of first drive shaft 22.Although the second motor belt pulley 384 will also rotate when motor 80 starts, the second transmission belt 387 relaxation prevents rotary motion to be passed to the second driving wheel 344.Therefore, motion is passed to the second drivetrain without spin System 40.It is described as above, shift unit solenoid 71 can be activated by firing trigger 90.However, in alternative configuration, shift unit helical Pipe 71 can also be replaced by the link assembly of the manually actuable of such as the above-mentioned type.In the construction shown, firing trigger 90 Actuating shift unit solenoid 71 will be caused to pull transmission balladeur train 362 along proximal direction " PD " so that idle pulley balladeur train 374 is along the Two laterals " SLD " lateral displacement, so that the second idle pulley 376 is contacted with the second transmission belt 387 to tense the transmission belt.Idle pulley Such lateral movement of balladeur train 374 also makes the first idle pulley 375 be disengaged with the first transmission belt 385, so as to allow the first transmission Band 385 relaxes.Therefore, when motor 80 is in such second activation point, the actuating of motor 80 causes the second drive system 40 Actuating.The relaxation of first transmission belt 385 prevents rotary motion to be passed to the first drive system 20.

Transmission assembly 360 can provide some different advantages.For example, V-belt is used so that need not be by one or more Gear aligns with clutch engagement.In addition, such transmission structure can start or disable under a load.In addition, transmission assembly more than 360 It can depart from and engage without displacement.

Figure 17-21 shows another form of motor driving surgical instruments 410, in addition to difference as described below, outside Section's apparatus 410 can be identical with surgical instruments 10.Surgical instruments 410 ' and those portions of part identical in above-mentioned surgical instruments 10 Part will be numbered with similar elements and represented.In this construction, the first drive system 20 and the second drive system 40 are led to by motor 480 Unique and novel " displaceable " transmission assembly 460 is crossed to power.First drive system 20 include have be keyed to thereon or with Other modes are non-rotatably attached to the first drive shaft 22 of the first driving wheel 424 thereon.Similarly, the second drive system 40 include having the second driving for being keyed to and being non-rotatably fixed to the second driving wheel 444 thereon thereon or otherwise Axle 42.Such as from Figure 18, it is seen, for example, the first drive axis " FDA " are offset with the second drive axis " SDA " and parallel or base Parallel to the second drive axis " SDA " on this.

Referring now to Figure 19, in one form, motor 480 includes splined actuating shaft 481, and the drive shaft is suitable to slidably Ground engagement transmission shaft assembly 490, the transmission shaft assembly are configured to interact with transmission balladeur train 462 so that transmission is slided The axial movement of frame 462 causes transmission shaft assembly 490 to be axially moved on splined actuating shaft 481.Such as from Figure 19, transmission axle Component 490 has spline bore hole 491 in shaft assembly is transmitted, for being received slideably and operationally in spline bore hole Splined actuating shaft 481.In addition, distal side engagement lining ring 492 is formed in the distal end of transmission shaft assembly 490.Distal side engagement lining Circle 492 is configured to ring-shaped groove 493, and the ring-shaped groove, which is configured to receive in ring-shaped groove, is attached to transmission The relative yoke bar 465 of two of the yoke part 464 of balladeur train 462.Such construct is used to transmission balladeur train 462 being attached to transmission shaft assembly 490, while allow transmission shaft assembly 490 to be rotated relative to transmission balladeur train 462.

Referring still to Figure 19, the first motor belt pulley 482 is adapted to be enough in optionally driving engagement transmission axle Component 490.Such as from Figure 19, it is seen, for example, transmission shaft assembly 490 has the bearing lining ring 494 being formed in its proximal end, should The size of bearing lining ring is set in the bore hole 483 slidably and rotatably received in the first motor belt pulley 482.Separately Outside, the first motor belt pulley 482 also includes star nearside driving chamber 488, and the star nearside driving chamber is suitable to engagement engagement and formed The drive part 495 of complementary shape on transmission shaft assembly 490.The driving of first motor belt pulley 482 is also received in the first drive The first transmission belt 485 on driving wheel 424.Surgical instruments 410 also includes the second motor belt pulley 484 with star bore hole 489, The star bore hole is configured to the drive part 495 of the engagement engagement transmission shaft assembly 490 in star bore hole.Second motor Belt pulley 484 is operably supported the second transmission belt 487 also received on the second driving wheel 444 thereon.

As described above, apparatus 410 also includes transmission assembly 460, the transmission assembly includes being supported in apparatus housings The transmission balladeur train 462 inside axially advanced.Balladeur train 462 is transmitted with transmitting the operationally phase interaction of shaft assembly 490, equally to make transmission Shaft assembly 490 is axially moved, and simultaneous transmission shaft assembly 490 still keeps engaging with motor drive shaft 481.Figure 20, which shows to be in, does not activate position The shift unit solenoid 71 put.As seen from Figure, transmission balladeur train 462 has made transmission shaft assembly 490 move to its recent side position To put, the position also may be referred to " the first activation point ", in the position, the star in the motor belt pulley 482 of drive part 495 and first The driving engagement of shape bore hole 488.Therefore, the rotation of motor drive shaft 481 will cause to transmit the motor belt pulley 482 of shaft assembly 490 and first Rotation.The rotation of first motor belt pulley 482 will cause the rotation of the first transmission belt 485, and this ultimately results in the first drive shaft 22 rotation.When transmission shaft assembly 490 is in the first activation point, transmission shaft assembly 490 is relative to the second motor belt pulley 484 rotate freely.Therefore, when activating the first drive system 20, the second drive system 40 keeps not activating.When shift unit helical Pipe 71 is actuated to position shown in Figure 21 (by activating firing trigger 90), and transmission balladeur train 462 moves transmission shaft assembly 490 To its farthest side position on motor drive shaft 481, the position also may be referred to " the second activation point ".Such as from Figure 21, work as biography When defeated shaft assembly 490 is in the second activation point, its drive part 495 moves into and the star in the second motor belt pulley 484 The engagement engagement of bore hole 489.Therefore, the rotation of motor drive shaft 481 will cause the rotation of the second motor belt pulley 484.Second motor skin The rotation of belt wheel 484 will cause the rotation of the second transmission belt 487, and this causes the rotation of the second drive shaft 42.When transmission shaft assembly 490 when being in second activation point, and transmission shaft assembly 490 rotates freely in the first motor belt pulley 482.Therefore, cause is worked as During dynamic second drive system 40, the first drive system 20 is in non-actuating state.

Figure 22-27 shows another motor, the transmission assembly and that can be used together with various surgical instruments described herein One and second drive system.The construction shown includes the motor 580 with motor drive shaft 581.Referring to Figure 23 and Figure 24.Motor drives Gear 582 or " central gear " 582 are non-rotatably attached to motor drive shaft 581 to rotate with it.The construction also includes Planetary gear set 570, the planetary gear set include being pivotally supported between distal side carrier 573 and nearside carrier 574 Three planetary gears 572.Nearside carrier 574 is supported on the hub portion of central gear 582 so that central gear 582 can Rotated relative to nearside carrier 574.Distal side carrier 573 is attached to the second drive shaft 542 of the second drive system 40 so that distal side The rotation of carrier 573 will cause the rotation of the second drive shaft 542 of the second drive system 40.Three planetary gears 572 with ring The mode of the engagement engagement of shape gear assembly 575 supports.More specifically, planetary gear 572 and the inside on ring gear component 575 The engagement engagement of ring gear 576.Ring gear component 575 also includes outer annular gear 577, and the outer annular gear is with attaching The first drive gear 524 to the first drive shaft 522 of the first drive system 20 engages engagement.Such as from Figure 24 it is seen, for example, One drive axis " FDA " offset with the second drive axis " SDA " and are parallel to or substantially parallel to the second drive axis “SDA”。

As visible in fig 23, the construction also includes solenoid 71, and the solenoid can be by firing trigger with described herein Various modes operate.In this construction, transmission assembly 560 is attached to the axle 73 of solenoid 71.Figure 24 shows to drive in first The transmission assembly 560 of dynamic position.In one form, transmission assembly 560 includes locked component (being typically expressed as 590), the lock Determine that component is included on transmission assembly 560 first either nearside locking tab part 592 and second or distal side lock tab Ear portions 594.As seen from Figure, transmission assembly 560 is positioned such that nearside locking tab part 592 and nearside carrier 574 engagements.When nearside locking tab part 592 is in this first activation point, it prevents planetary gear set 570 and the sun Gear 582 is used as an integral-rotation.However, the rotation of central gear 582 causes the rotation of planetary gear 572.Planetary gear 572 rotation causes the rotation of ring gear component 575.The rotation of ring gear component 575 causes the He of the first drive gear 524 The rotation of first drive shaft 522.Due to preventing nearside carrier 574 from rotating, it also prevent distal side carrier 573 and rotate.Therefore, it is also anti- Stop the second drive shaft 544 to rotate, while the first drive shaft 522 rotates.Spring (not shown) can be used for solenoid 71 is (and attached It is connected to transmission assembly 560 thereon) it is biased into this " first activation point ".When clinician needs to activate the second drive system When 40, firing trigger as described above can be used to activate for solenoid 71, and solenoid shaft 73 is moved into position shown in Figure 25 Put.When transmission assembly 560, which is in, is somebody's turn to do " the second activation point ", annular tooth is fixedly engaged in distal side locking tab part 594 Wheel assembly 575 is to prevent its rotation.Therefore, when central gear 582 rotates, pinion frame (that is, distal side carrier 573 and near Side carrier 574) also will rotation.Planetary gear 572 will be in the internal rotation of fixing internal ring gear 576.Such rotary motion will pass The second drive shaft 542 is handed to, while the first drive shaft 522 keeps not activating.

Figure 28 shows another form of motor driving surgical instruments 610, in addition to difference as described below, surgery device Tool 610 can be identical with surgical instruments 10.Surgical instruments 610 ' and part identical those parts general in above-mentioned surgical instruments 10 Represented with similar elements numbering.Such as from Figure 28 it is seen, for example, the first drive axis " FDA " and the second drive axis " SDA " Offset and be parallel to or substantially parallel to the second drive axis " SDA ".The construction includes motor 680, the motor have it is dual, Can independent actuation motor drive shaft 681,683.Motor 680 can be made by various types of firing trigger construction controls described herein Obtaining the actuating of firing trigger in one way causes motor 680 to rotate the first motor drive shaft 681, and firing trigger is with another The actuating of mode causes motor 680 to rotate the second motor drive shaft 683.In this construction, the first motor gear 682 is arranged on first On motor drive shaft 681, and support into engagement and engage idle gear 646.Idle gear 646 is operably supported into being attached to the first driving The first drive gear 624 engagement engagement of first drive shaft 622 of system 620.Therefore, the actuating of the first motor drive shaft 681 will be led Cause the actuating of the first drive system 620.Equally, the second motor gear 684 is arranged on the second motor drive shaft 683, and is supported into nibbling Splice grafting closes the second drive gear 644 being installed in the second drive shaft 642 of the second drive system 640.Therefore, the second motor The actuating of axle 683 will cause the actuating of the second drive system 640.

Figure 29 shows another form of motor driving surgical instruments 710, in addition to difference as described below, surgery device Tool 710 can be identical with surgical instruments 10.Surgical instruments 710 ' and part identical those parts general in above-mentioned surgical instruments 10 Represented with similar elements numbering.Such as from Figure 29 it is seen, for example, the first drive axis " FDA " and the second drive axis " SDA " Offset and be parallel to or substantially parallel to the second drive axis " SDA ".In this construction, the first drive system 720 and Two drive systems 740 are powered by motor 780 by unique and novel " displaceable " transmission assembly 760.First drive system 720 include non-rotatably being attached to the first of the first drive gear 724 thereon thereon or otherwise with being keyed to Drive shaft 722.Similarly, the second drive system 740 includes having to be keyed to non-rotatably attaching thereon or otherwise To the second drive shaft 742 of the second drive gear 744 thereon.Motor 780 includes the axle for being non-rotatably attached to motor 780 781 motor gear 782.

In the construction shown, the second motor 750 is used for shifting transmission assembly 760, will such as discuss in more detail below. Second motor 750 can be controlled for example by various firing triggers disclosed herein and switch structure.Second motor 750 can be with class Controlled like 7038 controlled mode of motor (as described in below in conjunction with Figure 61, Figure 63, Figure 64).Such as from Figure 29, First transmission wheel 753 is keyed to or is otherwise non-rotatably attached to motor drive shaft 752.First pivotal axis 754 can revolve It is supported in the shell 12 of shank 14 with turning.The first pivot axis limit pivot axis " PA ".Second transmission wheel 755 is non-rotatable Ground is arranged on the first pivotal axis 754, and conveyer belt 756 is installed in the first transmission wheel 753 and the second transmission wheel 755. In one form, displaceable transmission assembly 760 includes the transmission connecting rod 762 for being attached to the first pivotal axis 754.It is in addition, lazy Wheel shaft 763 is attached to transmission connecting rod 762, and the transmission connecting rod is operably supported idle gear 764 thereon.Displaceable transmission group Part 760 can move between the first activation point and the second activation point.In order to which displaceable transmission assembly 760 is moved to First activation point, clinician activates the second motor 750 so that pivotal axis 763 and idle gear 764 revolve around pivot axis P A Turn so that the idle gear engages engagement with the drive gear 724 of motor gear 782 and first.When in this position, motor 780 actuating will then cause the actuating of the first drive system 720.When clinician needs to activate the second drive system 740, Second motor 750 is activated so that idle gear 764 is rotated into and the drive gear of motor gear 782 and second around pivot axis P A 744 engagement engagements.When in this position, the actuating of motor 780 causes the actuating of the second drive system 740.This can be utilized One of constitution realization has an advantage that to be orientated without precise tooth.When idle gear 764 is swung in appropriate location, its is rotatable And the tooth that cooperation will be automatically found.

Figure 30-32 shows the unique and novel motor unit 800 that can be arranged in type enclosure described herein.Motor list Member 800 can include separate housing structure 801, and the separate housing structure is operably supported the with the first motor drive shaft 803 One motor 802, first drive system of the first motor axis limit 804.Motor unit 800 can include having the second motor drive shaft 806 the second motor 805, second drive system of the second motor axis limit 807.As seen from Figure 8, for example, the first drive shaft Axis " FDA " offsets with the second drive axis " SDA " and is parallel to or substantially parallel to the second drive axis " SDA ".It is single Member 800 may also include control board 808, and the contact 808A of the control board is with being arranged in apparatus housings or with its other party The corresponding contact on circuit board that formula is supported in apparatus housings and connected with the control system of apparatus operationally joins.Shell Electric contact piece 808B is may also include, the electric contact piece is configured to corresponding with the end effector instrument for being attached to shell Electric contact piece operationally join.

As shown in figure 1, modularization surgery system 2 can be a variety of including that can be used with reference to various surgical instruments described herein Different surgical end-effector constructions 1000,2000 and 3000.As discussed in more detail below, end effector 1000,2000, 3000 each include dual, independent " first end actuator driven system and the second end actuator driven system ", these drives Dynamic system is suitable to the first drive system in surgical instruments and the second drive system operationally join to receive from it controlling Motion.The end effector drive system is each configured to outer in response to being operably attached to by end effector Section's apparatus apply to the end effector drive system corresponding rotation motion, by corresponding end actuator actuator component from First either initial linear position move to second or terminate linear position.The end effector actuator component will be caused linearly Dynamic motion applies to the various end effector parts being located in the end effector tool head part, various outer to perform Section performs the operation.As discussed in more detail below, the end effector uses unique part and system to assist clinician by surgery The first drive shaft and the second drive shaft of apparatus couple with the respective drive in the end effector.Because four drive shafts are Substantially it is linked together, therefore, can be beneficial to using various coupling configurations and control technology to ensure that axle is in simultaneously Such while connection the correct position or " almost correct position " of drive system.

Referring now to Figure 33, a form of mechanical coupling system 50 can be used to promote two drivings by surgical instruments System is simultaneously removable and is operably coupled to the correspondence in end effector " driven " axle.System of connections 50 can include can The convex connector for the drive shaft being attached in surgical instruments and the matrix for the driven shaft being attached in surgical end-effector Pod connector.For example, the convex that Fig. 9 shows to be attached to the first drive shaft 22 and the second drive shaft 42 by positioning screw 52 joins Connect device 51.Referring again to Figure 33, each convex connector 51 is configured to drivingly to receive and held also attaching to end In the corresponding matrix pod connector 57 of driven shaft in row device.In one form, each convex connector 51 is included at least Three driving ribs 53, these driving ribs are equally spaced around the core 54 of convex connector 51.In embodiment illustrated In, for example, five driving ribs 53 are equally spaced around core 54.Each driving rib 53 has slightly pointed distal end 55. Each driving rib 53 can the edge 56 formed with rounding to a certain extent, to be advantageous to be easily inserted matrix pod connector 57 In interior corresponding pod groove 58.Each pod groove 58 has tapered proximal inlet port part 59, to be advantageous to drive corresponding Rib 53 is plugged into.The sharp distal end 55 of each driving rib 53 is combined with the tapered inlets 59 of each pod groove 58 will Adjust a certain degree of dislocation in connection process between the corresponding matrix pod connector 57 of convex connector 51.Separately Outside, the rounded edges 57 in sharp distal end 55 additionally aid convex connector 51 and are slidably inserted into corresponding matrix pod connector In 58.

In one form, at least one correspondence for being movably attached to surgical instruments first in convex connector 51 is driven Moving axis or the corresponding first driven shaft of its of the second drive shaft or surgical end-effector and second driven shaft.More specifically, it can incite somebody to action Convex connector 51 is attached on the axle radially or angularly advanced, " to travel radially first to predefine on axle Amount ".This size that for example can be constructed by key and keyway constitution realization, the key and keyway is set to relative to each other to be advantageous to Convex connector 51 radial direction or a certain amount of angularly advancing on the axle.In other words, for example, the axle can have formation Its key is attached to thereon or otherwise, and the key is less than the corresponding keyway formed in convex connector 51 so that key It can be moved in keyway and establish the first predetermined radial row input.The first predetermined radial row input is preferred Ground is used for back-driving or driving forwards connector enough.For example, for the convex connector 51 with five ribs 53, should The first predetermined scope that travels radially can be such as 5-37 degree.There may be some such embodiments：For example, first is pre- The scope that travels radially first determined can be less than 5 ° and preferably no more than 4 °.If such as corresponding matrix pod connector 57 is firm It is attached to its respective drive to property and in other words the matrix pod connector can not carries out any travel radially, then footpath To or the angled such scope advanced can be enough.However, if both convex connector and matrix connector have The ability adjusted radially or angularly, radially or the angled such scope advanced can reduce 50%, think each Individual connector (convex connector and corresponding matrix pod connector) provides the travel range of about 3-16 degree.Matrix pod couples Radial direction that device 57 can move in its respective shaft or the angled amount advanced are referred to alternatively as that " second is predetermined herein Radial row input ".Matrix pod connector 57 can also be attached to their corresponding drives using key as described above and keyway construction Moving axis, the second predetermined radial row input needed for key and keyway the construction offer.There may be some such implementations Example：For example, the second predetermined scope that travels radially can be less than 5 ° and preferably no more than 4 °.

Various combinations and the installation constitution of convex connector and matrix pod connector are dreamed up.For example, one or Two convex connectors can by it is described herein it is various in a manner of be movably mounted it is (or outer to its corresponding drive shaft of surgical instruments The driven shaft of section's end effector).Equally, one or two matrix pod connector can by it is described herein it is various in a manner of it is movable Its corresponding driven shaft (or drive shaft of surgical instruments) that ground is attached on end effector.For example, in the first drive shaft and The convex connector on one in second drive shaft can be movably mounted on the axle.It is attached to other of other drive shafts Convex connector can immovably be attached to the axle.The matrix corresponding to the convex connector being movably mounted on driven shaft Pod connector can be immovably attached on its driven shaft, and other are arranged on corresponding to immovably on driven shaft The matrix pod connector of the connector of installation can be movably mounted to its driven shaft.Therefore, the convex of " connector to " joins One connect in device and matrix pod connector is movable.Term " connector to " refers to convex connector and corresponding recessed Type pod connector, they are configured to be linked together so that the drive shaft of surgical instruments is operably coupled into end Its corresponding driven shaft of actuator.In other constructions, the convex connector and matrix pod connector of connector pair are both Their corresponding axles can be movably coupled to.

Such coupler configuration is used to provide a small amount of angled relaxations for example between coupler component so that part can be light Degree is rotated to realize abundant alignment, this coupler component for fully allowing brigadier to be attached to two independent rotation driving systems It is aligned simultaneously.In addition, the recoil of sufficient amount can be provided in drivetrain or relaxed to adapt to connection process.Such recoil or relaxation It can be provided by forming key/keyway in gear, connector and/or fitted shaft, with such slight rotation of promoting member. In addition, switch structure can combine various displaceable transmission assemblies to use, it can cause for connection purpose starter motor Drive shaft slightly rotates.

This and other control technologies can be used for ensuring that the drive shaft in surgical instruments is positioned at required position, with favourable Couple in them with the respective drive in end effector.Unique and novel mechanical coupling system 50 is used in connection process It is middle that certain additional flexibility is provided, to enable drive shaft to be connected in the case of certain dislocation between corresponding axle being present Together.It should be appreciated that although various embodiments described herein shows to be attached to the convex connection of the drive shaft in surgical instruments Device 51 and the matrix pod connector 58 for being attached to end effector drive shaft, but convex connector 51 is attached to end and held Row device drive shaft and matrix pod connector 58 is attached to the drive shaft of surgical instruments.

Figure 34-37 describes surgical end-effector 1000, and the surgical end-effector includes commonly referred to as " open straight line The surgery cuts and fastening instrument of the type of type " stitching unstrument.Various forms of such open linear suture devices are for example Entitled " SURGICAL STAPLER AND STAPLE CARTRIDGE " United States Patent (USP) 5,415,334 and entitled " SURGICAL STAPLING INSTRUMENT " United States Patent (USP) 8, disclosed in 561,870, in the entire disclosure of each patent Appearance is hereby incorporated by reference.End effector 1000 includes end effector shell 1010, outside the end effector Shell can be by being made up of screw rod, lug, snap in features etc. come the shell segments 1012,1014 being removably coupled to together.From end The projection of portion's actuator shell 1010 is the lower jaw 1020 that can be collectively form end effector tool head 1004 and upper pincers Mouth 1040.Lower jaw 1020 includes lower jaw framework 1022, and the lower jaw framework is configured to can in lower jaw framework It is operatively supported surgery nail bin 1060.Such surgery nail bin is well-known in the art, and therefore will not herein more Describe in detail.In simple terms, surgery nail bin 1060 can include warehouse 1062, and the warehouse has in the every of elongated slot 1068 The line of nail pit 1066 being formed on individual cross side in warehouse, the elongated slot are centrally positioned in warehouse 1062.Slit 1068 It is configured to be longitudinally travelled suitable for cutting element 1090 and passes through, will be discussed in more detail Ru following.It is one or more Surgical staples (not shown) is supported on the nail drive member (not shown) in nail pit 1066, and the nail drive member is adapted to It is enough to be moved upwards in their respective dimples 1066 during percussion.Nail bin 1060 can be configured to from lower jaw frame Frame 1022 removes, and is replaced with another unused storehouse be able to reuse that end effector 1000.However, end effector 1000 can also abandon after a single use.

Referring to Figure 36, lower jaw framework 1022 can be formed by metal material and have U-shaped distal part 1024, the U-shaped Distal part is configured to receive surgery nail bin 1060 in U-shaped distal part in a manner of placement.U-shaped distal part 1024 side wall 1026 can have distal end 1028, and the distal end is configured to releasable and can be retentively engaged A part for surgery nail bin 1060.Cartridge body 1062 can also have engagement features 1064, and the engagement features are suitable to releasedly Engage the upright wall portion 1030 of lower jaw framework 1022.End effector 1000 also includes upper jaw 1040, the upper jaw bag Include anvil portion 1042.Anvil portion 1042 can include the downside (not shown) wherein with multiple nail shapes pits.Upper pincers Mouth 1040 also includes proximal body portion 1044, and the proximal body portion has the distal side ear extended through in proximal body portion Pivot pin 1046.The end of the proximal end lateral protrusion of the proximally main part 1044 of distal side gudgeon pin 1046 rotatably connects It is received in the gudgeon hole 1032 in lower jaw 1020.Gudgeon pin 1046 limits attachment axis AA-AA, the proximal end of upper jaw 1040 Portion around attachment axis AA-AA pivoted relative to lower jaw 1020 so that anvil portion 1042 can with installed in lower jaw Nail bin 1060 in 1020 open position spaced apart with nail bin 1060 and/or positioned at the adjacent closure of tissue between the two Moved between position.End effector 1000 may also include horizontal backing pin 1050, and the horizontal backing pin, which receives, is being formed at lower jaw In support 1034 in 1020 upstanding wall 1030 and in the hole 1016 in shell segments 1012,1014.Backing pin 1050 It can be used as anvil portion 1042 and enclose the fulcrum axis rotated about or surface.

The motion of anvil portion 1042 between the open position and the closed position by first end actuator driven system ( End effector closure system 1070 is also referred to as herein) control.In one form, for example, end effector closed system System 1070 includes closure shuttle 1072, and the closure shuttle extends around the proximal body portion 1024 of lower jaw 1020.Close shuttle 1072 It may be additionally referred to as " first end actuator actuator ".Distal side can be included including U-shaped portion point, the U-shaped portion point by closing shuttle 1072 Upstanding wall 1074 and nearside upstanding wall 1076.Each distal side upstanding wall 1074 includes arch cam slot 1078, the arch cam Slit is suitable to the corresponding part for receiving the cam pin 1048 for being attached to upper jaw 1040.Therefore, shuttle 1072 is closed relative to lower pincers The axial direction of mouth 1020 or linear movement will cause upper jaw 1040 by the mutual of the cam pin 1048 in cam slot 1078 Act on backing pin 1050 and pivoted around attachment axis AA-AA.

In various forms, closed-system 1070 includes rotary end actuator closure axle 1080, and the closure axle has spiral shell Line and the distal end portion 1082 including being pivotally supported in end effector shell 1010.End effector closes Axle 1080 limits closure axle axis CSA-CSA.Referring to Figure 37.Matrix pod connector 57 is attached to the proximal end of closure axle 1080 Portion, coupled with being advantageous to close axle 1080 with the convex connector 51 for the first drive shaft being attached in surgical instruments.Closed system System 1070 also includes closure nut 1084, and the closure nut is by tapped receptor on closure axle 1080.Close the quilt of nut 1084 It is constructed to be permeable to be placed in the installation slit 1077 in the upstanding wall 1076 of closure shuttle 1072.Therefore, axle 1080 is closed along the The rotation in one direction will cause closure nut 1084 to close shuttle 1072 along distal direction " DD " driving.Shuttle 1072 is closed along distal side The motion in direction " DD " causes upper jaw 1040 to march to closing position from open position pivot.Equally, shuttle 1084 is closed along near The motion of side direction " PD " will cause upper jaw 1040 to return open position from closing position motion.

End effector 1000 also includes the second end actuator driven system and (is also referred to as trigger system herein 1100), the second end actuator driven system is used to drive tissue cutting element between original position and end position 1090 and wedge-shaped slides component 1092.When wedge-shaped slides component 1092 is driven through surgery nail bin 1060 towards distal side, Wedge-shaped slides component 1092 operationally interacts with the driver with the surgical staples being supported in storehouse 1060. When wedge-shaped slides component 1092 is driven towards distal side, driver is driven upwardly in their respective dimples, to drive branch Support to be formed with the downside of the anvil portion 1042 of upper jaw 1040 in nail thereon and engage.In one form, trigger system 1100 also include rotation screw thread beating shaft 1102, and the rotation screw thread beating shaft is pivotally supported at end effector shell 1010 In.Beating shaft 1102 limits parallel to or is arranged essentially parallel to closure axle axis CSA-CSA beating shaft axis FSA-FSA.Ginseng See such as Figure 37.Beating shaft 1102 includes distal end portion 1104, and the distal end portion, which is pivotally supported at, to be installed on In installation unit 1106 in end effector shell 1010.Matrix pod connector 57 is attached to the proximal end of beating shaft 1102 Portion, coupled with being advantageous to beating shaft 1102 with the matrix closure connector 51 for the second drive shaft being attached in surgical instruments.Hit Hair system 1100 also includes percussion nut 1110, and the percussion nut is by threadably receiving on beating shaft 1102.Therefore, beating shaft 1102 rotation causes percussion nut 1110 axially to be advanced in end effector shell 1010.In one form, tissue is cut Component 1090 and wedge-shaped slides component 1092 are cut by one or more trigger shafts 1112 to be attached to percussion nut 1110.One Individual or multiple trigger shafts are also referred to as " the second end actuator actuator " herein, and the second end actuator actuator rings Should or axial movement linear in the actuating of trigger system.Therefore, the rotation of beating shaft 1102 in the first direction will will fire Nut 1110, one or more trigger shafts 1112, tissue cutting element 1090 and wedge-shaped slides component 1092 are along distal side side Driven to " DD " from such as original position (Figure 35) to end position, wherein tissue cutting element 1090 and wedge-shaped slides component 1092 have been driven to the distal end of surgery nail bin 1060.The rotation of beating shaft 1102 in opposite direction will will fire spiral shell Mother 1110, one or more trigger shafts 1112, tissue cutting element 1090 and wedge-shaped slides component 1092 are along proximal direction " PD " drives back their corresponding original positions from their corresponding end positions.In certain embodiments, the wedge-shaped slides Component is positively retained at the distal end of surgery nail bin, and not with the correcting action of tissue cutting element 1090.Another In some embodiments, tissue cutting element and wedge-shaped slides component members are positively retained at the distal end of nail bin component.

End effector 1000 can also be equipped with the end effector being attached in end effector shell 1010 The various sensors of contact plate 1120.Contact plate 1120 can position with end effector shell 1020 so that work as end effector 1000 when being operably coupled to surgical instruments, and end effector contact plate 1120 is electrically coupled to installed in surgical instruments shell 12 Interior surgical instruments contact plate 30.See, for example, Fig. 1.Referring again to Figure 34, closed sensor 1122 can be arranged on end and perform Device shell 1010 is interior and is electrically coupled to end effector contact plate 1120 so that when end effector 1000 is operatively coupled During to surgical instruments, closed sensor 1122 connects with the control system of surgical instruments.Closed sensor 1122 can be included suddenly Your effect sensor 7028, as below for example with reference to shown in Figure 61, Figure 63, the hall effect sensor can detection switch it is convex Position of the ear 1086 on closure nut 1084.In addition, trigger sensor 1124 can also be arranged on end effector shell 1010 It is interior, to detect the presence of trigger shaft 1112.Trigger sensor 1112 can include hall effect sensor 7028, such as example below As with reference to shown in Figure 61, Figure 63, and be electrically coupled to end effector contact plate 1120 with surgical instruments control system (such as Shank processor 7024) finally connection, following article will be discussed in more detail with reference to Figure 61, Figure 63, Figure 64.

The use of end effector 1000 will be explained with reference to surgical instruments 10 now.It will be appreciated, however, that end effector 1000 can be operably coupled to various other surgical instruments constructions disclosed herein.Before use, the closure He of axle 1080 Beating shaft 1102 is " clock control ", or is positioned at their corresponding original positions, to be advantageous to be respectively attached to the first drive The drive shaft 42 of moving axis 22 and second.In order to which end effector 1000 is attached into surgical instruments 10, for example, clinician is by end Actuator 1000 moves to following location, in the position, closes axle axis CA-CA and the first drive axis FDA-FDA axial directions Alignment, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA is axially aligned.It is recessed on axle 1080 by closing Type pod connector 57 inserts into the convex connector 51 being operatively engaged in the first drive shaft 22.Equally, by beating shaft Matrix pod connector 57 on 1102 inserts into the convex connector 51 being operatively engaged in the second drive shaft 42.Therefore, When in this position, closure axle 1080 is operably coupled to the first drive shaft 22 and beating shaft 1102 operationally joins It is connected to the second drive shaft 42.End effector contact plate 1120 is operably coupled to surgical instruments contact plate 30 so that sensing The control system of device 1122,1124 (and any other sensor in end effector 1000) and surgical instruments is operationally Connection.In order to keep end effector 1000 to be engaged with the exercisable connection of surgical instruments 10, end effector 1000 includes Retainer breech lock 1130, the retainer breech lock are attached to end effector shell 1010 and are configured to releasedly connect Close a part for apparatus housings 12.Retainer breech lock 1130 can include keeping lug 1132, and the holding lug can be releasable Ground engagement is formed at the retainer chamber 15 in shell 12.Referring to Fig. 1.

When being coupled together, the position of the detection closure nut 1084 of closed sensor 1122, and trigger sensor The position of 1124 detection trigger shafts 1112.This information is transferred into surgical instruments control system.In addition, clinician can be true Recognize displaceable transmission assembly (or it transmits balladeur train 62) and be in its first activation point.This can pass through the indicator lamp on shell 12 77 actuating confirms, is described as above.If displaceable transmission assembly 60 is not at its first activation point, then clinic doctor Life can activate firing trigger 92 so that transmission balladeur train 62 is moved in the first activation point so that rocking arm trigger 110 It will cause the actuating of the first drive system 20 to the actuating of driven motor 80.Assuming that closed-system 1070 and trigger system 1100 Have each in their corresponding original positions and end effector 1000 be properly attached to it is unused in end effector Nail bin 1060, then clinician then can be by jaw 1020,1040 relative to be cut and suture destination organization positioning.Face Bed doctor can be closed upper jaw 1040 come driven motor 80 and the first drive shaft 22 of rotation by actuator rocker arm trigger 110 Close.Once by between surgery nail bin 1060 of the target tissue held in upper jaw 1040 and lower jaw 1020, then clinical Doctor just may be actuated firing trigger 92 and move to its second activation point by balladeur train 62 is transmitted so that the actuating of motor 80 will Cause the rotation of the second drive shaft 42.Once the passive movement of balladeur train 62 is transmitted to the second activation point, then clinician can be again Secondary actuator rocker arm trigger 110 activates the trigger system 1100 in the second drive system 40 and end effector 1000, with court Distal side drives tissue cutting element 1090 and wedge-shaped slides component 1092 to pass through surgery nail bin 1060.Present dynasty's distal side driving tissue When cutting element 1090 and wedge-shaped slides component 1092, be clamped in destination organization between jaw 1020,1040 be cut and Suture.Once tissue cutting element 1090 and wedge-shaped slides component 1092 are driven to them in surgery nail bin 1060 Farthest side position, clinician can actuator rocker arm trigger 110 come make motor rotation reversely and return to trigger system 1100 To its original position.

When using end effector 1000 and other end effectors disclosed herein for including similar jaw construction During with surgical instruments, the anvil block pit in wanting fully on the downside of cleaning anvil block there may be challenge.In addition, anvil block pit can be at any time Between elapse and fray, denude or only wear so that they be not suitable for reuse again.In addition, according to application, surgery nail bin Loading and removal may be more difficult.Figure 119-121 shows some (even if being not all of) that can solve in these challenges Disposably " nail bag " 1300.

Figure 119 be depicted in construction and operating aspect can be similar to such as end effector 1000 and it is disclosed herein its A part for the end effector 1000 ' of his end effector, difference are particular differences discussed below.Such as from figure 119 is visible, and upper jaw 1240 includes the distal end 1243 opened.Upper jaw 1240 can be formed and be worked as from remote by metal material There is U-shaped configuration when side end is checked, and including two relative holding antelabium 1245 to extend internally.End effector 1000 ' also include lower jaw framework 1222, and it is similar to lower jaw framework 1222 for example described herein.As seen from Figure, under Jaw framework 1222 equally has the distal end 1223 opened.

Referring still to Figure 119, a form of " disposable " nail bag 1300 includes anvil block 1302, and there is the anvil block nail to shape Surface 1304, the nail profiled surface include the multiple nail shapes pit (not shown) being formed in nail profiled surface.Nail bag 1300 Also include nail bin 1310, the nail bin has storehouse platform 1312, the storehouse platform be adapted to be enough in the nail of anvil block 1302 into Shape lower surface 1304 forms spaced confronting relationship.Nail bin 1310 can be similar to other disclosed nail bins in further detail herein and follow closely Multiple surgical staples are operably supported in storehouse.Nail bag 1300 also includes disposable align member 1320, the size of the align member It is set to shape and is frictionally engaged with anvil block 1302 and nail bin 1310 so that is maintained before use in nail shaped lower face 1304 Nail pit is aligned with the nail (not shown) in nail bin 1310.Keeper 1320 may additionally include between anvil block 1302 and nail bin 1310 The isolating bar 1322 of extension.The keeper can for example be formed by plastics or other suitable molded of polymeric material, and be isolated Bar 1322 can be made up of metal material.Isolating bar 1322 can be frictionally held in slit or be formed in keeper 1320 other Keep in feature.

Referring now to Figure 120, by the way that anvil block 1302 is aligned to pacify with the opening distal end 1243 in upper jaw 1240 Binding bag 1300, and nail bin 1310 is aligned with the opening distal end 1245 in lower jaw framework 1222.Hereafter, nail bag 1300 Position shown in Figure 120 is moved to along proximal direction " PD ".Antelabium 1245 is kept to be used in the inner support anvil block 1302 of upper jaw 1240. End effector 1000 ' may also include the latch feature 1340 of manually actuable, and the latch feature never position latching (can be schemed 119) position latching (Figure 121) is moved to.When in position latching, for example, anvil block 1302 is maintained at by latch feature 1340 In upper jaw 1240, and nail bin 1310 is maintained in lower jaw framework 1222.For example, latch feature 1340 can be included movably Upper latch arms 1342, latch arms are configured to be releasably engaged the portion being formed in the proximal end of anvil block 1302 on this Divide (for example, antelabium, ratchet, flange or one or more other keep features).Similarly, latch feature 1340 can include can Dynamic lower latch arms 1344, the lower latch arms be configured to be releasably engaged be formed on nail bin 1310 part (for example, Antelabium, ratchet, flange or one or more other keep feature).Upper latch arms 1342 and lower latch arms 1344 pivotly or Otherwise it is movably supported on end effector 1000 ', with optionally between position latching and unlatched position Motion.In various forms, upper latch arms 1342 and lower latch arms 1344 can be vertically inclined by one or more spring (not shown) It is pressed onto in position latching.In such configuration, clinician can be by the insertion upper jaw 1240 of nail bag 1300 and lower jaw framework In 1222.When the upper latch arms 1342 of the proximal end contact of anvil block 1302, upper latch arms 1342 are pivoted or moved to allow anvil Seat 1302 is placed into position.Once anvil block is placed into position, then upper latch arms 1342 be biased into and engaged with the breech lock of anvil block 1302 (if Using spring or biasing member)., can be by the upper manual movement of latch arms 1342 into position latching in alternative configuration. Equally, when the lower latch arms 1344 of the proximal end contact of nail bin 1310, lower latch arms 1344 are pivoted or moved to allow nail bin 1310 are placed into position.Once nail bin 1310 is placed into position, then lower latch arms 1344 be biased into engaged with the breech lock of nail bin 1310 with Hold it in appropriate location (if using spring or biasing arrangement)., can be by lower latch arms in alternative embodiment 1344 manual movements are to position latching.Once nail bag 1300 installed and anvil blocks 1302 and nail bin 1310 be latched or with Other modes are attached to end effector 1000 ', the removable positioning component 1320 of clinician.See, for example, Figure 121.Wrapped in nail After 1300 have been used, keeper 1320 can then be substituted into the distal end and nail bin 1310 of anvil block 1302 by clinician On.This can by by the opening end alignment of align member 1320 and then by align member 1320 press back into anvil block 1302 and Nail bin 1310 is frictionally engaged to realize.Once the distal end of anvil block 1302 and nail bin 1310 are arranged to align member In 1320, upper latch arms 1342 and lower latch arms 1344 can be moved to their unlatched positions to cause nail to wrap by clinician 1300 can be drawn out upper jaw 1240 and lower jaw framework 1222.Hereafter, nail bag 1300 can be abandoned integrally.In other feelings Under condition, clinician can individually remove anvil block 1302 and nail bin 1310 from end effector 1000 ', fixed without installing first Position component 1320.

Figure 38-41 describes surgical end-effector 2000, and the surgical end-effector includes may be commonly referred to as " bending cutting The surgery cuts and fastening instrument of the type of cutter stitching unstrument ".Various forms of such stitching devices are for example entitled " the RETAINING PIN LEVER ADVANCEMENT MECHANISM FOR A CURVED CUTTER STAPLER " U.S. Patent 6,988,650 and entitled " the KNIFE RETRACTION ARM FOR A CURVED CUTTER STAPLER " U.S. Patent 7,134, disclosed in 587, the complete disclosure of each patent is hereby incorporated by reference.End effector 2000 include end effector shell 2010, the end effector shell can by by screw rod, lug, snap in features etc. come removable Except the shell segments 2012,2014 that ground is linked together are made.Projection is to terminate at end from end effector shell 2010 Elongate frame component 2020 in actuator tool head 2002.In one form, frame assembly 2020 includes a pair of intervals Frame pillar or plate 2022, the frame pillar or plate are securely attached to shell 2010 and from them towards distal side projection.C-shaped supports Structure 2024 is attached to the distal end of frame plate 2022.Term " C-shaped " is used to describe supporting construction in the whole text in this specification 2024 and the depression property of surgery nail bin module 2060.C-shaped configuration is advantageous to strengthen feature, and uses in this manual Term C-shaped is understood to include the functional various concave shapes that can similarly strengthen surgical stapling and cutting device.Support Structure 2024 by the Shoulder rivets 2023 in the receiver hole that extends to frame plate 2022 from supporting construction 2024 and post 2026 come It is attached to frame plate 2022.In various forms, supporting construction 2024 can be formed via one-piece construction.More specifically, support Structure 2024 can be formed by extrusion aluminium.By forming supporting construction 2024 in this way, some is avoided the need for, and show Writing reduces the cost related to manufacture and assembling.In addition, it is believed that the integrative-structure enhancing end effector of supporting construction 2024 2000 general stability.In addition, the one extrusion structure of supporting construction 2024 provides weight saving, because cobalt radiation will be effective Penetrate extrusion aluminium and easier sterilization is provided, and tissue is caused less based on the smooth outer surface realized via extrusion Wound.

End effector 2000 also includes first end actuator driven system (also referred to as end effector closure system And the second end actuator driven system (also referred herein as trigger system 2100) 2070).In one form, example Such as, end effector closure system 2070 includes closure beam assembly 2072, and the size of the closure beam assembly is set to by slidably Receive between frame pillar 2022, axially to be advanced between frame pillar 2022.Closure beam assembly 2072 is also referred to as first End effector actuator and with open bottom, the opening bottom is configured to slideably received within trigger system 2100 percussion bar assembly 2112, following article will be discussed in more detail.In one form, for example, closure beam assembly 2072 is Shape and be will be discussed in more detail for moving with functional molded plastic component, following article.By by plastics come making Beam assembly 2072, manufacturing cost can reduce and the weight of end effector 2000 can also reduce.In addition, end effector 2000 can be easier to use cobalt radiosterilization, because plastics are more easy to penetrate than stainless steel.According to alternative configuration, beam assembly 2072 is closed It can be made up of extrusion aluminium, wherein final feature is machined into appropriate position.May not although extruding aluminium closure beam assembly It is easily fabricated as plastic components, but it will have same advantage (that is, reduce part, be more easily assembled, more light weight, more Easily sterilization).

Closing beam assembly 2072 includes the distal end 2074 of bending, and the size of the distal end of the bending is set to reception Between the side wall 2027 of supporting construction 2024.The distal end 2074 of bending is sized and shaped to receive and kept The storehouse shell 2062 of storehouse module 2060.In various forms, the proximal end of closure beam assembly 2072 is attached to closure nut 2084, the closure nut is closed on axle 2080 by tapped receptor in screw thread.Close axle 2080 and limit closure axle axis CSA-CSA And there is matrix pod connector 57, the matrix pod connector is attached to the proximal end of closure axle 2080 to be advantageous to close Sympodium 2080 couples with the convex connector 51 for the first drive shaft being attached in surgical instruments.Close axle 2080 in the first direction Rotation will cause close nut 2084 will close beam assembly 2072 along distal direction " DD " drive.Axle 2080 is closed along phase negative side To rotation will similarly result in closure nut 2084 and close beam assembly 2072 nearside advance.

As described above, the distal end 2074 of closure beam assembly 2072 is configured in distal end operationally Support the storehouse shell 2062 of storehouse module 2060.Storehouse module 2060 is included in multiple surgical staples on staple drivers (not shown) (not Show), when axially promoting, staple drivers displace surgical staples its respective dimple 2066 being positioned on the every side of slit 1068, The slit is configured to pass through suitable for cutter component 2115.Storehouse module 2060 for example can be similar for example beautiful to a certain extent State's patent 6,988,650 and 7, the storehouse module disclosed in 134,587, in addition to any pointed difference, the two patents Corresponding full content be herein incorporated by reference.End effector 2000 can be abandoned after using single, or end is held Row device 2000 can by replaced during the operation just carried out hole capital after selling all securities module come reuse or again sterilization after again For new operation.

End effector 2000 also includes trigger system 2100, and the trigger system includes percussion bar assembly 2112, the percussion Bar assembly is configured to be slidably received in the opening bottom of closure beam assembly 2072.Referring to Figure 39.In a kind of shape In formula, trigger system 2100 also includes beating shaft 2102, and the beating shaft is with screw thread distal end 2104 and with square The portions of proximal 2106 of shape of cross section.Screw thread distal end 2104 is being attached to percussion bar assembly 2112 by threadably receiving In the screw thread percussion nut 2110 of proximal end.The size of screw thread percussion nut 2110, which is set to, is slidably received in closure spiral shell In axial cavity 2085 in female component 2084.Referring to Figure 41.Such construct allows to fire nut 2110 in end effector 2000 Axially promote together with closure nut assembly 2084 during passive movement to closing position, and then activated in trigger system 2100 When, it is axially moved relative to closure nut 2084 and closure beam assembly 2072.Beating shaft 2102 is limited parallel to or substantially put down Row is in closure axle axis CSA-CSA beating shaft axis FSA-FSA.See, for example, Figure 41.As also from Figure 39 and Figure 41, hit The portions of proximal 2106 of hair axle 2102 is slidably received in the elongated passageway 2105 in matrix pod connector 57 ', and this is recessed Type pod connector is identical with matrix pod connector described herein.Elongated passageway 2105 has square cross-sectional shape, should The size of shape is set to the portions of proximal 2106 for receiving beating shaft 2102 slidably therein.Such construct allows beating shaft 2102 are axially moved relative to matrix pod connector 57 ', while can be rotated together with matrix pod connector 57 '.Therefore, when Close after the first drive system of the beam assembly 2072 in surgical instruments activates when being promoted in distal direction " DD ", percussion nut 2110 will be carried on along distal direction " DD " in closure nut assembly 2084.The portions of proximal 2106 of beating shaft 2102 will be in matrix It is axially moved in passage 2105 in pod connector 57 ', while keeps engaging.Hereafter, be operably coupled to it is recessed Startup of second drive system along a direction of rotation will revolve beating shaft 2102 in the surgical instruments of type pod connector 57 ' Turn, this will cause percussion bar assembly 2112 to be moved in distal direction " DD ".When percussion bar assembly 2112 is transported in a distal direction When dynamic, knife bar 2115 is advanced through storehouse module 2060 towards distal side.Actuating of second drive system along the second direction of rotation will cause Percussion bar assembly 2112 is moved in proximal direction " PD ".

The distal end of percussion bar assembly 2112 includes drive member 2114 and cutter component 2115, and the cutter component is from driving structure Part is towards distal side projection.Such as from Figure 39, cutter component 2115 is slidably received in the anvil block arm section of anvil assembly 2140 In 2142, the anvil assembly is configured to be placed in the bending anvil block support section 2025 of supporting construction 2024.On The other details of anvil assembly 2140 can be found from United States Patent (USP) 6,988,650 and 7,134,587.End effector 2000 is also It may include safety interlocking mechanism 2150 (Figure 39), to prevent the storehouse module 2060 previously fired from firing.On storehouse module 2060 with The details of interaction between safety interlocking mechanism can be found in United States Patent (USP) 6,988,650 and 7,134,587.

End effector 2000 also includes tissue retaining pin actuating mechanism 2160.Tissue retaining pin actuating mechanism 2160 includes Saddle type sliding part 2162, the saddle type sliding part are positioned on the top section of shell 2010.Sliding part 2162 is pivotally connected to Push rod driver 2163, the push rod driver are slidably supported in shell 2010.Push rod driver 2163 is restrained to be used for Along the major axis lengthwise movement of end effector 2000.Push rod driver 2163 is connected by the circumferential grooves 2165 on push rod 2164 To push rod 2164, the circumferential grooves are buckled into the slit 2166 of push rod driver 2163.Referring to Figure 41.The distal end portion of push rod 2164 Portion includes circumferential grooves 2167, the circumferential grooves and the connector 2170 for being attached to storehouse module 2160 (most clear in Figure 41 to show) Proximal end in groove 2172 interconnect.The distal end of connector 2170 is included for narrow with the circumference in retaining pin 2180 The groove 2174 that groove 2182 interconnects.The manual movement of sliding part 2162 causes the motion of push rod 2164.The distal side fortune of push rod 2164 Dynamic or proximal retraction causes the corresponding sports of retaining pin 2180.The actuating mechanism 2160 of retaining pin 2180 is also with closing beam assembly 2072 Operationally interact so that if the retaining pin is not by manual movement to its farthest side position, then closed-system 2070 Actuating the automatic distal side for causing retaining pin 2180 is moved.When retaining pin 2180 is pushed into, it extends through storehouse shell 2062 and enter anvil assembly 2140 in, thus will tissue capture between storehouse module 2060 and anvil assembly 2140.

In one form, retaining pin actuating mechanism 2160 includes yoke 2190, the yoke via pivotal pin 2192 rotatably Or it is pivotally supported in shell 2010.Closure beam assembly 2072 also includes post or lug 2073, and the post or lug are in shell Extended laterally in 2010 on closure beam assembly 2072 both sides.These posts 2073 are slidably received in the corresponding bow in yoke 2190 In shape slit 2194.Yoke 2190 includes cam pin 2196, and the cam pin is oriented to promote the cam on push rod driver 2163 Surface 2168.Yoke 2190 is not attached directly to retaining pin 2180, therefore surgeon (if they select the retaining pin) Retaining pin 2180 can be manually advanced.When closure beam assembly 2072 is advanced into closing position towards distal side, if surgeon selects Select regardless of retaining pin 2180, then retaining pin 2180 will promote automatically.Surgeon must manual retrieving retaining pin 2180.Pass through Retaining pin actuating mechanism 2160 is constructed in this way, you can allows manual closing and retraction retaining pin 2180.If surgeon Non- manual closing retaining pin 21280, then the retaining pin actuating mechanism 2160 will close the guarantor automatically in apparatus clamping process Hold pin.Actuating and the other details that uses on retaining pin can be found from United States Patent (USP) 6,988,650 and 7,134,587.

End effector 2000 can also be equipped with the end effector being attached in end effector shell 2010 The various sensors of contact plate 2120.For example, end effector 2000 may include closed sensor 2122, closed sensor peace In the end effector shell 2010 and it is electrically coupled to end effector contact plate 2120 so that when end effector 2000 When being operably coupled to surgical instruments, closed sensor 2122 connects with the control system of surgical instruments.Closed sensor 2122 may include hall effect sensor 7028, and as shown in below in conjunction with Figure 61, Figure 63, the hall effect sensor is constructed Into can detection switch lug 2086 closure nut 21084 on position.Referring to Figure 40.In addition, trigger sensor 2124 is also It can be arranged in end effector shell 2010, and be arranged to position of the detection percussion nut 2110 in closure nut 2084. Trigger sensor 2124 can include hall effect sensor 7028, as described in below in conjunction with Figure 61, Figure 63, and electrically connect To end effector contact plate 2120 finally to be connected with surgical instruments control system, as discussed herein.Contact plate 2120 can Positioned with together with end effector shell 2020 so that when end effector 2000 is operably coupled into surgical instruments, End effector contact plate 2120 is electrically coupled to the surgical instruments contact plate 30 in surgical instruments shell 12, as above discusses State.

The use of end effector 2000 will be explained with reference to surgical instruments 10 now.It will be appreciated, however, that end effector 2000 can be operably coupled to various other surgical instruments constructions disclosed herein.Before use, the closure He of axle 2080 Beating shaft 2102 is " clock control ", or is positioned at their original position, to be advantageous to be respectively attached to the first drive shaft 22 and second drive shaft 42.In order to which end effector 2000 is attached into surgical instruments 10, for example, clinician performs end Device 2000 moves to following location, and in the position, closure axle axis CSA-CSA and the first drive axis FDA-FDA is axially right Together, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA is axially aligned.The matrix on axle 2080 will be closed Pod connector 57 inserts into the convex connector 51 being operatively engaged in the first drive shaft 22.Equally, by beating shaft 2102 On the insertion of matrix pod connector 57 ' into the convex connector 51 being operatively engaged in the second drive shaft 42.Therefore, place is worked as When this position, closure axle 2080 is operably coupled to the first drive shaft 22 and beating shaft 2102 is operably coupled to Second drive shaft 42.End effector contact plate 1120 is operably coupled to surgical instruments contact plate 30 so that end performs Sensor in device 2000 operationally connects with the control system of surgical instruments.In order to keep end effector 2000 and surgery Apparatus 10 is operatively coupled engagement, and end effector 2000 includes retainer breech lock 2130, and the retainer breech lock is attached to end Portion's actuator shell 2010 and the part for being configured to be releasably engaged apparatus housings 12.Retainer breech lock 2130 It can include keeping lug 2132, the holding lug can be releasably engaged the retainer chamber 15 being formed in shell 12.Ginseng See Fig. 1.When being coupled together, the position of the detection closure nut 2084 of closed sensor 2122, and trigger sensor The position of 2124 detection percussion nuts 2110.This information is transferred into surgical instruments control system.In addition, clinician can be with Confirm that displaceable transmission assembly (or it transmits balladeur train 62) is in its first activation point.This can pass through the instruction on shell 12 The actuating of lamp 77 confirms, is described as above.If displaceable transmission assembly 60 is not at its first activation point, then clinical Doctor can activate firing trigger 92 so that transmission balladeur train 62 is moved in the first activation point so that rocking arm trigger 110 The actuating to driven motor 80 will cause the actuating of the first drive system 20.Assuming that closed-system 2070 and trigger system 2100 have each in its corresponding original position and end effector 2000 and are properly attached in end effector not With cartridge 2060, then closed-system 2070 then may be actuated so that destination organization is captured in storehouse module 2060 in clinician Between anvil assembly 2140.

Clinician come driven motor 80 and can rotate the first drive shaft 22 by actuator rocker arm trigger 110, with court Distal side motion closure beam assembly 2072.The actuating moves storehouse module 2060 towards anvil assembly 2140, and destination organization is clipped in Between both.When closure beam 2072 moves towards distal side, the interaction of post 2073 and yoke 2190 will cause tissue to keep causing The actuating of motivation structure 2160 is with towards distal side driving retaining pin 2180 through terrace part 2161 and entering through anvil assembly 2140 Enter in the pin pit 2141 (referring to Figure 41) in anvil assembly.Retaining pin 2180 is used to capture destination organization in anvil assembly Between 2140 and storehouse module 2060.Once by target tissue held between anvil assembly 2140 and storehouse module 2060, then Clinician can then activate firing trigger 92 and move to its second activation point by balladeur train 62 is transmitted so that motor 80 Actuating will cause the rotation of the second drive shaft 42.Once the passive movement of balladeur train 62 is transmitted to the second activation point, then clinician The trigger system 2100 in the second drive system 40 and end effector 2000 can be activated by actuator rocker arm trigger 110 again, To drive percussion bar assembly 2112 towards distal side, the percussion bar assembly also passes through storehouse module 2060 towards distal side driving cutter component 2115, So as to cut the destination organization being clamped between anvil assembly 2140 and storehouse module 2060.When percussion bar assembly 2112 is transported towards distal side When dynamic, the surgical staples being supported in storehouse module 2060 are also driven export module 2060 to pass through destination organization simultaneously by drive member 2114 With the shaping contact of anvil assembly 2140.Once complete the cutting and suture action, clinician may be actuated rocking arm trigger 110 with Make motor rotation reversely and trigger system 2100 is back to its original position.Clinician then can be by firing trigger 92 Transmission balladeur train 62 is back to its first activation point so that the actuating of rocking arm trigger 110 in opposite direction will cause motor 80 rotate so that closure beam assembly 2073 is back to its original position in backward direction.When closure beam assembly 2073 is in nearside side Upwards during motion, retaining pin 2180 can be withdrawn into its starting by yoke 2190 with the tissue interaction of retaining pin actuating mechanism 2160 Position.In alternative arrangement, saddle type sliding part 2162 can be used by the manual retrieving of retaining pin 2180 to its start bit in clinician Put.Clinician be able to will be closed retaining pin 2180 before beam 2072 is back to its original position in actuating closed-system 2070 Bounce back to its original position.On bend suture cutter the other details used can from United States Patent (USP) 6,988,650 and 7, Found in 134,587.

Figure 42-45 describes surgical end-effector 3000, and the surgical end-effector includes may be commonly referred to as " outside circular The surgery cuts and fastening instrument of the type of section's stitching unstrument ".In certain form of surgical operation, the use of surgical staples has turned into The method for optimizing of tissue is engaged, and has therefore developed the surgical stapling device with special tectonic for these applications.Example Such as, intracavitary stitching unstrument or circular stapler have been developed for being related to the surgical operation of low level colon, wherein in lesion portion After being removed, each several part of low level colon is bonded together.Circular stapler for performing such operation is disclosed in example In United States Patent (USP) 5,104,025,5,205,459,5,285,945,5,309,927,8,353,439 and 8,360,297, these The respective full text of patent is incorporated herein by reference.

As shown in figure 42, end effector 3000 includes end effector shell 3010, and the end effector shell can be by It is made up of screw rod, lug, snap in features etc. come the shell segments 3012,3014 being removably coupled to together.Performed from end The projection of device shell 3010 is Slender axles assembly 3020.Slender axles assembly 3020 is configured to be operably supported circular work Have head 3300 and anvil block 3320 and interacted with them.It is more as proved by exemplary U patent referred to above Different circular nail bin and the anvil block construction of kind is as known in the art.As shown in figure 43, for example, circular stapler first 3300 can So that including housing member 3302, the housing member supports the storehouse of the form of rounded staple drivers component 3304 in housing member Support component, the storehouse support component are suitable to join and drive the nail and anvil block being supported in circular nail bin with circular nail bin 3306 3320 shaping contact of nail shaped lower face 3326.Circular knife member 3308 is also centrally positioned in staple drivers component 3304. The proximal end of housing member 3302 can be connected to outside the tubulose of arch shaft assembly 3020 by distal side collar member 3024 and be protected Cover 3022.Anvil block 3320 includes annular body portion 3322, and the annular body portion, which has, to be used to trochar being attached to thereon Anvil shaft 3324.Anvil body 3322 is thereon with nail shaped lower face 3326 and can also be with being attached to its distal end portion The shield 3328 in portion.Anvil shaft 3324 is also provided with a pair of trochar retaining clips or leaf spring 3330, and the trochar is protected Hold folder or leaf spring to engage for making trochar 3042 releasably hold with anvil shaft 3324, as discussed further below It is discussed in detail.

In one form, shaft assembly 3020 includes compressional axis 3030, distal compaction shaft portion 3032 and tension band group Part 3040, these parts are operatively supported in outer tubular shield 3022.Trocar tip 3042 passes through fastener 3041 It is attached to the distal end of tension band component 3040.As known, trocar tip 3042 can be inserted into the anvil shaft of anvil block 3320 In 3324, and remained engaged with by trochar retaining clip 3330.

Surgical end-effector 3000 also includes closed-system 3070 and trigger system 3100.In at least one form, Closed-system 3070 includes closure nut assembly 3084, and the closure nut assembly is attached to the proximal end of tension band 3040.Such as From Figure 42 and Figure 43, closure nut assembly 3084 includes proximal coupler component 3085, and the proximal coupler component passes through Fastener 3087 is attached to the proximal end of tension band 3040.Closed-system 3070 also includes screw thread closure axle 3080, the screw thread Closure axle is threadedly engaged with closure nut 3084.Closure axle 3080 limits closure axle axis CSA-CSA and has matrix pod Connector 57, the matrix pod connector be attached to closure axle 3080 proximal end be advantageous to close axle 3080 with being attached to The convex connector 51 of the first drive shaft in surgical instruments couples.The rotation of closure axle 3080 in the first direction will cause to close Nut 3084 drives tension band component 3040 along distal direction " DD ".Closing the rotation of axle 3080 in opposite direction will similarly The nearside for causing to close nut 3084 and tension band component 3040 is advanced.

Such as staple drivers component 3304 is attached to from Figure 43, distal compaction shaft portion 3032.Therefore, compressional axis 3030 Axial movement in outside tubular housing 3022 causes staple drivers component 3304 to be axially moved in housing member 3302.Pressure The axial direction of contracting axle 3030 is advanced to be controlled by trigger system 3100.In one form, trigger system 3100 includes screw thread beating shaft 3102, the screw thread percussion nut 3110 of proximal end of the screw thread beating shaft with being attached to compressional axis 3030 is threadedly engaged.Percussion Axle 3102 limits parallel to or is arranged essentially parallel to closure axle axis CSA-CSA beating shaft axis FSA-FSA.See, for example, figure 44 and Figure 45.The proximal end of beating shaft 3102 has matrix pod connector 57, and it is near that the matrix pod connector is attached to this Side end is coupled with being advantageous to beating shaft 3102 with the convex connector 51 for the second drive shaft being attached in surgical instruments.Surgery Startup of second drive system of apparatus along a direction of rotation will be such that beating shaft 3102 rotates in a first direction, thus remote Compressional axis 3030 is driven in side direction " DD ".When compressional axis 3030 is moving in distal direction " DD ", by circular staple drivers Component 3304 drives the shaping contact of downside 3326 of surgical staples and anvil body 3322 in nail bin 3306 towards distal side driving.Separately Outside, circular knife member 3308 is driven through the tissue being clamped between anvil body 3322 and nail bin 3306.Second drivetrain System will cause compressional axis 3030 to be moved in proximal direction " PD " along the actuating of the second direction of rotation.

End effector 3000 can also be equipped with the end effector being attached in end effector shell 3010 The various sensors of contact plate 3120.For example, end effector 3000 may include one or more closed sensors 3122, it is described Closed sensor is arranged in end effector shell 3010 and is electrically coupled to end effector contact plate 3120 so that as general When end effector 3000 is operably coupled to surgical instruments, one or more closed sensors 3122 and the control of surgical instruments System connectivity processed.One or more closed sensors 3122 can include hall effect sensor 7028, such as below in conjunction with figure 61st, described in Figure 63, the hall effect sensor is configured to the position of detection closure nut 3084.Referring to Figure 44.In addition, One or more trigger sensors 3124 can be also arranged in end effector shell 3010, and are arranged to detection percussion nut 3110 position in closure nut 3084.One or more trigger sensors 3124 may also include hall effect sensor 7028, as described in below in conjunction with Figure 61, Figure 63, and be electrically coupled to end effector contact plate 3120 with surgical instruments control System (such as shank processor 7024) processed finally connects, for example, following article will further retouch with reference to Figure 61, Figure 63, Figure 64 State.Contact plate 3120 can position together with end effector shell 3020 so that operationally join when by end effector 3000 When being connected to surgical instruments, the surgical instruments that end effector contact plate 3120 is electrically coupled in surgical instruments shell 12 connects Touch panel 30, is described as above.

The use of end effector 3000 will be explained with reference to surgical instruments 10 now.It will be appreciated, however, that end effector 3000 can be operably coupled to various other surgical instruments constructions disclosed herein.Before use, the closure He of axle 3080 Beating shaft 3102 is " clock control ", or is positioned at their original position, to be advantageous to be respectively attached to the first drive shaft 22 and second drive shaft 42.In order to which end effector 3000 is attached into surgical instruments 10, for example, clinician performs end Device 3000 moves to following location, and in the position, closure axle axis CSA-CSA and the first drive axis FDA-FDA is axially right Together, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA is axially aligned.The matrix on axle 3080 will be closed Pod connector 57 inserts into the convex connector 51 being operatively engaged in the first drive shaft 22.Equally, by beating shaft 3102 On matrix pod connector 57 insert into the convex connector 51 being operatively engaged in the second drive shaft 42.Therefore, place is worked as When this position, closure axle 3080 is operably coupled to the first drive shaft 22 and beating shaft 3102 is operably coupled to Second drive shaft 42.End effector contact plate 3120 is operably coupled to surgical instruments contact plate 30 so that end performs Sensor 3122,3124 in device 3000 operationally connects with the control system of surgical instruments.In order to keep end effector 3000 are operatively coupled with surgical instruments 10 and engage, and end effector 3000 includes retainer breech lock 3130, retainer door bolt Lock the part for being connected to end effector shell 3010 and being configured to be releasably engaged apparatus housings 12.Keep Device breech lock 3130 can include keeping lug 3132, and the holding lug can be releasably engaged the holding being formed in shell 12 Device chamber 15.Referring to Fig. 1.When being coupled together, the position of the detection closure nut 3084 of closed sensor 3122, and fire The position of the detection percussion nut 3110 of sensor 3124.This information is transferred into surgical instruments control system.In addition, clinical doctor It is raw to can confirm that displaceable transmission assembly (or it transmits balladeur train 62) is in its first activation point.This can be by shell 12 The actuating of indicator lamp 77 confirm, be described as above.If displaceable transmission assembly 60 is not at its first activation point, that Clinician can activate firing trigger 92 so that transmission balladeur train 62 is moved in the first activation point so that rocking arm triggers The actuating to driven motor 80 of device 110 will cause the actuating of the first drive system 20.Assuming that closed-system 3070 and percussion System 3100 has each in their corresponding original positions and end effector 3000 is properly attached to end effector In unused cartridge, then end effector 3000 is ready for ready.

As known, when performing anastomosis using circular stapler, can be sutured with general surgical procedures stitching unstrument Intestines, the stitching unstrument are mounted with more nails in target phase (that is, sample) both sides of intestines.Generally target phase is cut while suture. After removing target sample, surgeon inserts anvil block 3320 in the portions of proximal of intestines, i.e. the nearside of suture.This can lead to Cross and anvil body 3322 inserted in nearside intestines point to the entrance that is cut to complete, or can per anum place anvil block 3320, I.e. by distal end that anvil block 3320 is placed on to end effector 3000 and by rectal insert tool.Then, clinician Anvil shaft 3324 is attached to the trocar tip 3042 of end effector 3000 and anvil block 3320 is inserted to the distal part of intestines In.Then, clinician can utilize suture or other conventional fastening devices by the distal end system of the proximal section of intestines to anvil Seat axle 3324, and also tied up to the proximal end of distal side intestines point around anvil shaft 3324 using another suture.

Clinician then come driven motor 80 and can rotate the first drive shaft 22 by actuator rocker arm trigger 110, Proximally to move the tension band component 3040, trocar tip 3042 and the anvil block 3320 that are attached to thereon.The actuating makes anvil Seat 3320 moves towards the storehouse 3306 that is supported in the housing member 3302 of stapler head 3300, so as to close between both Gap, and thus connect the distal end of the proximal end of distal side intestines point and nearside intestines point in the gap between both Close.Clinician continues to activate the first drive system 20, until realizing the desired amount of tissue compression.Once by the intestines point folder Hold between anvil assembly 3320 and stapler head 3300, then clinician just may be actuated firing trigger 92 and will transmit Balladeur train 62 moves to its second activation point so that the actuating of motor 80 will cause the rotation of the second drive shaft 42.Once transmission The passive movement of balladeur train 62 is to the second activation point, then clinician can activate the second drive by actuator rocker arm trigger 110 again Trigger system 3100 in dynamic system 40 and end effector 3000, to drive compressional axis 3030, the compressional axis also court towards distal side Distal side driving circular staple actuator assembly 3304 and circular knife member 3308.It is such to act for cutting the intestines of clamping, and drive Dynamic surgical staples pass through two clamping ends of intestines, thus engage the part of intestines and form tubular passageway.Meanwhile in driving nail simultaneously When shaping nail, circular knife 3308 can be driven to pass through intestinal tissue end, so as to cut the end adjacent with interior nail.Then, face Bed doctor can take out end effector 3000 from intestines, and complete anastomosis.

Figure 46-49 shows another surgical end-effector 3000 ', outside difference unless discussed below, its with it is upper It is identical to state surgical end-effector 3000.Surgical end-effector 3000 ' is identical with the part in surgical end-effector 3000 Those parts will with similar elements number represent.Surgical end-effector 3000 ' can similarly operate but be different from surgery end Those parts of corresponding component in portion's actuator 3000 will be numbered with same parts and add " ' " represent.Such as can from Figure 46-49 See, surgical end-effector 3000 ' include driving depart from component (being typically expressed as 3090), the driving depart from component advantageously by The portions of proximal of the distal part and drivetrain that are constructed to be permeable to allow the clinician to drivetrain departs from.

In described embodiment, driving departs from component 3090 and combines the use of closed-system 3070 ' so that if the closure The distal part of system is surprisingly blocked or can not otherwise used, then clinician can drive the distal side of closed-system Rapidly machinery separates dynamic pastern point with nearside drivetrain part.More specifically and with reference to figure 47, the He of tension band component 3040 Trocar tip 3042 is also referred to as " the distal side drivetrain part " of closed-system 3070 ' (referring to Figure 42, Figure 43 and Figure 45) 3092, and close axle 3080 and close " the nearside driving pastern that nut assembly 3084 is for example referred to alternatively as closed-system 3070 ' Point " 3094.Such as from Figure 47, a form of driving, which departs from component 3090, includes distal coupler component 3095, the distal side Coupler members are attached to the proximal end of tension band component 3040.Distal coupler component 3095 can be by press-in cooperation, viscous Any combinations of mixture, solder, welding etc. or such attachment configuration are attached to tension band component 3040.Distal coupler component 3095 size is set to be slidably received in and is attached in the proximal coupler component 3085 ' of closure nut assembly 3084 In slit 3097.Distal coupler component 3095 includes the distal aperture 3096 passed therethrough, when distal coupler component 3095 When being placed in slit 3097, the distal aperture is configured to and the axle of proximal aperture 3098 in proximal coupler component 3085 ' To registration.Referring to Figure 48.Driving, which departs from component 3090, also includes driving connector pin 3099, and the size of the driving connector pin is set Determine into receiving in axially aligned hole 3096,3098, so as to which distal coupler component 3095 is remained coupled into nearside connection Device component 3085 '.In other words, connector pin 3099 is driven to be used for distal side drivetrain part 3092 mechanically and releasedly It is attached to nearside drivetrain part 3094.Drive connection axis CA-CA of the connector pin 3099 transverse to closure axle axis CSA Extension.In order to provide gap to driving connector pin 3099 to be axially moved relative to percussion nut 3110, in percussion nut Axial slots 3111 are provided with 3110.Such as from Figure 46, it is narrow that end effector casing part 3014 ' is provided with axially extending gap Groove 3016, to be advantageous to drive connector pin 3099 axially to advance in the activating of closed-system 3070 '.Such construct causes Clinician can end effector 3000 ' any time during use only by will driving connector pin 3099 it is horizontal To removing out or pull-out-hole 3096,3098 allows distal coupler component 3095 and the proximal coupler component 3085 ' to depart from, from And distal side drivetrain part 3092 is rapidly separated with nearside drivetrain part 3094.

It is described although driving departs from component 3090 with reference to the closed-system 3070 ' of end effector 3000 ', It is to drive disengaging component to may also be combined with the trigger system 3100 of end effector 3000 ' in alternative arrangement to use.In other structures In making, driving, which departs from component 3090, to be connected with closed-system, and the second driving disengaging component can be with trigger system phase Connection.Therefore, can be partially selectively mechanical by one or two distal side corresponding with them drivetrain of nearside drivetrain part Separate.In addition, such driving, which departs from component, can be effectively combined other surgical end-effectors disclosed herein (including but not Be necessarily limited to such as end effector 1000 and end effector 2000 and their corresponding equivalent constructions) it is at least some in Closed-system and/or trigger system use.

Figure 50-53 shows another surgical end-effector 2000 ', outside difference unless discussed below, its with it is upper It is identical to state surgical end-effector 2000.Surgical end-effector 2000 ' is identical with the part in surgical end-effector 2000 Those parts will with similar elements number represent.Surgical end-effector 2000 ' can similarly operate but be different from surgery end Those parts of corresponding component in portion's actuator 2000 will be numbered with same parts and add " ' " represent.Such as can from Figure 51-53 See, surgical end-effector 2000 ' can be provided with indicator and construct to provide the cock on closed-system and trigger system Visually indicate.

More specifically and referring to Figure 51 and Figure 52, closed-system 2070 include closed-system state component, its usual table It is shown as 2090.In one form, for example, closed-system state component 2090 includes closing indicator component 2092, the closure Indicating element is attached to closure nut 2084 ' or otherwise extended from the closure nut.Closed-system state component 2090 are additionally included in closing indicator window 2094 or opening in end effector shell 2010 so that closing indicator component 2092 position can check closing indicator component 2092 to be assessed by clinician by closing indicator window 2094. Similarly, trigger system 2100 ' can include trigger system state component, and it is typically expressed as 2130.In one form, example Such as, trigger system state component 2130 includes firing indicator component 2132, and the firing indicator component is attached to percussion nut 2110 ' or otherwise from the percussion nut extend.Trigger system state component 2130 is additionally included in end effector shell Firing indicator window or opening 2134 in 2010 so that the position of firing indicator component 2132 can be passed through by clinician Firing indicator window 2134 checks firing indicator component 2132 to be assessed.

Closed-system state component 2090 and trigger system state component 2130 show closed-system 2070 and trigger system 2100 machine performance.The machine performance of the distal end of the end effector can be observed substantially by clinician, but it has When be covered by the tissue or stop.The machine performance of the portions of proximal of the end effector is in windowless outlet structure or projection indicator In the case of can not see.Color coding on the outside of axle construction and/or on indicator may further be used to provide pair for clinician The confirmation (for example, indicator then represents closure completely in green) that the end effector has been closed or fired completely.For example, closure Indicating element 2092 can have closure mark 2093 thereon, and the closure mark can be looked into by closing indicator window 2094 See.In addition, shell 2010 can have the first closure mark 2095 and second closure mark adjacent with closing indicator window 2094 2096 are remembered to assess the position of closing indicator 2092.For example, the first closure mark 2095 can include having the first color (example Such as, it is orange, red etc.) first, and second closure mark can include with different from the first color the second color The bar or section of (for example, green).When the closure mark 2093 on closing indicator component 2092 is aligned in the first closure mark When on the nearest side end (position is represented by the element number 2097 in Figure 50) on bar 2095, clinician can be observed to close Syzygy system 2070 is in its unactuated position.When closure mark 2093 is aligned in the first closure slug 2095, clinic doctor Closed-system 2070 can be observed by partial actuation in life, but is not fully actuated or closes completely.When closure mark 2093 is aligned During the second closure mark 2096 (it represented by the element number 2098 in Figure 50), closed-system 2070 can be observed in clinician In its fully actuated or fully closed position.

Similarly, firing indicator component 2132 can have percussion mark 2133 thereon, and the percussion mark can be by hitting Hair indicator window 2134 is checked.In addition, shell segments 2014 ' can have first percussion adjacent with firing indicator window 2134 Mark 2135 and second fires mark 2136 to assess the position of firing indicator 2132.For example, the first percussion mark 2135 can To fire bar including first with the first percussion color (for example, orange, red etc.), and the second percussion mark can include The second percussion bar or section with the second percussion color (for example, green) different from the first percussion color.When percussion indicates Percussion mark 2133 on device component 2132 is aligned in the nearest side end of the first percussion slug 2135, and (position is by Figure 50 Element number 2137 represent) on when, clinician can be observed trigger system 2100 and be in its unactuated position.When percussion is marked When will 2133 is aligned in the first percussion slug 2135, trigger system 2100 can be observed by partial actuation in clinician, but It is not fully actuated or fires completely.When percussion mark 2133 the second percussion of alignment mark 2136, (it is compiled by the element in Figure 50 Numbers 2138 represent) when, clinician can be observed trigger system 2170 and be in its fully actuated or complete firing position.Therefore, Clinician can determine that the closed-system and trigger system are caused by position of the sight indicator in their respective windows Dynamic degree.

In alternative configuration, indicator window 2094,2134 may be provided in end effector shell 2010 ' so that when closing When syzygy system 2070 and trigger system 2100 ' are in their starting or unactuated position, their respective indicator 2092, 2132 can be fully visible in indicator window 2094,2134 respectively.When closed-system 2070 and trigger system 2100 ' are activated When, their indicator 2092,2132 will remove their indicator window 2094,2134.Then, clinician can pass through sight Examine can be viewed by window 2094,2134 how many indicator 2092,2132 come in assessment system 2070,2100 ' it is each Activated how far.

Closed-system state component 2090 and trigger system state component 2130 show closed-system 2070 and trigger system 2100 machine performance, no matter whether end effector 2000 ' is attached to surgical instruments shank or shell.Work as end effector 2000 when being attached to shank or shell, and closed-system state component 2090 and trigger system state component 2130 will be clinician The chance for the machine performance for determining these systems is provided, the primary inspection as the state to being shown on surgery instrument handle portion or shell Look into or secondary checks.When end effector 2000 ' and surgical instruments shank or shell depart from, closed-system state component 2090 Primary inspection is also served as with trigger system state component 2130.In addition, such closed-system state component and trigger system state Component can be effectively combined other surgical end-effector (including but not limited to such as end effectors disclosed herein 1000 and end effector 3000 and their corresponding equivalent constructions) it is at least some in closed-system and/or percussion system System uses.

Figure 54-60 shows another surgical end-effector 2000 ", outside difference unless discussed below, its with it is upper It is identical to state surgical end-effector 2000 '.Surgical end-effector 2000 " and surgical end-effector 2000 ' and/or surgery end Part identical those parts in portion's actuator 2000 will be numbered with similar elements represent.Surgical end-effector 2000 " can Similarly operate but different from that of surgical end-effector 2000 ' and/or the corresponding component in surgical end-effector 2000 A little parts will be numbered with same parts and add " " " represent.Such as include driving from Figure 54-60, surgical end-effector 2000 " Depart from component (being typically expressed as 2200), the driving departs from component and is advantageously configured to enable to clinician to make drive The distal part of dynamic system and the portions of proximal of drivetrain depart from.

In described embodiment, the closed-system 2070 " that driving departs from the combination end effector 2000 " of component 2200 makes With so that if the distal part of the closed-system is surprisingly blocked or can not otherwise used, then clinician can be with By the distal side drivetrain part of closed-system, rapidly machinery separates with nearside drivetrain part.More specifically and reference chart 56, closure beam assembly 2072 is also referred to as " the distal side drivetrain part " 2202 of closed-system 2070 ", and closes the He of axle 2080 Closure nut assembly 2084 " is for example referred to alternatively as " the nearside drivetrain part " 2204 of closed-system 2070 ".Such as can from Figure 59 See, although closure nut assembly 2084 " and above-mentioned closure nut assembly 2084,2084 ' is substantially the same, and it is with two portions Divide and provide.More specifically, closure nut assembly 2084 " include with the top threaded portion 2210 that is threadedly engaged of closure axle 2080 with And the low portion 2214 that support percussion nut 2110 is moved axially therein in a manner of discussed above.Close nut assembly 2084 " low portion 2214 is attached directly to close beam assembly 2072 and including closing indicator component 2092 ", the closure Indicating element works in a manner of with the identical of closing indicator 2092 discussed herein above.

In at least one form, driving, which departs from component 2200, includes driving connector pin 2220, the driving connector pin For the low portion 2214 for closing nut assembly 2084 " to be attached into upper part 2210.It is seen, for example, closed such as from Figure 59 Closing the upper part 2210 of nut assembly 2084 " includes the first dovetail slot section 2212, and the first dovetail slot section is configured to It can be used in being aligned with the second dovetail slot section 2216 in the low portion 2214 for closing nut assembly 2084 ".When the first swallow When the dovetail slot section 2216 of tail slot segments 2212 and second is aligned like that as shown in figure 59, they form hole 2215, driving connection The cylindrical portion 2222 of device pin 2220 be can be inserted into the hole, and upper part 2010 and low portion 2014 are linked together, As shown in figure 56.In other words, connector pin 2220 is driven to be used for the machine of distal side drivetrain part 2202 of closed-system 2070 " Tool and be releasably attached to nearside drivetrain part 2204.Connector pin 2220 is driven transverse to closure axle axis CSA Connection axis CA-CA extension.Referring to Figure 56.In order to provide gap to driving connector pin 2220 with closing nut assembly 2084 " are moved axially together, and the shell segments 2014 " of end effector shell 2010 " are provided with axially extending gap slit 2224.This Class construction allows the clinician to only by by driving couple in any time during use of end effector 2000 " Device pin 2220 laterally removes out or pulled out the hole 2215 formed by dovetail slot section 2212,2216, by distal side drivetrain part 2202 rapidly separate with nearside drivetrain part 2204.Once driving connector pin 2220 removes from hole 2215, closed group The low portion 2214 of part 2084 " can move relative to upper part 2212 so that tissue can from storehouse module 2060 with Discharged between anvil assembly 2140.

Figure 54-56, which is depicted in, uses the preceding end effector 2000 " for being in " opening " position.Such as from those accompanying drawings, For example, storehouse module 2060 has been installed and ready.Figure 57 and Figure 58 describes the end effector 2000 in its closure state. That is, closure beam 2080 has been rotated into the driving closure nut assembly 2084 " in distal direction " DD ".Due to closing nut assembly 2084 " low portion 2214 is by driving connector pin 2220 to be attached to upper part 2210, therefore, closes beam assembly 2072 (because it is attached to low portion 2214) also moves to its closing position towards distal side, so that by target tissue held in storehouse module Between 2260 and anvil assembly 2140.It is described as above in addition, the saddle type slider button 2162 on shell 2010 " moves towards distal side, To cause retaining pin to extend through storehouse shell and enter in anvil assembly 2140, thus by tissue capture in storehouse module 2060 and anvil Between holder assembly 2140.As being above discussed in detail, when closure nut assembly 2084 " moves towards distal side, nut 2110 is fired Also moved towards distal side, this extracts the portions of proximal 2106 of beating shaft 2102 out the elongated passageway in matrix pod connector 57 '.Ginseng See Figure 58.Figure 59 shows the driving connector pin 2220 removed from the hole 2215 formed by dovetail slot section 2212,2216.Once Driving connector pin 2220 is removed from hole 2215, nearside drivetrain part 2202 (closure beam assembly 2072) can be by by saddle Shape slider button 2162, which proximally moves, to move along proximal direction " PD ".This type games of button 2162 will make closure beam assembly 2072nd, the low portion 2014, percussion nut 2110 and percussion bar assembly 2112 and retaining pin court of nut assembly 2084 " are closed Proximal movement.This type games will enable tissue discharged between storehouse module 2060 and anvil assembly 2140.

Figure 61 is the square frame for the modular motor driving surgical instruments 7000 for including handle portions 7002 and shaft portion 7004 Figure.Modular motor driving surgical instruments 7000 represents modularization surgical instrument system (it is typically expressed as 2), in a kind of form In, the modularization surgical instrument system includes motor driving surgical instruments 10, and motor driving surgical instruments can combine a variety of outer End effector 1000,2000 and 3000 of section's end effector for example shown in Fig. 1 uses.The module in above-detailed Change the various functions and operating aspect of motor driving surgical instruments 10, it is such in order to succinct and present disclosure is explicitly described Details will repeat not in the following description associated with Figure 61-64.On the contrary, Figure 61-64 following description will primarily focus on The electrical system of modular motor driving surgical instruments 7000 and the function and operating aspect of subsystem, these can be all or part of Driven applied to above-mentioned modular motor in surgical instruments.

Therefore, handle portions 7002 and shaft portion are included turning now to Figure 61, modular motor driving surgical instruments 7000 7004.Handle portions 7002 and shaft portion 7004 include the respective electric subsystem electrically connected by communication and electricity interface 7010 7006,7008.The part of the electrical subsystem 7006 of handle portions 7002 is supported by foregoing control panel 100.Communication and electric power connect Mouth 7010 is configured to so that electric signal and electric power can easily exchange between handle portions 7002 and shaft portion 7004.

In the example shown, the electrical subsystems 7006 of handle portions 7002 be electrically coupled to various electrical equipments 7012 with And display 7014.In one case, display 7014 is Organic Light Emitting Diode (OLED) display, but display 7014 should not necessarily be limited by this context.The electrical subsystem 7008 of shaft portion 7004 is electrically coupled to various electrical equipments 7016, these Electrical equipment will be described in more detail below.

On the one hand, the electrical subsystem 7006 of handle portions 7002 include solenoid driver 7018, accelerometer 7020, Motor controller/driver 7022, shank processor 7024, pressure regulator 7026, and be configured to from multiple switch 7028 receive input.Although in embodiment illustrated, switch 7028 is designated as Hall switch, and switch 7028 is simultaneously unlimited In this context.In many aspects, hall effect sensor or switch 7028 can be located at the end effector portion of apparatus, axle, And/or in shank.

On the one hand, the electrical subsystem 7006 of handle portions 7002 be configured to receive from solenoid 7032, Clip position switch 7034, firing position switch 7036, motor 7038, battery 7040, OLED interface boards 7042 and opened Close the signal of 7044, closure switch 7046 and percussion switch 7048.On the one hand, motor 7038 is brushless DC motor, but Many aspects, motor are not limited to this context.However, the description to motor 7038 is applicable to aforementioned motors 80,480, 580,680,750 and 780.Solenoid 7032 is the representative example of aforementioned shift device solenoid 71.

On the one hand, the electrical subsystem 7008 of shaft portion 7004 includes axle processor 7030.The electrical subsystem of axle 7008 are configured to receive the signal from various switches and sensor in the end effector portion of apparatus, should The state of clamping jaw and cutting element in the signal designation end effector.As shown in Figure 61, the electrical subsystem of axle 7008 are configured to receive from fixture open mode switch 7050, fixture closure state switch 7052, percussion starting shape The signal of state switch 7054 and percussion done state switch 7056, the signal designation clamping element and cutting element state.

On the one hand, shank processor 7024 can be suitable for medical treatment and surgical instruments apply and including motion control leading to Use microcontroller.In one case, shank processor 7024 can be what Texas Instruments were provided TM4C123BH6ZRB microcontrollers.Shank processor 7024 can include 32 with system timer (SysTick) Cortex^TM- M4 80-MHz processors core, integrate nested vector interrupt controller (NVIC), there is Clock gating Wake-up interrupts controller (WIC), memory protection unit (MPU), the single-precision floating point unit (FPU) for meeting IEEE754, insertion Formula tracks grand and trace port, system control block (SCB) and Thumb-2 instruction set etc..Shank processor 7024 can wrap Include on-chip memory, such as up to 40MHz 256KB single cycle flash memories.It can provide and prefetch buffer to improve higher than 40MHz When performance.Other memory includes 32KB single cycles SRAM, is loaded with TivaWare for the C groupwares^TMInside ROM, 2KB EEPROM etc., two controls such as using CAN protocol version 2 .0 part A/B and with up to 1Mbps bit rate Domain net (CAN) module.

On the one hand, shank processor 7024 may also include advanced serial integrated, including with IrDA, 9 and ISO (UART has modem state and modulatedemodulate to the 7816 eight universal asynchronous receiver/transmitters (UART) supported Adjust device flow control).Four synchronous serial interface (SSI) modules are provided for supporting to Freescale SPI, MICROWIRE Or the operation of Texas Instruments synchronous serial interfaces.In addition, (I2C) module provides standard between six integrated circuits (100Kbps) and quick (400Kbps) transmission and support to send and receive data as such as master device or from device.

On the one hand, shank processor 7024 also includes ARMThe configurable μ DMA controls of 32- passages Device, there is provided a kind of from Cortex^TM- M4 processors unload the mode of data transfer task, so as to more effectively using processor and Available bus bandwidth.For example, simulation supports function to include having 24 analog input channels and 1,000,000 samples/second sampling rate Two 12 analog-digital converters (ADC), three analog comparators, pressure regulator on 16 digital comparators and piece.

On the one hand, shank processor 7024 also includes advanced motion control function, such as eight pulsewidth modulation (PWM) hairs There is 16 digit counters, two PWM comparators, PWM signal generator, dead band to occur for raw device block, each PWM generator block Device and interruption/ADC trigger selectors.The shutdown that eight PWM failures inputs are used to facilitate low latency is provided.There is provided two Orthogonal encoder interface (QEI) module, the QEI modules have be used for track using built-in timer capture encoder position and The position integrator of speed.

On the one hand, two supervision timers for meeting ARM FiRM and six 32 general purpose timers (at most 12 16 Position general purpose timer) provide together.Such as, there is provided six 64 bit wide general purpose timers (at most 12 32 general purpose timers) with And PWM (CCP) pin is compared in 12 16/32 and 12 32/64 captures.According to configuration, can at most provide 120 it is general Input/output (GPIO), they have the pin multichannel to the PLC technology and high flexible of GPIO interruptions and plate configuration Multiplexing.Shank processor 7024 also includes the sleep block that the low battery power with real-time clock is supported.Multiple clocks are provided Source is used for micro controller system clock, and multiple clock sources include accurate oscillator (PIOSC), master oscillator (MOSC), used In the 32.768-kHz external oscillators and 30-kHz internal oscillators of sleep block.

On the one hand, the part of accelerometer 7020 of the electrical subsystem 7006 of handle portions 7002 may be based on micro-electro-mechanical systems The motion sensor of system (MEMS).As it is well known, MEMS technology such as senses computer with micromachine Actuator in device, valve, gear, mirror and embedded semiconductor chip combines.In an example, for example, adding based on MEMS Speed meter 7020 can include 83 number of axle word accelerometers of ultra low power, and such as STMicroelectronics is provided LIS331DLM。

On the one hand, such as LIS331DLM of accelerometer 7020 can be the axle linear accelerometer of ultra low power high-performance type three, category In " nanometer " series, there is digital I2C/SPI serial interface standards output end, and may be adapted to logical with shank processor 7024 Letter.Accelerometer 7020 can have ultra-low power operation pattern, and this realizes advanced power saving and intelligent sleep arousal function.Example Such as, accelerometer 7020 dynamically includes the ± 2g/ ± 4g/ ± 8g optional gamut of user, and can measure output data Acceleration of the speed from 0.5Hz to 400Hz.

On the one hand, accelerometer 7020 can include selftest ability, and to allow user to check, sensor finally should Operation in.Accelerometer 7020 can be configured to wake up by inertia/freely falling body event and by apparatus sheet Body position generates interrupt signal.The threshold value of interrupt generator and timing can be dynamically programmable.

On the one hand, for example, motor controller/driver 7022 may include three phase brushless direct-current (BLDC) controllers and A3930 motor controllers/driver that mosfet driver, such as Allegro are provided.For example, 3 phase brushless DC motors control Device/driver 7022 can be used together with N channel external power MOSFET, to drive BLDC motors 7038.In one case, Motor controller/driver 7022 may incorporate the circuit needed for effect three-phase motor drive system.In one case, motor control Device/driver 7022 processed includes charge pump regulator, with to be down to 7V cell voltage provide fully (>10V) raster data model, and Enable motor controller/driver 7022 and operated under the cell voltage for being down to 5.5V with the raster data model of reduction.The electricity Power attenuation in lotus pump can by from compared with the multiplication of voltage pattern switching under low suppling voltage under 14V nominal operating voltage Reverse pattern to minimize.On the one hand, the above battery powered needed for N channel MOSFET is provided using boottrap capacitor Voltage.The internal charge pump of flash drive device allows DC (100% dutycycle) to operate.

Internal fixed-frequency PWM current control circuit adjusts maximum load current.Peak load electricity restriction value can be by right The selection of input reference voltage and external sense resistor is configured.The outside RC timings net that PWM frequency can be selected by user Network is set.In order to increase flexibility, speed and moment of torsion control can be provided with PWM inputs, so as to allow internal current control electricity Road sets maximum current limit value.

The efficiency of motor controller/driver 7022 can be strengthened by using synchronous rectification.By integrating cross-over control Protect power MOSFET not breakdown with idle time.Idle time can be set by single external resistor.

On the one hand, motor controller/driver 7022 is in response to the complete zero combination instruction logic fault in Hall input. The supplementary features of motor controller/driver 7022 are whole including the phase raster data model of high current 3 for N channel MOSFET, synchronization Stream, mutual conductance protection, the charge pump for 100%PWM and pushed up charge pump, integrated rectification decoder logic, supplied in 5.5V to 50V Operation, diagnosis output in piezoelectric voltage scope, there is provided+5V Hall sensor power, and there is low current sleep pattern.

On the one hand, modular motor driving surgical instruments 7000 equipped with brushless DC electric motor 7038 (BLDC motors, BL motors), it is also referred to as electronic rectifier motor (ECM, EC motor).A kind of such motor is the BLDC provided by Portescap Motor B0610H4314.BLDC motors B0610H4314 can be hot pressing.BLDC motors 7038 are via integrated by D/C power The syncmotor of inverter/Switching Power Supply power supply, the syncmotor produce AC electric signals with drive motor such as previous paragraph Motor controller/the driver 7022 just described.In this context, AC is that exchange does not mean that sinusoidal waveform, but nothing The bidirectional current of waveform limitation.Additional sensor and electronic device control inverter output amplitude and waveform are (so as to control DC total The percentage of line utilization rate/efficiency) and frequency (that is, spinner velocity).

The rotor portion of BLDC motors 7038 is permanent magnet synchronous motor, but in other respects, BLDC motors can also be out Close magnetic resistance motor or induction motor.Although some brushless DC motors can be described as stepper motor, term " stepper motor " It is often used for being specifically designed to the motor operated under the pattern that motor is stopped using the rotor of the Angle Position in restriction again and again.

On the one hand, BLDC motor controllers/driver 7022 must guided rotor rotation.Therefore, BLDC motor controls Device/driver 7022 needs some devices for being used to determine the orientations/locations (for relative stator coil) of rotor.In a kind of feelings Under condition, the rotor portion of BLDC motors 7038 is configured with hall effect sensor or rotary encoder with direct measurement rotor position Put.In other cases, the counter electromotive force (EMF) in the coil that measurement does not drive, to infer rotor-position without independent Hall effect sensor, and be therefore commonly referred to as non-sensor type controller.

On the one hand, BLDC motor controllers/driver 7022 includes 3 bidirectional outputs (that is, frequency modulation three-phase exports), this A little bidirectional outputs are controlled by logic circuit.In other cases, simpler controller can be determined when defeated using comparator Going out phase should shift to an earlier date, and more advanced controller manages acceleration, control speed and fine setting efficiency using microcontroller.

The actuator for producing linear movement is referred to as linear motor.The advantages of linear motor is that they need not can passed Defeated system such as ball and driving screw, rack-and-pinion, cam, rotation motor will produce in the case of required gear or band Linear movement.Known transmission system causes the degree of accuracy of relatively low response and reduction.Direct drive BLDC motors 7038 It may include that there is the slotted stator of magnetic tooth and motion actuator, the motion actuator has permanent magnet and coil windings.In order to obtain Linear movement is obtained, BLDC motor controllers/driver 7022 encourages the coil windings in the actuator, so as to cause magnetic field mutual Effect, causes linear movement.

On the one hand, BLDC motors 7038 are in the packaging part for being suitable for modular motor driving surgical instruments 7000 The Portescap BO610 brushless DC motors of the combination of the following are provided：Durability, efficiency, moment of torsion and speed.It is such BLDC motors 7038 provide suitable torque density, speed, position control and longer life.Slotless BLDC motors 7038 use With with iron-free DC motor identical winding techniques made of cylinder without iron coil.There are groove BLDC motors 7038 and hot pressing 's.There are groove BLDC motors 7038 to may include the stator being made up of the stacking steel layer compound with the winding being placed in slit, this is narrow Groove along inner rim it is axially cutting go out.Brushless DC has the offer high torque density of groove BLDC motors 7038 and heat dissipation and height to add Speed.The three phase arrangement of BLDC motors 7038 includes Y-connection, hall effect sensor, 4.5-24V supply voltage.BLDC The shell of motor 7038 can be made up of 303SS materials, and axle can be made up of 17-4ph materials.

On the one hand, Hall switch 7028 can be known trade name BU520245G hall effect sensor, and can For the hall effect sensor of unipolar IC type.These sensors are grasped on 2.4V to 3.6V power supply voltage range Make.

On the one hand, pressure regulator 7026 replaces conventional PNP transmission transistors using PMOS transfer elements.Because PMOS is transmitted Element shows as low values of resistors, and relatively low dropout voltage (being usually 415mV under 50A load current) is with load current into just Than.It is stable under output load current gamut (0mA to 50mA) compared with low quiescent current (usual 3.2 μ A).

On the one hand, pressure regulator 7026 is low (LDO) pressure regulator that reverses, what such as Texas Instruments were provided TPS71533LDO pressure regulators.Such LDO pressure regulators 7026 provide following benefit：High input voltage, low dropout voltage, low operation Power, and microencapsulated.Pressure regulator 7026 can operate on 2.5V to 24V input range, be for any capacitor Stable (>=0.47 μ F).LDO voltages and low quiescent current allow to operate under extremely low power level, and therefore pressure regulator 7026 are well-suited for battery management integrated circuit.Specifically, once applying voltage reaches minimum input voltage and defeated Go out quickly to be used for power for the continuous operation battery charge integrated circuit of handle portions 7002, pressure regulator 7026 just enables.

On the one hand, battery 7040 is lithium ion polymer (LIPO) battery, polymer Li-ion or more common lithium Polymer battery (being abbreviated as Li- to gather, Li-Pol, LiPo, LIP, PLI or LiP) is rechargeable (battery) battery.LIPO electricity Pond 7040 may include some identical batteries of parallel connection to increase capacity discharge current, and generally with the shape of series connection " packet " Formula is provided to increase overall voltage available.

Secondary power for modular motor driving surgical instruments 7000 can be by synchronous step-down dc-dc 7058 (Figure 63-A) is provided, and the converter is directed to what the application such as Texas Instruments with high power density were provided TPS6217X series optimizes.Usually 2.25MHz higher switching frequency can be used to allow to use small inductor device, and There is provided by using DCS-Control^TMTopological and realization fast transient response and high output voltage accuracy.

For 3V to 17V extensive operation input voltage range, synchronous step-down dc-dc 7058 (Figure 63-A) is very Suitable for driving the system of surgical instruments 7000 from Li ions or other batteries and 12V middle powers rail come the modular motor powered System.On the one hand, under the output voltage between 0.9V and 6V (under 100% duty cycle mode), synchronous step-down DC-DC conversions Device 7058 is supported to be up to 0.5A continuous output currents.

Enabled and the good pin of open-drain power supply by configuring, it is also possible to carry out electric power sequencing (power sequencing).In energy-saving mode, synchronous step-down dc-dc 7058 (Figure 63-A) shows the about 17 μ A's from VIN Quiescent current.If load is smaller and maintains the greater efficiency on whole loading range, then enters automatically and seamlessly section Power mode.In shutdown mode, synchronous step-down dc-dc 7058 is closed, and is shut down current drain and be less than 2 μ A.

On the one hand, OLED interfaces 7042 are the interfaces of OLED display 7014.OLED display 7014 includes wherein may be used Transmitting electroluminescence layer is in response in the Organic Light Emitting Diode of the luminous organic compound film of electric current.Organic semi-conductor this For layer between two electrodes, at least one in this opening position, these usual electrodes is transparent.OLED display 7014 The OLED from two major families can be included：Based on small molecule those and using polymer those.To flow from Son forms light-emitting electrochemical cell or LEC, the LEC added to OLED has slightly different operator scheme.OLED display 7014 can use passive matrix (PMOLED) or active array addressing scheme.Activematric OLED (AMOLED) needs film brilliant Body pipe backboard opens or closes each independent pixel, but allows higher resolution ratio and larger display sizes.One In the case of kind, OLED display 7014 works in the case of without backlight.Therefore, it can show deeper black level and compare liquid Crystal display (LCD) is thinner brighter, so that it is preferably suited for the shank in modular motor driving surgical instruments 7000 Used on part 7002.

On the one hand, the axle processor 7030 of the electrical subsystem 7008 of shaft portion 7004 can be embodied as ultra low power 16 The MSP430FR5738 ultra low powers MCU that mixed signal MCU, such as Texas Instruments are provided.Axle processor 7030 is The Ultra low power microcontroller being made up of multiple devices, these devices have embedded FRAM nonvolatile storages, ultra low power 16 MSP430CPU and the additional peripheral devices for various applications.With reference to the framework of 7 low-power modes, FRAM and Ancillary equipment is optimized to realize the battery life extended in portable and wireless sensing application.FRAM is by SRAM speed The new nonvolatile memory that degree, flexibility and durability are combined with the stability and reliability of flash memory, above-mentioned all spies Property is realized under relatively low total power consumption.Ancillary equipment includes 10 A/D converters, has reference voltage generation and lags ability 16 passage comparators, support three enhancing serial-ports of I2C, SPI or UART protocol, internal DMA, hardware multiplier, in real time Clock, five 16 bit timing devices etc..

Axle processor 7030 includes 16 RISC Architectures of at most 24MHz clocks, and in 2V to 3.6V extensive power supply Operate in voltage range, and optimized for ultra low-power mode.Axle processor 7030 is also set including intelligent digital periphery Standby, ultra low power ferroelectric RAM and at most 16KB nonvolatile memory.The embedded microcontroller provides ultra low power and write Enter, i.e. 16KB no write de-lay circulation in 125ns/ words, 1ms, and including built-in Error Correction of Coding and correction (ECC) and deposit Store up protection location (MPU).

Have been described for modular motor driving surgical instruments 7000 handle portions 7002 and shaft portion 7004 it is electric In the case of system, subsystem and part, in terms of the function of now describing the control system.Therefore, in operation, handle portions 7002 electrical subsystem 7006 is configured to receive the opening switch from being supported on the shell of handle portions 7002 7044th, the signal of closure switch 7046 and percussion switch 7048.When receiving signal from closure switch 7046, shank processing Device 7024 operates motor 7038 to trigger the closure of clamping limb.Once fixture is closed, the fixture closed form in the end effector State switch 7052 just sends signal to axle processor 7030, and the axle processor is by communication with electricity interface 7010 by clamping limb State is sent to shank processor 7024.

Once having clamped destination organization, percussion switch 7048 may be actuated to generate signal, the signal is by shank processor 7024 receive.As response, shank processor 7024 is activated balladeur train is transmitted to its second activation point so that motor 7038 Actuating will cause the rotation of the second drive shaft, as described in detail by above in association with Fig. 1-8.Once cutting element is positioned, position Percussion initial state switch 7054 in the end effector just sends the position of instruction cutting element to axle processor 7030 Signal, axle processor 7030 by communication and electricity interface 7010 position is sent back into shank processor 7024.

Actuating first switch 7048 sends the signal to shank processor 7038 again, as response, the shank processor The second drive system and the trigger system in the end effector are activated, to be slided towards distal side driving tissue cutting element and wedge shape Part component passes through surgery nail bin.Once tissue cutting element and wedge-shaped slides component have been driven to them in surgery nail bin Farthest side position, for percussion end switches 7056 just to the transmission signal of axle processor 7030, the axle processor passes through interface 7010 Position is sent back into shank processor 7024.Now, percussion switch 7048 can be started and send signal to shank processor 7024, Shank processor operation motor 7038 rotates in the opposite direction, so that trigger system is back to its original position.

Actuating opens switch 7044 and sends signal, shank processor operation motor 7038 to shank processor 7024 again To open fixture.Once opening fixture, the fixture open mode switch 7050 in the end effector is just to axle processor 7030 send signal, and chucking position is sent to shank processor 7024 by the axle processor.Clamp position switch 7034 and percussion Position switch 7036 provides the signal of the relevant position of instruction clamping limb and cutting element to shank processor 7024.

Figure 62 is the load current demand for the various operations for describing the total time for completing stroke cost and various assembly axis Table 7060.First row 7062 lists circular, waveform and TLC devices/axle from left side.These device/axles are via following three Individual different operating is compared：Closure, open and fire, as shown in secondary series 7064.3rd row 7066 describe first row The device listed in 7063/axle completes the total time (in seconds) needed for a stroke.4th row 7068 are listed for first row The device listed in 7062/axle completes the operation in secondary series 7064 to realize complete stroke (as indicated by the 3rd row 7066) Load current demand (with ampere meter).As pointed out in chart, close and open time that clamping limb is spent about with first row The time each spent in the device/axle listed in 7062 is identical.Operated for percussion, circular apparatus/axle requirement 15.69A maximum load current, and TLC devices/axle requires the minimal amount of load currents of 0.69A.

Figure 63-A are the detail view that modular motor drives the electrical system in the handle portions 7002 of surgical instruments 7000. As shown in Figure 63-A, pressure regulator 7026 and dc-dc 7058 provide operating voltage for electrical system.Pressure regulator 7026 is adjusted The voltage of batteries 7040.Shank processor 7024 receives the input from accelerometer 7020.VSS- ON/OFF logic power 7086 Input voltage is supplied to shank processor 7024 and VSS inputs are supplied to dc-dc 7058.

Three-color LED 7072 is electrically coupled to shank processor 7024.Shank processor 7024 makes red, blueness or green LED 7072 are powered, to provide visual feedback.

3 hall effect sensor 7028U10, U11, U12 offers, 3 single Hall effect output end U1_Hall1, U1_Hall2, U1_Hall3, these output ends are attached to shank processor 7024, as shown in the figure.U1_Hall3 output ends drive Airborne LED 7088.On the one hand, hall effect sensor output end U1_Hall1, U1_Hall2, U1_Hall3 and ANALOG_CLAMP signals are attached to shank processor 7024, and the end of surgical instruments 7000 is driven with determining module motor Clamping limb and cutting element position at actuator part, or the position of the other elements of apparatus 7000.

User's switch 7070 is the representative instance of foregoing " rocking arm trigger " 110, and it is pivotally mounted to the pistol of shank Formula grip portion.User's switch 7070 operationally activates the first motor switch for being operably coupled to shank processor 7024 7044.First motor switch 7044 can include pressure switch, the pressure switch by by user's switch 7070 be pivoted into and its Contact to activate.The actuating of first motor switch 7044 will cause the actuating of motor 7038 so that drive gear is in the first rotation Side rotates up.Second motor switch 7046 is also coupled to shank processor 7024 and is mounted to by the selection of user's switch 7070 Contact to property.The actuating of second motor switch 7046 will cause the actuating of motor 7038 so that drive gear is in a second direction Rotation.First switch 7048 is attached to shank processor 7024.As described above, the actuating of percussion switch 7048 causes to transmit balladeur train Axial movement, to promote cutting element.

The input of joint test action group (JTAG) 7074 is also attached to shank processor 7024.The inputs of JTAG 7074 It is the standard test access ports of IEEE 1149.1 and border-scan architecture that port design is debugged for integrated circuit (IC).Shank Processor 7024 implements JTAG 7074 to perform debugging operations, as single step execution and breakpoint perform.

UART 7076 is attached to shank processor 7024.UART 7076 makes data mistake between form in parallel and serial Cross.UART 7076 generally combines communication standard such as EIA, RS-232, RS-422 or RS-485 and used.Common tags instruction can Configuration data form and transmission speed.Electric signal transmission level and method (such as differential signal transmission etc.) are by UART Drive circuit outside 7076 is handled.UART 7076 can be for serially leading on the serial port of shank processor 1024 Letter independent integrated circuit (or part thereof).UART 7076 may include in shank processor 1024.

The electric subsystem of the handle portions 7002 of modular motor driving surgical instruments 7000 will be now provided with reference to Figure 63-B Remaining function aspect of system 7006 and the description of operating aspect.As illustrated, shank processor 7024 provides signal to drive spiral shell Spool 7032.Axle module 7078 provides position signalling SHAFT_IDO, SHAFT_ID1, CLAMP_HOME and FIRE_HOME To shank processor 7024.The position of fixture and cutting element is supplied to shank processor 7024 by gear position module 7080. The positional information provided by axle module 7078 and gear position module 7080 enables shank processor 7024 receiving use When family switchs 7070 signals to open fixture, closure fixture and/or percussion cutting element, correctly starter motor 7038.

Motor controller 7022 receives the order from shank processor 7024 and provides life to mosfet driver 7084 Order, mosfet driver 7084 drive 3 phase BLDC motors 7038 (Figure 61).As it was previously stated, BLDC motor controllers 7022 are necessary Guided rotor rotates.Therefore, BLDC motor controllers/driver 7022 determines orientations/locations of the rotor relative to stator coil. Therefore, the rotor portion of BLDC motors 7038 is configured to hall effect sensor 7028 with direct measurement rotor-position. BLDC motor controllers 7022 include 3 bidirectional outputs (that is, frequency modulation three-phase exports), and these bidirectional outputs pass through logic circuit control System.

Therefore, as described in Figure 61, Figure 63-A, Figure 63-B and Figure 64, including motor controller 7022, motor driver 7084th, the motor control system of the motor hall effect sensor 7028 of combination gear position module 7080 and/or axle module 7078 System can be operated to make gear synchronous so that convex connector in handle portions with the shaft portion of surgical instruments described herein Matrix connector smoothly couple.In one case, although for example, some tolerances can be provided to realize readily displacement or key Control, but motor control system is configured to track the position of gear, will be forbidden with ensuring that gear does not stop in position Between displacement or installation two rotation keying positions.In another case, motor can be configured to installing or moving Slowly indexed during position, to solve any slightly to lose synchronous situation.Example with reference to described in Fig. 6 is in apparatus in two drivings When being shifted between device rather than only when installing new end effector, these problems can be also run into.This situation can lead to Cross and using the gear of the motor control system with reference to described in Figure 61, Figure 63-A, Figure 63-B and Figure 64 appropriate synchronously solve. In the case of other, it is possible to provide encoder tracks the rotation of gear/gear wheel shaft.

Figure 64 is that modular motor drives the shank of surgical instruments and the block diagram of the electrical system of shaft portion.Such as Figure 64 institutes Show, shank processor 7024 is received from opening switch 7044, closure switch 7046, percussion switch 7048, clamp position switch 7034 and firing position switch 7036 input.In addition, shank processor 7024 is received from clamping original from axle module 7078 The input of bit switch 7090 and percussion home switch 7092.Use the various combinations of these switch inputs, shank processor 7024 Appropriate command is supplied to motor 7038 and solenoid 7032.Battery monitoring circuit 7088 is monitored relative to ground to shank processor 7024 power input.Shank processor 7024 drives three-color LED 7072.Accelerometer 7020 provides to shank processor 7024 Three axles orientation input, to determine whether the various parameters such as orientation of apparatus 7000 and apparatus 7000 have been laid down.Pressure regulator 7026 provide adjusted power source for the system.Current sensing module 7094 is provided to sense the electric current drawn from power source.

Figure 65 shows to eliminate the mechanical switch kinetic control system 7095 of the microprocessor control to motor function. In the system described with reference to Figure 61-64, microprocessor such as shank processor 7024 is used for the function of controlling motor 7038.Shank Processor 7024 performs control algolithm based on the various states for the switch disposed in whole apparatus 7000.This needs to use shank Processor 7024 and associated identification function to provide control to different end effectors.

However, as shown in Figure 65, motor 7038 can be controlled using alternate technologies, this in end effector axle by putting Motion related switch 7096A, 7096B, 7096C, 7096D is put to eliminate the needs to shank processor 7024.Then, switch 7096A-D is configured to open and close the specific of motor 7038 based on the position for positioning specific end effector part Function makes the direction of motor 7038 reverse.In one case, can using instruction cutting element complete deployment switch come The function of switching motor 7038, so that direction is reverse and recalls cutting element.In another case, switching 7096A-D can be with It is configured to detect pressure or power so that will organizationally ON/OFF signal be fed back by simply closing anvil block downwards Closure motor 7038 is supplied to, to stop closing motion.

In all cases, surgical instruments can include shank, the electro-motor being positioned in the shank, attach to handle The axle in portion and the end effector from axle extension, wherein electro-motor are configured to excite the end at end effector Portion's actuator function.In some cases, surgical instruments can include control system, and the control system includes one or more pass Sensor and microprocessor, the microprocessor can receive the input signal from sensor, monitoring surgical instruments operation, and root Electro-motor is operated according to sensor input signal, with actuation end actuator function.In the case of at least one is such, this is outer The shank of section's apparatus can be used together with more than one axle.For example, linear-seam sympodium or circular seams sympodium can be assembled to handle Portion.Shank may include at least one sensor, the sensor be configured to detection be assembled to its axle type and to Microprocessor transmits the information.Depending on the type of the axle that has been assembled to the shank, microprocessor may be in response to sensor input Signal operates electro-motor by different way.For example, if electro-motor is configured to operate the closure of end effector System, then microprocessor will be such that electro-motor rotates in a first direction with the anvil block of closed circle stapler shaft, and make electricity Dynamic motor is rotated to close the anvil block of linear stapler shaft on second or opposite direction.Other control system is contemplated, its In same operation control can be realized to electro-motor in the case of without using microprocessor.In the case of at least one is such, The axle and/or shank of surgical instruments can include switch, and the switch can operate surgical instruments by different way, and this depends on group It is filled to the type of the axle of the shank.

In all cases, surgical instrument system can include power supply, be configured to perform first end actuator First motor of function, the second motor and on-off control system for being configured to perform the second end actuator function, The on-off control system be configured to power supply being selectively placed in response to on-off control system and the first motor and Second motor connects.In all cases, such surgical instrument system may not include microprocessor.First motor may include by structure Cause to close the closure motor of the closed-system of the anvil block of end effector, and the second motor may include to be adapted to The percussion motor of the trigger system of enough nail bin percussion nails from end effector.On-off control system may include that closure trigger is opened Close, closure trigger switch can close the closure power circuit that power supply is attached to closure motor in closure.Control system Closing stroke end switch is may also include, the closing stroke end switch in the fully closed position and can open closure in anvil block Power circuit is opened with stopping closing motor with when closing drive device by closed-system.On-off control system may also include percussion Trigger switch, firing trigger switch can be a part for the percussion power circuit that power supply is attached to percussion motor. In the case of various, the default conditions of the percussion power circuit can be what is opened, and this can prevent from grasping before percussion power circuit closure Make percussion motor.Therefore, only closing percussion switch possibly can not close percussion power circuit and operate percussion motor.Electrical turning Source circuit may also include the second closing stroke end switch, and the second closing stroke end switch is in closure position completely in anvil block Closed when putting by closed-system.Percussion power circuit can be closed and grasp by closing percussion switch and the second closing stroke end switch Make percussion motor.Control system may also include firing schedule end switch, and the firing schedule end switch is in percussion drive device Opened at the end of reaching its firing schedule by percussion drive device.The opening of firing schedule end switch can open percussion power supply Circuit and stop fire motor.Control system may also include the second firing schedule end switch, and second firing schedule terminates Switch can close reversely percussion power circuit by firing drive device and closing, and this, which reversely fires power circuit, will apply extremely Fire the pole reversal of the power supply of motor and in the opposite direction operation percussion motor and the percussion drive device is bounced back.Close The reverse percussion power circuit of conjunction may also need to firing trigger switch and be in closure state.When percussion drive device reaches it During fully retracted position, it can close nearside percussion switch.The closure of nearside percussion switch can close reversed closed power circuit, The reversed closed power circuit can close applying to the pole reversal of the power supply of closure motor and in the opposite direction operation Close motor and open anvil block.Close reversed closed power circuit may also need to the closure trigger switch be in closed form State.When anvil block reaches its fully open position, the anvil block can open nearside closure switch, and the nearside closure switch can be beaten Drive reversed closed power circuit and stop closing motor.But it is only for an example.

In all cases, as described herein, the shank of surgical instruments can be selectively attached to shank it is some not Coaxial module is used together.In some cases, also as described herein, shank can be configured to detection and be assembled to this The type of the axle of shank, and shank is operated according to the control system being included in shank.For example, shank can include micro- place Reason device and at least one memory cell, the memory cell can store and perform multiple operation sequences, and each operation sequence is by structure Cause that specific shaft assembly can be operated.Other embodiment is contemplated, wherein shank does not include control system；On the contrary, shaft assembly is each From may include the control system of themselves.For example, the first shaft assembly may include the first control system, and the second shaft assembly can Including second control system, etc..In all cases, shank can include electro-motor, power supply such as battery and/or input Cable and the circuit for being configured to operate electro-motor based on the control input from attached shaft assembly.Handle Portion may also include the actuator combined with axle control system, and the actuator can control electro-motor.In all cases, shank It may not include the additional control logic and/or microprocessor for example for controlling electro-motor.In addition to shank actuator, attachment To shank shaft assembly control system by including operation electro-motor required for control logic.In all cases, axle group The control system of part may include microprocessor, and in the case of other, may be really not so.In some cases, the first shaft assembly The first control system can include first microprocessor, and can to include second micro- for the second control system of the second shaft assembly Processor, etc..In all cases, shank can such as close motor and the second electro-motor including the first electro-motor Motor is such as fired, wherein the operable closure motor of the control system of attached shaft assembly and percussion motor.In certain situation Under, shank may include closing actuator and percussion actuator.In addition to closing actuator and percussion actuator, shank is attached to The control system of shaft assembly is by including the control logic required for operation closure motor and percussion motor.In all cases, handle Portion may include axle junction surface, and each shaft assembly may include to be configured to the shank junction surface for engaging axle junction surface.Axle Junction surface may include to be configured to the electricity engaged with the electric connector at shank junction surface when shaft assembly is assembled to shank Connector.In the case of at least one, each connector may include only one electric contact piece, and the electric contact piece is combined together, So that a control path is only existed between shank and shaft assembly.In other cases, each connector may include only two electricity Contact, the two electric contact pieces form pair of two cooperations when shaft assembly is attached to shank.In this case, in shank Two control paths can be only existed between shaft assembly.Other embodiment is contemplated, wherein existing between shank and shaft assembly Many more than two control path.

In all cases, surgical end-effector attachment can be compatible with surgical instruments shank.For example, surgical end is held Row device may be coupled to the shank of surgical instruments and can transmit and/or implement the powered motion triggered in the shank of surgical instruments. Referring to Figure 73 and Figure 74, surgical end-effector 8010 can be that some surgical ends compatible with the shank 8000 of surgical instruments are held One of row device.Various different surgical end-effectors are depicted in the accompanying drawing for describing in the disclosure and being associated in the whole text in the whole text. Reader should be appreciated that these various different surgical end-effectors described herein and describe for example can be with identical surgical instruments Shank is compatible and/or can be compatible with more than one type surgical instruments shank.

Shank 8000 can include drive system, for example, the drive system can be configured to by powered motion from The shank 8000 of surgical instruments is transferred to the part, component and/or system of end effector 8010.For example, shank 8000 can be with Including the first drive system 8002a and the second drive system 8004a.In some cases, for example, drive system 8002a, One in the 8004a jaw group that can be configured to for closure powered motion to be transferred to end effector 8010 (Figure 73) Part, and for example, one in drive system 8002a, 8004a can be configured to percussion powered motion being transferred to end Percussion element in portion's actuator 8010.Drive system 8002a, 8004a can be configured to linear movement, displacement And/or translation is transferred to end effector 8010 from shank 8000.In all cases, the first drive system 8002a can be wrapped Drive rod 8006 is included, the drive rod can be configured to translation and/or linear shifting when the first drive system 8002a starts Position.Similarly, the second drive system 8004a can include drive rod 8008, and the drive rod can be configured to second Translation and/or linear displacement when drive system 8004a starts.

In all cases, end effector assemblies 8010 can include the first drive system 8002b, for example, this first Drive system may correspond to the first drive system 8002a of shank 8000, and end effector assemblies 8010 may also include Two drive system 8004b, for example, second drive system may correspond to the second drive system 8004a of shank 8000.Various In the case of, the first drive system 8002b in end effector 8010 can include driving element 8012, and the driving element is for example It is capable of the first drive system 8002a that is operable and being releasably attached to shank 8000 drive rod 8006, and for example may be used To be configured to receive linear movement from drive rod 8006.In addition, the second drive system in end effector 8010 8004b can include driving element 8014, and the driving element for example can be operable and be releasably attached to shank 8000 Second drive system 8004a drive rod 8008, and can for example be configured to receive linear fortune from drive rod 8008 It is dynamic.

In all cases, shank 8000 and/or end effector 8010 can include coupling configuration, the coupling configuration example It can such as be configured to drive rod 8006 being releasably attached to driving element 8012, and/or can for example incite somebody to action Drive rod 8008 is releasably attached to driving element 8014.In other words, the coupling configuration can be by the first of shank 8000 Drive system 8002a is attached to the first drive system 8002b of end effector 8010 and driven the second of shank 8000 System 8004a is attached to the second drive system 8004b of end effector 8010 so that draws in the shank 8000 of surgical instruments The driving force of hair can be transferred to appropriate the drive system 8002b, 8004b of attached surgical end-effector 8010.Although figure The surgery system described in 73 and Figure 74 includes a pair of the drive systems 8002a, 8004a and end effector in shank 8000 Corresponding a pair of drive systems 8002b, 8004b in 8010, but reader should be appreciated that for example, disclosed herein various Coupling configuration can be additionally used in the surgical end-effector and/or shank for including single drive system or more than two drive system.

In all cases, attached end effector is attached to for the drive system in the shank by surgical instruments In the coupling configuration of drive system can include breech lock, the breech lock can be configured to keep and fixed corresponding shank with Connection between end effector drive system.As being more fully described herein, for example, breech lock can be spring-loaded, And may be coupled to such as trigger, the trigger can be configured to operationally to overcome spring be biased to unblock, Open and/or discharge coupling configuration.In all cases, coupling configuration can include being used in surgical end-effector 8010 Each drive system 8002b, 8004b independent and/or discrete coupling mechanism and/or joint.In this case, drive system One in 8002b, 8004b can start in the case where not starting other drive systems 8002b, 8004b.In other situations Under, for example, drive system 8002b, 8004b can simultaneously and/or parallel starting.

Referring now to Figure 66-72, the coupling configuration 8100 being used together with surgical end-effector is depicted.For example, can Surgical end-effector is attached to the shank 8170 (Figure 67-69) of surgical instruments via such as coupling configuration 8100.Various In the case of, for example, coupling configuration 8100 can include connector shell or framework 8102.For example, can be by connector shell 8102 It is positioned in the proximal attachment part of end effector.In addition, for example, connector shell 8102 can include balladeur train 8104, example Such as, the balladeur train can be configured to move relative to connector shell 8102.For example, connector shell 8102 can include Passage 8103, the size and structure of the passage, which can be set to, receives slidable and/or displaceable balladeur train 8104.It is for example, sliding Frame 8104 can be constrained by connector shell 8102 so that balladeur train 8104 is movably maintained in passage 8103 and is adapted to The enough motion in passage 8103 and/or slip.For example, passage 8103 can guide and/or constrain balladeur train 8014 relative to shell 8102 motion.In some cases, such as balladeur train 8104 can have inclined surface, such as slope or wedge 8106, example Such as the slope or wedge can also direct and/or are advantageous to balladeur train 8104 and move.

In all cases, coupling configuration 8100 can include trigger 8120, the slope of the trigger and balladeur train 8104 8106 are slidably engaged.For example, trigger 8120 can include inclined surface 8122, the inclined surface is for example configured to Trigger 8120 is when first either moves between unactuated position (Figure 68) and second or actuated position (Figure 67 and Figure 69) Slided along the slope 8106 of balladeur train 8104.In some cases, for example, coupling configuration 8100 can include guiding piece such as guide rail 8110, for example, the guide rail can position and be configured to guide trigger between the first unactuated position and the second actuated position 8120.For example, connector shell 8102 can include a pair of guide rails 8110, this can be limited for trigger 8120 guide rail Actuation path.

In all cases, for example, when trigger 8120 along the actuation path limited by least one guide rail 8110 in side To D₁When from unactuated position, (Figure 68) moves to actuated position (Figure 67 and Figure 69) on (Figure 67 and Figure 69), balladeur train 8104 can be with Via the inclined surface 8122 of trigger 8120 and the slope 8106 of balladeur train 8104 in passage 8103 downwards or in direction D₃ Shifted on (Figure 67 and Figure 69).Thus, for example, the startup of trigger 8120 can be relative to connector shell 8102, trigger 8120 and/or various other parts, component and/or the system of coupling configuration 8100 shift balladeur train 8104.

In all cases, for example, when trigger 8120 along at least one guide rail 8110 in direction D₂From cause on (Figure 68) When dynamic position (Figure 67 and Figure 69) moves to unactuated position (Figure 68), balladeur train 8104 can be via the nauropemeter of trigger 8120 Face 8122 and the slope of balladeur train 8,104 8106 are in passage 8103 upwards or in direction D₄Shifted on (Figure 68).Thus, for example, The actuating of trigger 8120 can influence motion of the balladeur train 8104 relative to connector shell 8102.In some cases, for example, bullet Spring and/or other bias mechanisms can be configured to balladeur train relative to passage 8103 and/or connector shell 8102 8104 and/or trigger 8120 towards precalculated position bias.

Referring now to Figure 66, in all cases, slit 8112 can be defined in connector shell 8102 and/or end performs In device.For example, the size of slit 8112 can be configured to receive the drive member 8172 of the shank 8170 of surgical instruments.Some In the case of, for example, a pair of slits 8112 can be defined in connector shell 8102, and each slit 8112 can be configured to One in the drive member 8172 of shank 8170 can be received.As being more fully described herein, drive member 8172 can join The drive system that is connected in shank 8170 and/or otherwise driven by the drive system in shank 8170.For example, each drive The linear actuators for the drive system that dynamic component 8172 may be coupled in shank 8170 and/or otherwise linear activated by this Device drives, for example, the linear actuators can be configured to that linear actuation motion is translated to and is transferred to end effector In corresponding drive system.

In all cases, be also configured to can be relative to the drive member pod of coupling configuration 8100 for balladeur train 8104 8130 motions and/or displacement.For example, drive member pod 8130 can be configured to receive drive member from shank 8170 One in 8172.Referring primarily to Figure 71, pod 8103 can include opening 8136, and the opening size and/or structure are set Into the drive component for receiving shank 8170.For example, referring primarily to Figure 67, opening 8136 can be configured to receive and drive The distal part of lever 8172.In this case, for example, when in the opening 8136 that drive rod 8172 is fixed in pod 8130 When, such as it is more fully described herein, pod 8130 can be configured to engage via drive rod 8172 and pod 8130 Driving force is transferred to surgical end-effector from shank 8170.

Referring still to Figure 67, drive rod 8172 can include inclined-plane 8176 and groove or pit 8174, for example, the ditch Groove or pit can be advantageous to the engagement and/or locking of drive rod 8172 and pod 8130.In all cases, for example, driving Component pod 8130 can be consolidated and/or be fixed in end effector and/or connector shell 8102, and balladeur train 8104 can be with It is configured to when the passage 8103 in balladeur train 8104 in connector shell 8102 is interior to be slided relative to and/or around pod 8130 motions and/or displacement.

Referring primarily to Figure 71, pod 8130 can include at least one flexible tabs 8132a, 8132b.Flexible tabs 8132a, 8132b can bias inward towards opening 8136, and/or can for example include the tooth of inward bias.In some situations Under, flexible tabs 8132a, 8132b can include tooth 8133, for example, the tooth can be configured to insert in drive rod 8172 When entering in the opening 8136 in pod 8130, the groove 8174 in drive rod 8172 is engaged.For example, the inclined-plane of drive rod 8172 8176 teeth 8133 that can pass through in open socket 8136, and tab 8132 outwards can be bent or be deflected from opening 8136. When drive rod 8172 goes successively to the opening 8136 of pod 8130, tab 8132a, 8132b tooth 8136 are engageable or catch Groove 8174 in drive rod 8172.In this case, for example, tooth 8136- grooves 8174 engage can release drive rod 8172 It is maintained at putting in pod 8130.

In all cases, for example, pod 8130 can include groove 8134, the groove can be configured to receive Spring 8150.In other cases, for example, pod 8136 can include more than one groove 8134 and coupling configuration 8100 can With including more than one spring 8150.In addition, in some cases, pod 8130 can include more than one flexible tabs 8132a,8132b.For example, pod 8130 can include a pair of lateral register tabs 8132a, 8132b.First tab 8132a examples Such as it can be positioned on the first cross side of pod 8130, and the second tab 8132b for example can be positioned on the second of pod 8130 On cross side.In some cases, for example, tab 8132a, 8132b can be deflected outward from opening 8136, it is suitable for drive rod 8172 enter.In other cases, for example, pod 8130 may not include inward bias tab and/or can include more than two Tab.

In all cases, coupling configuration 8100 may also include breech lock or sleeve pipe 8140, and the breech lock or sleeve pipe can be relative Movably positioned in pod 8130.For example, breech lock 8140 can include opening 8142 (Figure 72), the size and structure of the opening can It is configured at least a portion of at least partly about pod 8130.For example, breech lock 8140 can position around pod 8130, and And for example can movably it be positioned relative to the tab 8132a of pod 8130,8132b.In all cases, for example, spring 8150 It can be positioned between a part for pod 8130 and a part for breech lock 8140 so that spring 8150 can be by breech lock 8140 towards holding Nest-position latching (Figure 68) biases.For example, breech lock 8140 can be biased into pod-position latching (Figure 68) by spring 8150, The position, breech lock 8140 are oriented to surround and/or constrain being deflected outward for tab 8132a, 8132b.

In all cases, for example, when breech lock 8140 be oriented to limit and/or prevent tab 8132a, 8132b to Extrinsic deflection, i.e. during in pod position latching, tab 8132a, 8132b moving out away from opening 8136 can be restricted, So that tab 8132a, 8132b can be prevented and/or otherwise be prevented drive rod 8172 relative to opening in pod 8130 Mouth 8136 enters and/or release.In addition, for example, when trigger 8120 moves to actuated position (figure from unactuated position (Figure 68) 67 and Figure 69) when, breech lock 8140 can overcome the bias of spring 8150, and can be moved to from pod position latching (Figure 68) Unlatched position (Figure 67 and Figure 69).Breech lock 8140 can be shifted when in unlatched position and leave flexible tabs 8132a, 8132b so that such as flexible tabs 8132a, 8132b can be deflected outward, and for example pod 8130 can receive drive rod 8172。

In all cases, breech lock 8140 can include projection or projection 8144.In addition, referring primarily to Figure 70, connector Balladeur train 8104 in shell 8102 can include biasing member 8108.For example, biasing member 8108 can include slope or angulation Spend surface, the slope or angled surface can be for example configured to first or pod-position latching (Figure 67 and figure 69) projection 8144 is biased between second or position latching (Figure 68), so as to bias breech lock 8140.For example, work as trigger When 8120 motion causes balladeur train 8104 relative to connector shell 8102 and the displacement of pod 8130, as described herein, projection 8144 can along biasing member 8108 angled surface slide so that breech lock 8140 relative to pod 8130 flexible tabs 8132 Motion.In this case, the startup of trigger 8120 can overcome the bias of spring 8150 and make breech lock 8140 from around holding Pod-position latching of the flexible tabs 8132 of nest 8130 bounces back to unlatched position.In this case, when breech lock 8140 returns During contracting, flexible tabs 8132 can be allowed to deflect and/or engage drive rod 8172.In addition, for example, when trigger does not activate, bullet Spring 8150 can be relative to and/or around flexible tabs 8132a, 8132b bias breech locks 8140 so that limit and/or prevent tab 8132a, 8132b are deflected so as to limit and/or prevent the engagement with drive rod 8172.

In some cases, breech lock 8140 can include a pair of laterally opposed projections 8144, this to projection slideably Engage the laterally opposed biasing member 8108 of balladeur train 8104.In addition, in coupling configuration 8100 in shank 8170 and surgical end When coupling more than one drive system between actuator, for example, balladeur train 8104 can include multiple biasing members 8108 and/or more To biasing member 8108.For example, each pod 8130 can include the projection 8144 of a pair of lateral registers, and such as balladeur train 8104 can include the biasing member 8108 for each projection 8144.

Referring primarily to Figure 68, before startup trigger 8120 and/or when discharging trigger 8120, trigger 8120 can be determined In distal side unactuated position, balladeur train 8104 can be positioned at raised position, and breech lock 8140 relative to connector shell 8102 for position It can be positioned on pod-position latching.In such construct, for example, breech lock 8140 can prevent drive rod 8172 from entering pod 8130 and/or engaged with pod 8130.In all cases, for example, spring 8150 and/or different springs and/or biasing member Trigger 8120 can be biased into unactuated position, balladeur train 8104 can be biased into raised position, and/or will can fastened with a bolt or latch Lock 8140 is biased into pod-position latching.In order to one in drive rod 8172 be connected and/or be attached in pod 8130 One, referring now to Figure 67, for example, trigger 8120 is moveable to nearside actuated position, this can shift balladeur train 8104 To more lower position, so as to which breech lock 8140 is displaced into unlatched position.In such construct, for example, drive rod 8172 can To be configured to enter pod 8130 and/or be received by the pod.

Hereafter, if release trigger 8120, referring now to Figure 68, for example, spring 8150 can be inclined by trigger 8120 Push back distal side unactuated position, balladeur train 8104 can be biased to return to raised position, and breech lock 8140 can be biased to return to pod- Position latching.Thus, for example, the lockable of drive member 8172 is into engaging socket 8130, because breech lock 8140 can prevent flexibility Tab 8132a's, 8132b is deflected outward, and therefore drive member 8172 can be fixed in pod 8130.Therefore, it is existing Referring to Figure 69, in order to which drive member 8172 is separated with pod 8130, caused for example, trigger 8120 can move to nearside again Dynamic position, balladeur train 8104 can be displaced to more lower position by this, so as to which breech lock 8140 is displaced into unlatched position.Herein In class construction, i.e. when pod 8130 is not latched, for example, drive member 8172 can remove from pod 8130.

In all cases, surgical instruments can include the drive system for being attached to motor.In some cases, the motor Various surgical functions can be influenceed with drive system.For example, the motor and drive system can influence surgical end-effector Open and/or close, and can for example influence cutting and/or firing schedule.In some cases, the motor and drive system A variety of different surgical functions can be influenceed.For example, the opening and/or closure of surgical end-effector can independently of or different from come From the cutting and/or percussion of the fastener of surgical end-effector.In this case, drive system can include transmission and/ Or clutch pack, for example, the transmission and/or clutch pack can move being bonded between different output systems for drive system Position.

In all cases, surgical instruments can include drive system, and the drive system has multiple output shafts and is used for The clutch shifted between different output shafts.In some cases, the output shaft may correspond to different surgical functions.For example, First output shaft may correspond to end effector closing motion, and such as the second output shaft may correspond to end effector percussion Motion.In all cases, for example, drive system can be cut between engaging with the first output shaft and being engaged with the second output shaft Change so that surgical function is separated and different and/or independent.For example, end effector closing motion can independently of and Fire and move different from end effector.For example, trigger closing motion and trigger individually percussion when completing closing motion Motion can be preferable.In addition, for example, control and/or drive using the single drive system that may be coupled to electro-motor and be only Vertical closing motion and percussion motion can be preferable.In other cases, first output shaft and the second output shaft can Operatively couple, and for example various surgical functions and/or surgery motion can while and/or occur simultaneously at least in part.

Referring now to Figure 75-78, the shank 8600 for surgical instruments can include drive system 8602, the drive system It may include the first output driving system 8610 and the second output driving system 8620.In all cases, when end effector is attached When being connected to shank 8600, the first drivetrain that the first output driving system 8610 may be coupled in attached end effector System, and the second drive system that the second output driving system 8620 may be coupled in attached end effector.For example, the One output driving system 8610 can influence the clamping of the first surgical function, such as end effector jaw, and such as second Output driving system 8620 can influence the second surgical function, such as fire the percussion that element passes through the end effector.At it In the case of him, for example, can be with relative to the surgical function of the first output driving system 8610 and the second output driving system 8620 Overturn and/or otherwise change.

In all cases, drive system 8602 can include motor sub-assembly, and the motor sub-assembly can include electro-motor 8640 and motor drive shaft 8642.For example, drive gear 8644 can mount to motor drive shaft 8642 so that electro-motor 8640 drive and/ Or influence the rotation of drive gear 8644.In all cases, the first output driving system 8610 can include the first drive shaft 8612 and first driven gear 8612.For example, the first driven gear 8614 can be attached to the first drive shaft 8612 so that first The rotation of the first drive shaft of Effect of Rotation 8612 of driven gear 8614.In all cases, for example, linear actuators 8616 can It is positioned at by screw thread in the first drive shaft 8612, and the rotation of the first drive shaft 8612 can influence linear actuators 8616 Linear displacement.In addition, in all cases, the second output driving system 8620 can include the second drive shaft 8622 and second Driven gear 8624.For example, the second driven gear 8624 can be attached to the second drive shaft 8622 so that the second driven gear The rotation of 8624 the second drive shaft of Effect of Rotation 8622.In all cases, for example, linear actuators 8626 can pass through screw thread It is positioned in the second drive shaft 8624, and the rotation of the second drive shaft 8624 can influence the linear shifting of linear actuators 8626 Position.

In all cases, drive system 8602 may also include transmission or displacement device assembly 8648.For example, displacement device assembly 8648 can be configured to make drive gear 8644 export in the engagement with the first output driving system 8610 and with second Shifted between the engagement of drive system 8620.For some situations, for example, displacement device assembly 8648 can include displacement tooth Wheel 8652, the shifted gear can engage engagement with drive gear 8644.In addition, for example, shifted gear 8652 can be configured to It can shift or move between a series of positions, and can be kept when shifted gear 8652 moves in these position ranges Engagement is engaged with drive gear 8644.

For example, shifted gear 8652 is movable into engaging and/or depart from the first driven gear 8614 and/or the second driven tooth It is at least one in wheel 8624.In all cases, shifted gear 8652 it is movable into the second output driving system 8620 The engagement engagement of second driven gear 8624.For example, as first position (Figure 78) in the position range, shifted gear 8652 can depart from the second driven gear 8624, and for example as the second place (Figure 77) in the position range, Shifted gear 8652 can engage with the second driven gear 8624.For example, connect in shifted gear 8652 and the second driven gear 8624 In the case of conjunction, power can be transferred to the second driven gear 8624 by shifted gear 8652 from drive gear 8644 so that motor 8640 can influence surgical function by the second output driving system 8620.In addition, for example, depart from the in shifted gear 8652 In the case of two driven gears 8624, the rotation of motor 8640 can be not passed to the second output driving system 8620.

In all cases, displacement device assembly 8648 may also include idler gear and/or Transmission gear 8654.For example, pass Passing gear 8642 can be configured to driving force being delivered to the first driven gear 8614 from shifted gear 8652.Various In the case of, Transmission gear 8654 can engage engagement with the first drive gear 8614, such as cause the rotation quilt of Transmission gear 8654 It is delivered to such as the first driven gear 8614.In addition, in all cases, shifted gear 8652 is movable into engagement and/or de- From Transmission gear 8654.For example, as first position (Figure 78) in the position range, shifted gear 8652 can be with biography Pass gear 8654 to engage, and as the second place (Figure 77) in the position range, shifted gear 8652 can depart from Such as Transmission gear 8654.In the case where shifted gear 8652 engages with Transmission gear 8654, shifted gear 8652 can be via Power is delivered to the first driven gear 8614 by Transmission gear 8654 from drive gear 8644.In such cases, for example, motor 8640 can influence surgical functions via such as the first output driving system 8610.Tooth is transmitted in addition, departing from shifted gear 8652 In the case of wheel 8654, the rotation of motor 8640 may be not delivered to such as the first output driving system 8610.

In all cases, Transmission gear 8654 can be rotatably installed in the second of the second output driving system 8620 In drive shaft 8622.For example, Transmission gear 8654 can be configured to rotate without shadow relative to the second drive shaft 8622 Ring the rotation of the second drive shaft 8622 and the second driven gear 8624 fixed to it.In all cases, displaceable member 8648 It may include balladeur train or lining ring 8650, the balladeur train or lining ring can be at least partly around shifted gears 8652.Balladeur train 8650 can surround Shifted gear 8652 positions, such as so that the motion of balladeur train 8650 can move shifted gear 8652.

In all cases, shank 8600 and/or displaceable member 8648 may also include trigger or clutch 8630.Clutch Device 8630 can be configured to shift balladeur train 8650 and/or shifted gear 8652 in the range of position.For example, clutch 8630 may include the trigger from the extension of shank 8600, and can be engaged with balladeur train 8650 and/or shifted gear 8652.Various In the case of, balladeur train 8650 may include pin 8656, and the pin can be extended to from balladeur train 8640 in the hole 8638 (Figure 75) of clutch 8630. For example, clutch 8630 may include the arm 8632 and/or a pair of arms 8632 for the pivotal point 8634 being connected on shank 8600.Clutch Device 8630 can pivot for example at pivotal point 8634, and the pivot of arm 8632 can move the pin 8656 of balladeur train 8560.For example, The motion of balladeur train 8650 can be such that shifted gear 8652 is shifted between first position (Figure 78) and the second place (Figure 77).

In all cases, the motion of balladeur train 8650 can be restrained so that shifted gear 8652 leads to along longitudinal axis Cross its position range.In addition, the pivot stroke and/or range of movement of clutch 8630 can be restrained and/or limited, for example, making Shifted gear 8652 is obtained to be maintained in the position range when clutch 8630 pivots.In addition, the hole 8638 in clutch 8630 (Figure 75) can be configured to and/or be structured to shifted gear 8652 can be maintained and/or is maintained in the range of position And/or alignd with such as one of the second driven gear 8624 and/or Transmission gear 8654.In all cases, handle Portion 8600 may include spring or other bias mechanisms, one shifted gear 8652 is biased into first position or the second place At person.In some cases, shank 8600 may include to be configured to by shifted gear 8652 be maintained at its first position or The bi-stable state compliant mechanism of its second place.For shifted gear 8652 is between first position and the second place, bistable State compliant mechanism can be dynamic instability and for shifted gear 8652 to be placed in into its first position or its second place.Separately Selection of land, shifted gear 8652 can be biased into centre position, wherein shifted gear 8652 can for example with the first output driving system The output driving system 8620 of system 8610 and second simultaneously engages with.In addition or alternatively, shank 8600 may include lock and/or spine Pawl, shifted gear 8652 is maintained at such as one of first position or the second place place.

Surgical instruments may include to be configured to the closure drive device and percussion drive device for operating surgical instruments Rotatable drive shaft.Referring to Figure 79 to Figure 84, surgical instruments 10000 may include rotatable drive shaft 10020, closure drive device 10030 and percussion drive device 10040.As described in more detail below, drive shaft 10020 may include to be configured to grasp Make the first screw thread 10024 of closure drive device 10030 and be configured to operate the second of percussion drive device 10040 Screw thread 10026.In all cases, apparatus 10000 may include such as circular stapler.

Surgical instruments 10000 may include framework 10002 and the device for generating rotary motion.In some cases, revolve Transhipment is dynamic to be produced by the hand-crank of such as manual actuation, and in all cases, rotary motion can be produced by electro-motor. In either case, the rotary motion generated may pass to Rotating input shaft 10010.Input shaft 10010 may include by The nearside bearing portions 10011 and distal side bearing portions 10013 that framework 10002 is pivotably supported.In all cases, nearside Bearing portions 10011 and/or distal side bearing portions 10013 can be directly supported by framework 10002, and in some cases, nearside Bearing portions 10011 and/or distal side bearing portions 10013 may include the axle being positioned between input shaft 10010 and framework 10002 Hold.Input shaft 10010 may also include the gear 10012 for being installed to and/or being bonded to input shaft 10010 so that work as input shaft 10010 along direction A (Figure 79) rotate when, gear 10012 also along direction A rotate.Correspondingly, when input shaft 10010 is along phase negative side When being rotated to i.e. direction A ' (Figure 82), gear 10012 also rotates along direction A '.

Referring primarily to Figure 79 and Figure 80, drive shaft 10020 may include proximal end 10021 and distal end 10023.Nearside End 10021 and distal end 10023 can be pivotably supported by framework 10002.In all cases, proximal end 10021 And/or distal end 10023 can be directly supported by framework 10002, and in some cases, proximal end 10021 and/or distal side End 10023 may include the bearing being positioned between drive shaft 10020 and framework 10002.Gear 10022 can be installed to and/ Or it is bonded to the proximal end 10021 of drive shaft 10020.Gear 10022 engages engagement with gear 10012 so that works as input shaft 10010 along direction A rotate when, drive shaft 10020 along direction B rotate.Correspondingly, referring to Figure 81, when input shaft 10010 is along direction When A ' rotates, drive shaft 10020 rotates along direction B '.

Referring again to Figure 79, closure drive system 10030 may include to engage with the first screw thread 10024 of drive shaft 10020 Closure pin 10032.Closure drive system 10030 may also include translatable enclosed member 10033.Closure pin 10032 is positioned In hole in the proximal end for being defined in enclosed member 10033.Closure pin 10032 may include to be positioned at by the first screw thread First end in 10024 grooves limited.When drive shaft 10020 rotates, the side wall of groove can contact closure pin 10032 First end and make closure pin 10032 proximally or towards distal side shift, this depend on wherein drive shaft 10020 rotate side To.For example, when drive shaft 10020 rotates along direction B (Figure 79), what closure pin 10032 can be as indicated by the D of direction moves towards distal side Position or translation.Correspondingly, when drive shaft 10020 rotates along direction B ' (Figure 82), closure pin 10032 can be as indicated by the P of direction Proximally displacement or translation.Closure pin 10032 can be closely received in the hole being defined in enclosed member 10033, is made The displacement or translation for obtaining closure pin 10032 are passed to enclosed member 10033.As it will be appreciate that, closure pin 10032 and close Conjunction component 10033 is restrained and can not be rotated relative to framework 10002 so that the rotation of drive shaft 10020 is converted into closure The translation of pin 10032 and enclosed member 10033.

Referring primarily to Figure 80, the first screw thread 10024 extends along the first length 10025 of drive shaft 10020.In some situations Under, the first screw thread 10024 can extend along the whole length of drive shaft 10020, and in other cases, the first screw thread 10024 can Extend along the whole length for being less than drive shaft 10020.First screw thread 10024 may include the proximal end with drive shaft 10020 10021 adjacent portions of proximal and the distal part adjacent with the distal end 10023 of drive shaft 10020.Work as closure pin When in 10032 distal parts in the first screw thread 10024, as shown in Figure 81, enclosed member 10033 can be by surgical instruments 10000 anvil positioning is in open position.When drive shaft 10020 rotates along direction B ', closure pin 10032 can proximally be put down Move, until closure pin 10032 reach the first screw thread 10024 portions of proximal, as shown in Figure 82.In closure pin 10032 proximally During motion, closure pin 10032 can proximally pull enclosed member 10033 and anvil block.When closure pin 10032 reaches the first screw thread During 10024 portions of proximal, anvil block can be at fully closed position.

Further described above, closure drive device 10030 can be operated to the anvil block of surgical instruments 10000 Relative to cartridge movement to suitable position.In all cases, surgical instruments 10000 may include actuator, and the actuator can Operate in the first direction with along direction A Rotating input shafts 10010 and along direction B rotation drivings axle 10020, and can be along second party To operation with along direction A ' Rotating input shafts 10010 and along direction B ' rotation drivings axle 10020.In other cases, surgery device Tool 10000 may include to be configured in operation along direction A Rotating input shafts 10010 and along direction B rotation driving axles 10020 the first actuator, and be configured to revolve in operation along direction A ' Rotating input shafts 10010 and along direction B ' Turn the second actuator of drive shaft 10020.In either case, the operator of surgical instruments 10000 can direction as needed With the anvil block away from cartridge movement surgical instruments 10000, so as to gap needed for being formed between anvil block and nail bin.When anvil block is in During its fully closed position, it can produce or such required gap can not be produced.

Further described above, surgical instruments 10000 may include to be configured to reach in closed-system 10030 To the fastener for receiving and releasably holding drive pin 10032 during its complete closed configuration.Referring primarily to Figure 81 and Figure 82, surgery Apparatus 10000 may include fastener element stems 10073, and the fastener element stems have the fastener hole 10077 being defined in fastener element stems.In drive pin 10032 when proximally promoting, and drive pin 10032 can become to be aligned with fastener hole 10077, then at least partially into fastener hole 10077.Fastener pin 10032 can be by being positioned at enclosed member 10033 and the circumference first 10037 around the extension of fastener pin 10032 Middle spring 10035 biases towards fastener element stems 10073.When fastener pin 10032 positions relative to fastener hole 10077 towards distal side When, spring 10035 can bias drive pin 10032 against fastener element stems 10073.When fastener pin 10032 passes through drive screw 10020 When rotation is proximally moved and becomes to be aligned with fastener hole 10077, spring 10035 can move upward to drive pin 10032 In fastener hole 10077.Drive pin 10032 can be moved upwards by spring 10035, until the head contact button of drive pin 10032 Part bar 10073.It is worth noting that, the motion of drive pin 10032 towards fastener hole 10077 can cause drive pin 10032 to become It is operatively disengaged from the first screw thread 10024.Therefore, when drive pin 10032 reaches fastener hole 10077, closed-system 10030 can It is deactivated so that the follow-up rotation of drive shaft 10020 does not make drive pin 10032, enclosed member 10033 and operable with it The anvil block motion of ground engagement, is re-engaged, in following article further more at least up to drive pin 10032 and the first screw thread 10024 Describe in detail.

As described above, drive pin 10032, which enters in the fastener hole 10077 of fastener element stems 10073, can limit closed-system 10030 The terminal of closing stroke and the fully closed position of anvil block.In all cases, fastener element stems 10073 can not be relative to framework 10002 motion and fastener hole 10077 can limit fixed position.In other cases, fastener element stems 10073 can be relative to framework 10002 motions.In this case, the final closing position of anvil block is by the position depending on fastener hole 10077.Therefore, anvil block Gap between the nail bin of surgical instruments 10000 is by the position depending on fastener hole 10077.Referring generally to Figure 79, surgery device Tool 10000 may also include the gap initialization system 10070 for being configured to move fastener element stems 10073.Gap initialization system 10070 may include rotatable knob 10072 and the drive gear 10071 engaged with rotatable knob 10072.Fastener element stems 10073 may include the rack 10075 from its extension, and the rack includes multiple teeth.Drive gear 10071 engages with rack 10075 Engagement so that when knob 10072 is rotated in a first direction, rack 10075 can drive fastener element stems 10073 towards distal side, and work as For knob 10072 along during the second direction rotation opposite with first direction, rack 10075 can proximally drive fastener element stems 10073.When Fastener element stems 10073 towards distal side move when, fastener hole 10077 can be oriented so as to be in its complete when closure drive device 10030 During full-application position, larger gap may be present between anvil block and nail bin.When fastener element stems 10073 are proximally moved, fastener hole 10077 can be oriented so that when closure drive device 10030 is in its fully closed position, can be deposited between anvil block and nail bin In small gap.In all cases, fastener hole 10077 can be positioned in position range, and the position range can accommodate surgery device The distance between the anvil block and nail bin of tool 10000 scope.

In all cases, gap initialization system 10070 may include to be configured to releasedly consolidate knob 10072 It is scheduled on the knob lock of appropriate location.For example, framework 10002 may include the lock protrusion 10004 from its extension, the lock protrusion can It is received in and is defined in one or more of knob 10072 lockhole 10074.Lockhole 10074 can circumferentially path orientation.Often Individual lockhole 10074 can be with closing between the predeterminated position of drive device 10030 and the anvil block and nail bin of surgical instruments 10000 Prepsetting gap distance is corresponding.For example, when lock protrusion 10004 is positioned in the first lockhole 10074, drive device is closed 10030 are positively retained at the first predeterminated position, and correspondingly, anvil block is positively retained at away from the pre-determined distance of nail bin first.In order to incite somebody to action Knob 10072 moves to the second predeterminated position, and knob 10072 can be lifted away from framework 10002 so that lock protrusion 10004 No longer it is positioned in the first lockhole 10074, rotates to drive rack 10075 and fastener element stems 10073, then towards framework 10002 Motion so that lock protrusion 10004, which enters, to be defined in the second lockhole 10074 in knob 10072.When lock protrusion 10004 When being positioned in the second lockhole 10074, closure drive device 10030 can be held in the second predeterminated position, and correspondingly, anvil block It is positively retained at away from the pre-determined distance of nail bin second, second pre-determined distance is different from the first pre-determined distance.In order to by knob 10072 The 3rd predeterminated position is moved to, knob 10072 can be lifted away from framework 10002 so that lock protrusion 10004 is no longer positioned at In first lockhole or the second lockhole 10074, rotate to drive rack 10075 and fastener element stems 10073, then towards framework 10002 Motion so that lock protrusion 10004, which enters, to be defined in the 3rd lockhole 10074 in knob 10072.When lock protrusion 10004 When being positioned in the 3rd lockhole 10074, closure drive device 10030 can be held in the 3rd predeterminated position, and correspondingly, anvil block It is positively retained at away from the pre-determined distance of nail bin the 3rd, the 3rd pre-determined distance is different from the first pre-determined distance and the second pre-determined distance. Gap initialization system 10070 may also include the biased element for being configured to that knob 10072 is biased towards framework 10002.Example Such as, gap initialization system 10070 may include to be positioned at shell 10002 and the spring 10076 among drive gear 10071, the bullet Spring is for example configured to lockhole 10074 being biased into and engaged with lock protrusion 10004.

In some cases, the operator of surgical instruments 10000 can distinguish closed system by observing the position of anvil block The position of system 10030.However, in some cases, anvil block is probably sightless in surgery surgical field of view.Referring primarily to figure 79, surgical instruments 10000 may also include the anvil position instruction system 10050 for the position for being configured to indicate anvil block.Anvil Seat Position Indicator System 10050 may include the window 10058 being defined in framework 10002 and can be observed by window 10058 The pivotable component 10051 arrived.Pivotable component 10051 may include to be rotatably mounted to the pivot 10052 of framework 10002, Drive end 10054 and display end 10056.What pivotable component 10051 can be in a fully open position in instruction anvil block Between first position (Figure 81) and the instruction anvil block second place (Figure 82) in the fully closed position, and first position with Moved between position range between the second place, the position range represents the position range of anvil block.Closed-system 10030 can To be configured to contact the driving end 10054 of pivotable component 10051, so that pivotably component 10051 moves.Mainly Referring to Figure 82, when drive pin 10032 is proximally moved by drive shaft 10020, drive pin 10032 can proximally pull closure Component 10033 so that the shoulder 10036 being limited on enclosed member 10033 can contact the driving end of pivotable component 10051 10054 and rotate pivotable component 10051 around pivot 10052.The rotation of pivotable component 10051 can be in window 10058 Interior kinematic displays end 10056, to indicate the position of anvil block.In order to be advantageous to this observation, framework 10002 and/or window 10058 may include one or more lines of demarcation 10059, and the line of demarcation may indicate that the position of anvil block.For example, work as pivotable component When 10051 display end 10056 is alignd with nearside line of demarcation 10059 (Figure 81), operator can determine that anvil block is in and open Position, and when display end 10056 is alignd with distal side line of demarcation 10059 (Figure 82), operator can determine that anvil block is in Closing position.If among 10056 proximally positioned line of demarcation of display end and distal side line of demarcation 10059, operator can It is assumed that the position that anvil block is between its open position and its closing position.Between nearside line of demarcation and distal side line of demarcation 10059 Additional line of demarcation 10059 may be used to indicate the additional position of anvil block.When enclosed member 10033 is moved to open anvil block towards distal side When (Figure 84), pivotable component 10051 can be rotated back into its first position and become right with nearside line of demarcation 10059 again Together.Position Indicator System 10050, which may also include, to be for example configured to pivotable component 10051 being biased into its first position In biasing member, such as spring.

As described above, the closed-system 10030 of surgical instruments 10000 can be operable to relative to nail bin mapping surgical apparatus 10000 anvil block.During the operation of closed-system 10030, trigger system 10040 can not be operated.Trigger system 10040 Can with drive shaft 10020 it is inoperable engage, until closure drive device 10030 reached its fully closed position it Afterwards.Surgical instruments 10000 may include for example to be configured to surgical instruments in anvil block closed procedure pattern and nail percussion behaviour The switch switched between operation mode, such as switchs 10060.Closure drive device 10030 may also include from enclosed member The switch pin 10031 of 10033 proximal end extension.According to Figure 81 and Figure 82 contrast, reader will be appreciated that, in closure pin 10032 when just proximally promoting to close anvil block, and switch pin 10031 contacts with switch 10060.Switch 10060 can surround pivot 10062 are pivotally mounted to framework 10002 and may include one or more arms 10064 from its extension.Work as drive pin During 10032 its fully closed position of arrival, switch pin 10031 can contact arm 10064 and surround the rotary switch of pivot 10062 10060.Switch 10060 may also include the arm 10066 from its extension, and the arm can be configured to when switch 10060 surrounds The percussion nut 10042 for firing drive device 10040 is pushed to drive shaft 10020 operationally when pivot 10062 rotates Engagement.More specifically, in the case of at least one, arm 10066 can be configured to make push rod 10044 shift towards distal side, Percussion nut 10042 can be then pushed on the second screw thread 10026 by the push rod.Now, drive pin 10032 and closed-system 10030 can depart from the first screw thread 10024, and this is due to above-mentioned fastener hole 10077, percussion nut 10042 and trigger system 10040 can engage with the second screw thread 10026.

Further described above, percussion nut 10042 may include the screwed hole being defined in percussion nut 10041, the screwed hole can be threadably engaged with the second screw thread 10026.Further described above, when closure driving dress When putting 10030 and operating, percussion nut 10042 can proximally position relative to the second screw thread 10026 so that screwed hole 10041 are not threadably engaged with the second screw thread 10026.In this case, percussion nut 10042 can be at idle condition, And drive shaft 10020 is rotated to operate closed-system 10030.Further described above, when percussion nut 10042 is towards remote When side shifts, screwed hole 10041 can become to be threadably engaged with the second screw thread 10026.Once fire nut 10042 and second Screw thread 10026 is threadably engaged, then rotation of the drive shaft 10020 along direction B ' (Figure 82) will make percussion nut 10042 towards remote Side shifts.Percussion nut 10042 may include one or more anti-rotational features, such as flange 10043, such as it can be with framework 10002 slidably engage to prevent percussion nut 10042 from being rotated together with drive shaft 10020.Fire drive device 10040 also It may include the firing member for being connected to percussion nut 10042, the firing member can be promoted by percussion nut 10042 towards distal side.Hit Hair component can be configured to project from nail bin and follow closely.When percussion nut 10042 reaches the distal end of the second screw thread 10026 When, percussion nut 10042 can become by screw thread to depart from the second screw thread 10026, and wherein drive shaft 10020 is along the attached of direction B ' Put english and turn no longer promote percussion nut 10042.

Referring primarily to Figure 82 and Figure 83, surgical instruments 10000 may also include the distal end for being positioned at the second screw thread 10026 The reverse starting device 10047 at place.When firing the distal end of the second screw thread 10026 of arrival of nut 10042, nut is fired 10042 can be configured to contact reverse actuator 10047 and reverse actuator 10047 is shifted towards distal side.Such as The biasing member of spring 10048 for example can be positioned on reverse actuator 10047 and among framework 10002, the framework can be by structure The distal side that can resist reverse actuator 10047 is caused to move.As shown in Figure 83, the distal side motion of reverse actuator 10047 can Compression spring 10048 and to percussion nut 10042 apply nearside biasing force.When drive shaft 10020 rotates along direction B, apply The weight of 10041 and second screw thread of screwed hole 10026 of nut 10042 can will be fired by being added to the nearside biasing force of percussion nut 10042 Newly engage, and fire nut 10042 can proximally move, as shown in Figure 84.The proximal movement of percussion nut 10042 will can be hit Hair component proximally moves.During present dynasty's proximal movement, percussion nut 10042 can shift push rod 10044 so that push rod The arm 10066 of 10044 contact-making switches 10060 and switch 10060 is rotated back to its non-switching position in opposite direction.This When, percussion nut 10042 can become by screw thread to depart from the second screw thread 10026, and the entering along direction B of drive shaft 10020 The rotation of one step can no longer be such that percussion nut 10042 proximally shifts.Now, percussion nut 10042 will recover its clear position.

Further described above, when switch 10060 is rotated back to its initial position, 10060 arm is switched 10064 can be towards distal side pull switch pin 10031 and enclosed member 10033.The distal side of switch pin 10031 and enclosed member 10033 Motion can be such that drive pin 10032 is shifted from the fastener hole 10077 being defined in fastener element stems 10073.Button is left in drive pin 10032 During part hole 10077, drive pin 10032 can overcome the biasing force of spring 10035 to move downward, so as to below fastener element stems 10073 Slide.Drive pin 10032 and the first screw thread 10024 can be re-engaged by moving downward for drive pin 10032.Drive shaft 10020 Along further rotating for direction B drive pin 10032 and enclosed member 10033 will be made to be shifted towards distal side, to open surgical instruments 10000 anvil block.Now, surgical instruments 10000 will be reset in its follow-up use.In all cases, nail bin can It is replaced and/or reloads, and surgical instruments 10000 can reuses.

Such as reader by being understood above, drive screw 10020 can shift drive pin 10032 to operate closure driving Device 10030, and shift percussion nut 10042 and fire drive device 10040 to operate.To further being retouched above State, drive screw 10020 can be such that drive pin 10032 is shifted along the first length 10025 of drive screw 10020.Similarly, drive Screw rod 10020 can be such that percussion nut 10042 is shifted along the second length 10027 of drive screw 10020.First length 10025 can The closing stroke of closed-system 10030 is limited, and the second length 10027 can limit the firing schedule of trigger system 10040.The One length 10025 is grown than the second length 10027, but in some cases, the second length 10027 is than the first length 10025 length.In use, closure pin 10032 can pass through percussion nut 10042.For example, when closure pin 10032 is proximally moved During closing anvil block, closure pin 10032 can be when firing nut 10042 and being in its clear position by percussion nut 10042.Phase As, when closure pin 10032 is moved to open anvil block towards distal side, closure pin 10032 can pass through hitting in its clear position Fat nut 10042.For the ease of the relative motion, percussion nut 10042 may include the opening being for example defined in percussion nut, Such as slit 10046, when closure pin 10032 is moved relative to percussion nut 10042, closure pin 10032 may pass through the opening. In various other embodiments, such opening for being defined in percussion nut 10042, which may also allow for firing nut 10042, to be slipped over and closes Dowel pin 10032.

Further described above, the first length 10025 and the second length 10027 can be overlapping at least in part.This Outside, the first screw thread 10024 and the second screw thread 10026 can be overlapping at least in part.First screw thread 10024 and the second screw thread 10026 It can be limited on the same section of drive screw 10020.First screw thread 10024 and the second screw thread 10026 can be sufficiently dissimilar, and be made Obtain closure pin 10032 and do not follow the second screw thread 10026, and cause percussion nut 10042 not follow the first screw thread 10024.Example Such as, the first screw thread 10024 can have the first pitch, and the second screw thread 10026 can have second spiral shell different from the first pitch Away from.First pitch of the first screw thread 10024 can be constant or can not be constant.In the situation of the first constant pitch Under, the closure pin 10032 and anvil block that are operatively engaged with the first screw thread 10024 will be transported with constant speed in whole closing stroke It is dynamic, to obtain the given rotary speed of drive shaft 10020.In the case where the first pitch is non-constant, closure pin 10032 and anvil block It will be moved with friction speed during closing stroke, to obtain the given rotary speed of drive shaft 10020.For example, the first screw thread The pitch of 10024 distal part can be more than the pitch of the portions of proximal of the first screw thread 10024.In this case, anvil block will Quickly move away from its open position and close to its closing position when more slowly move, with obtain drive shaft 10020 to Determine rotary speed.Such arrangement will allow anvil block to be rapidly moved to suitably against the tissue being positioned among anvil block and nail bin Position, then more slowly moved when anvil block engages with tissue, so as to reduce the possibility of excess compression tissue.Various other In the case of, the pitch of the distal part of the first screw thread 10024 is smaller than the pitch of the portions of proximal of the first screw thread 10024.It is in office In the case of one kind, pitch can change between the end of the first screw thread 10024.The change can be linear and/or non-linear 's.

Further described above, the second pitch of the second screw thread 10026 can be constant or can not be perseverance Fixed.The percussion nut 10042 being operatively engaged in the case of the second constant pitch with the second screw thread 10026 and percussion Component will be moved with constant speed in whole closing stroke, to obtain the given rotary speed of drive shaft 10020.In the second spiral shell In the case of non-constant, firing nut 10042 and firing member will be moved with friction speed during firing schedule, to obtain The given rotary speed of drive shaft 10020.For example, the pitch of the distal part of the second screw thread 10026 is smaller than the second screw thread The pitch of 10026 portions of proximal.In this case, firing member will more slowly move in the destination county of its firing schedule, To obtain the given rotary speed of drive shaft 10020.Such arrangement will reach the terminal of nail forming process in firing member When slow down it.In addition, such arrangement can generate substantial amounts of moment of torsion in the destination county of firing schedule, the moment of torsion shapes with nail The completion of process is related.In the case of various other, the pitch of the distal part of the second screw thread 10026 can be more than the second screw thread The pitch of 10026 portions of proximal.In either case, pitch can change between the end of the second screw thread 10026.The change Change can be linear and/or nonlinear.

Turning now to Figure 86 to Figure 93, surgical instruments 10500 may include axle 10504 and end effector 10505.Hold end Row device 10505 may include nail bin 10506 and movable anvil block 10508.Surgical instruments 10500 may include have and the energy of anvil block 10504 The closure drive device for the enclosed member being enough operatively engaged and be configured to from nail bin 10506 deployment nail The percussion drive device of firing member.Surgical instruments 10500 may include the device for generating rotary motion, such as hand-crank And/or electro-motor.Rotary motion may pass to input shaft 10510.Surgical instruments 10500 may include conveyer 10502, The conveyer is configured to be selectively transferred to close drive device by the rotation of input shaft 10510 and percussion drives Device, following article are further discussed in more detail.

Input shaft 10510 may include to install and/or be bonded to its input gear 10512, the input gear and input shaft 10510 rotate together.Input shaft 10510 can be by the framework of surgical instruments 10500 in proximal end 10511 and distal end It is pivotably supported at 10519.Input gear 10512 can be with installing and/or being bonded to the idler gear of jackshaft 10520 10522 engagement engagements.Therefore, when input shaft 10510 and input gear 10512 rotate along direction A (Figure 89), jackshaft 10520 and idler gear 10522 along direction B (Figure 89) rotate.Similar to the above, jackshaft 10520 can be by surgical instruments framework It is pivotably supported at proximal end 10521 and distal end 10529.Jackshaft 10520 may also include threaded portion 10524, the threaded portion can be threadably engaged with shift unit block 10526.Referring primarily to Figure 87, shift unit block 10526 can wrap Include the one or more screwed holes 10527 being threadably engaged with threaded portion 10524.Referring primarily to Figure 89, work as jackshaft 10520 along direction B rotate when, jackshaft 10520 can be such that shift unit block 10526 proximally shifts.

Further described above, shift unit block 10526 may include the gear slot being defined in shift unit block 10528.Input shaft 10510, which may also include, is slideably mounted to its sliding block gear 10516, and the sliding block gear is positioned at gear In slit 10528.When shift unit block 10526 is proximally moved by jackshaft 10520, as described above, shift unit block 10526 Input shaft portion 10514 of the sliding block gear 10516 along bonding can proximally be promoted.Referring primarily to Figure 87, sliding block gear 10516 May include the hole 10517 being defined in sliding block gear, the hole includes one or more flat surfaces, the flat surfaces for example with Corresponding flat surfaces alignment on bonding input shaft portion 10514.Hole 10517 and the flat table of bonding input shaft portion 10514 Face can allow sliding block gear 10516 along the longitudinal sliding motion of input shaft 10510, and also cooperate with sliding block gear 10516 and input Conveying rotary motion between axle 10510.As described in more detail below, shift unit block 10526 can slide sliding block gear 10516 Move through first position scope, second place scope and the invalid bit among first position scope and second place scope Put or inoperative position scope, sliding block gear 10516 engages with closure axle 10530 in the scope of first position, in second place model Enclose middle sliding block gear 10516 to engage with beating shaft 10540, sliding block gear 10516 is not in inoperative position or inoperative position scope Engaged with closure any one of axle 10530 or beating shaft 10540.

Further described above, Figure 85 shows the anvil block of end effector 10505 in the fully closed position 10508 and the percussion drive device 10548 in non-firing position.Figure 86 shows conveyer 10502, its configuration and Figure 85 The configuration of shown end effector 10505 is consistent.More specifically, sliding block gear 10516 is in its invalid or clear position, and It is not operatively engaged with the closure axle 10530 for closing drive device or the beating shaft 10540 for firing drive device.When sliding block tooth When wheel 10516 is in its clear position, sliding block gear 10516 is positioned in installation and/or is bonded to the closure of closure axle 10530 Gear 10532 is with installing and/or being bonded among the percussion gear 10542 of beating shaft 10540.In addition, work as sliding block gear 10516 During in its clear position, sliding block gear 10516 does not engage with closure gear 10532 or percussion gear 10542.Such as Figure 88 institutes Show, in order to which anvil block 10508 is moved into its open position, and/or anvil block 10508 is separated with end effector 10505, input Axle 10510 can rotate along direction A, as shown in Figure 89.As described above, rotation of the input shaft 10510 along direction A can make jackshaft 10520 rotate along direction B and proximally move shift unit block 10526.When shift unit block 10526 proximally moves, displacement Sliding block gear 10516 can be pushed to by device block 10526 to be operatively engaged with closure gear 10532.Now, input shaft 10510 Closure axle can be sent to along direction A lasting rotation via the sliding block gear 10516 and closure gear 10532 of engagement engagement 10530.When sliding block gear 10516 engages engagement with closure gear 10532, rotation of the input shaft 10510 along direction A will make defeated Shaft 10530 rotates along direction C, as shown in Figure 89.Closure drive device may also include with the spiral shell being defined in closure nut The closure nut 10536 of pit 10537, the closure nut are threadably engaged with closing the threaded portion 10534 of axle 10530. Closure nut 10536 may include the one or more anti-rotational features slidably engaged with the framework of surgical instruments, for example, should Anti-rotational feature can prevent that close nut 10536 rotates together with closing axle 10530 so that the rotary motion of closure axle 10530 The lengthwise movement of closure nut 10536 can be converted into.Closed-system may also include the enclosed member extended from closure nut 10536 10538, the enclosed member can engage with anvil block 10508.Referring again to Figure 89, when closure axle 10530 rotates along direction C, close Closing nut 10536 and enclosed member 10538 can promote towards distal side so that anvil block 10508 is moved into open position.

Further described above, Figure 89 shows the conveyer 10502 in closed configuration, in the configuration, Anvil block 10508 can be opened and close.When sliding block gear 10516 engages engagement with closure gear 10532, input shaft 10510 Direct drive is closed into axle 10530.Simultaneously as engage engagement between input gear 10512 and idler gear 10522, it is defeated Jackshaft 10520 will be directly driven by entering axle 10510.In addition, when sliding block gear 10516 engages engagement with closure gear 10532, Sliding block gear 10516 does not engage engagement with percussion gear 10542, therefore, defeated when conveyer 10502 is in closed configuration Beating shaft 10540 will not be driven by entering axle 10510.

Further described above, once anvil block 10508 has been moved to open position and/or and enclosed member 10538 separation, tissue can be positioned among anvil block 10508 and nail bin 10506.Then, referring to Figure 90 and Figure 91, anvil block 10508 can by making input shaft 10510, (i.e. direction A ') rotation moves to its closing position in opposite direction, this will make closure (i.e. direction C ') rotates axle 10530 in opposite direction, proximally to move closure nut 10536, enclosed member 10538 and anvil Seat 10508.When input shaft 10510 rotates along direction A ', input shaft 10510 will also in opposite direction (i.e. direction B ') rotation in Countershaft 10520.When jackshaft 10520 rotates along direction B ', jackshaft 10520 will make shift unit block 10526 and sliding block gear 10516 shift towards distal side.Shift unit block 10526 can by sliding block gear 10516 towards distal side promote, until sliding block gear 10516 not Engagement is engaged with closure gear 10532 and sliding block gear 10516 has returned to its clear position again.Jackshaft 10520 is along direction B ' additional rotation will cause shift unit block 10526 by sliding block gear 10516 towards distal side shift, until sliding block gear 10516 with Fire the engagement engagement of gear 10542.Now, beating shaft 10540 can be directly driven referring to Figure 92 and Figure 93, input shaft 10510.So Afterwards, when input shaft 10510 rotates along direction A ', input shaft 10510 can rotate beating shaft 10540 along direction D '.Trigger system The percussion nut 10546 with screwed hole 10547 is may also include, the threaded portion 10544 of the percussion nut and beating shaft 10540 It is threadably engaged.When beating shaft 10410 rotates along direction A ', beating shaft 10540 can promote percussion nut towards distal side 10546.Percussion nut 10546 may include one or more anti-rotational features, and the anti-rotational feature can be with the frame of surgical instruments Frame slidably engages so that percussion nut 10546 does not rotate with together with beating shaft 10540, and causes beating shaft 10540 Rotary motion can be converted into the lengthwise movement of percussion nut 10546.Percussion drive device may also include prolongs from percussion nut 10546 The firing member 10548 stretched, the firing member are promoted towards distal side and followed closely with being projected from nail bin 10506.Whole in trigger system hits Issue in journey, shift unit block 10526 can continue towards distal side promoting slider gear 10516.When shift unit block 10526 is by sliding block gear 10516 when being advanced into the point that wherein sliding block gear 10516 is no longer threadably engaged with percussion gear 10542 towards distal side, percussion Stroke can be completed.Now, firing member 10548 can be at its complete firing position.

Further described above, Figure 93 shows the conveyer 10502 in percussion configuration, in the configuration, Firing member 10548 can be pushed into or bounce back.When sliding block gear 10516 engages engagement with percussion gear 10542, input shaft 10510 will directly drive beating shaft 10540.Simultaneously as engaging between input gear 10512 and idler gear 10522 connects Close, input shaft 10510 will directly drive jackshaft 10520.In addition, connect when sliding block gear 10516 engages with percussion gear 10542 During conjunction, sliding block gear 10516 does not engage engagement with closure gear 10532, therefore, when conveyer 10502 is in percussion configuration When, input shaft 10510 will not drive closure axle 10530.

In order that firing member 10548 bounces back, input shaft 10510 can be rotated along direction A with along direction B rotating intermediate shafts 10520, shift unit block 10526 is proximally shifted, and sliding block gear 10516 is re-engaged with percussion gear 10542.This When, input shaft 10510 will be such that beating shaft 10540 is rotated along the direction opposite with direction D ' along the direction A rotation that continues, and make percussion Nut 10546 proximally shifts, and firing member 10548 is bounced back.Percussion gear 10542 is rotated in sliding block gear 10516 When, shift unit block 10526 can continue proximally traction sliding block gear 10516, until sliding block gear 10516 is no longer with firing gear 10542 engagements engage and sliding block gear 10516 reaches its clear position.Now, lasting rotation of the input shaft 10510 along direction A Turn to continue to make shift unit block 10526 and sliding block gear 10516 proximally shift and by sliding block gear 10516 with closing gear 10532 are re-engaged to reopen anvil block 10508.

Figure 94 to Figure 98 shows to be configured to suture and/or cut the surgical instruments 11010 of tissue.Surgical instruments 11010 may include pistol grip shape shank 11015.Shank 11015 includes the first handle portions for limiting longitudinal axis 11030 11020, jaw 11070 and 11090 can extend from first handle portions.Shank 11015 includes the second handle portions, i.e. shank Handle 11040, it limits Part II axis 11050.Part II axis 11050 limits angle together with longitudinal axis 11030 Degree 11060.In all cases, angle 11060 may include any suitable angle, such as about 120 degree.Jaw 11070 can wrap Warehouse channel is included, the warehouse channel has the opening for being configured to removedly receive nail bin 11080.Nail bin 11080 may include Removedly it is stored in multiple nails in the nail cavity of at least two stringers arrangement, a stringer is used on the either side of passage It can be advanced in the channels in the knife of transecting patient tissue, it is as described in greater detail below., can be vertical by three at least one situation Capable nail cavity is arranged on the first side of knife passage, and the nail cavity of three stringers may be arranged on the second side of knife passage.Jaw 11090 may include anvil block, and the anvil block can rotate to position that is relative with nail bin 11080 and aligning so that be defined in anvil Anvil block pit in seat 11090 can receive the nail projected from nail bin 11080 and make its shaping.Figure 98 shows in an open position Anvil block 11090, and Figure 94 shows anvil block 11090 in the close position.Although be not shown, but it is envisioned that other embodiment, its Including the jaw of nail bin 11080 can rotate relative to anvil block 11090.Under any circumstance, as described in more detail below, Shank 11015 may also include close push button 11065 (Figure 98) and firing button 11055, and the close push button is configured to grasp Make the closed-system for moving anvil block 11090 between its open position and closing position, the firing button is configured to Operation will follow closely the trigger system projected from nail bin 11080.Close push button 11065 can be positioned and be arranged on shank 11015 so that It can be easy to be approached by the thumb of the hand of the support shank 11015 of such as operator, and firing button 11055 can be positioned and cloth It is set to so that it can be easy to be approached by the forefinger of the hand of the support shank 11015 of operator.

Further described above, during use, anvil block 11090 can move toward and away from nail bin 11080. In the case of various, close push button 11065 may include two-way switch.When close push button 11065 presses in the first direction, surgery device The closed-system of tool 11010 can move anvil block 11090 towards nail bin 11080, and when close push button 11065 is pressed in a second direction During pressure, anvil block 11090 can be moved away from nail bin 11080 by closed-system.Referring primarily to Figure 95 and Figure 97, closed-system may include It is configured to move the closure motor 11110 of anvil block 11090.Closure motor 11110 may include from the rotatable of its extension Axle 11130 is closed, the first closure gear 11140 is attachable to the closure axle.The rotatable closure axle 11130 of motor 11110 is closed, And close axle 11130 rotatable first and close gear 11140.First closure gear 11140 can engage with idle gear 11150 to be connect Close, the idle gear then can engage engagement with closure driving screw drive gear 11160.It is attached to close driving screw drive gear 11160 It is connected to closure driving screw 11170.When the first closure gear 11140 is rotated by closing axle 11130, the first closure gear 11140 rotatable idle gears 11150, the rotatable closure driving screw drive gear 11160 of idle gear 11150, and close guide screw The rotatable closure driving screw 11170 of bar drive gear 11160.

Referring primarily to Figure 97, closure axle 11130, first closes gear 11140, idle gear 11150 and closure driving screw and driven Moving gear 11160 can be pivotably supported by the motor block 11125 being supported in handle portions 11120.Close driving screw 11170 It may include the first end that is equally pivotably supported by motor block 11125 and/or the rotatable twelve Earthly Branches of shell by shank 11015 The second end of support.Closure driving screw 11170 may additionally include the threaded portion among first end and the second end.Closed system System may also include the closure blocks 11175 (Figure 96) can with screwed hole 11176, the spiral shell of the screwed hole and closure driving screw 11170 Line part is threadably engaged.Closure blocks 11175 can it is restrained and can not with closure driving screw 11170 together with rotate so that when When closing the rotation of driving screw 11170, closure driving screw 11170 can be such that closure blocks 11175 are shifted proximally or towards distal side, and this depends on In the direction that closure driving screw 11170 rotates.For example, if closure driving screw 11170 is rotated in a first direction, guide screw is closed Bar 11170 can make closure blocks 11175 towards distal side shift, and when closure driving screw 11170 in a second direction or opposite direction rotation When turning, closure driving screw 11170 can be such that closure blocks 11175 proximally shift.Referring primarily to Figure 96, closure blocks 11175 can close The form for closing passage 11180 is installed to latch member, and the latch member translates along the outside of warehouse channel 11170.In various situations Under, close passage 11180 can be encapsulated in handle portions 11120, and in some cases, close passage 11180 can be from shank The projection of part 11120.When observed from the end, close passage 11180 may include the passage of substantially " u " shaped and may include relative Side wall 11182.Each side wall 11182 may include to be defined in the cam slot 11190 in side wall.Following article is further in more detail Description, cam slot 11190 can be configured to engage anvil block 11090 and move anvil block relative to nail bin 11080 11090。

Further described above, close passage 11180 coordinates around warehouse channel 11070 so that warehouse channel 11070 are nested in the inside of " u "-shaped close passage 11180.Referring primarily to Figure 96, warehouse channel 11070 may include that being defined in storehouse leads to Elongated slot 11195 in road, and close passage 11180 may include the pin that extends inward into elongated slot 11195.Closure Passage pin and elongated slot 11195 can constrain the motion of close passage 11180 so that close passage 11180 is relative to warehouse channel 11070 translate along longitudinal path.The translational motion of close passage 11180 can rotate anvil block 11090.Anvil block 11090 can be via Distal side closure pin 11210 is connected to close passage 11180, and the distal side closure pin extends through the anvil being defined in anvil block 11090 Seat cam hole 11211 and the cam slot 11190 being defined in close passage 11180.Each cam slot 11190 may include First end or distal end 11191 and the second end or proximal end 11192.Each cam slot 11190 may also include the One driving surface or the driving surface of nearside driving surface 11193 and second or distal side driving surface 11194.When closed-system is in Its open configuration and when anvil block 11090 is in its open position, close passage 11180 can be at its first position or not promote Position, and distal side closure pin 11210 can be at the first end or distal end 11191 of cam slot 11190.When closure is logical Road 11180 towards distal side promote with towards nail bin 11080 move anvil block 11090 when, the first driving surface 11193 can contact distal side and close Dowel pin 11210 and push down on distal side closure pin 11210 towards nail bin 11080.When closed-system is in its closed configuration simultaneously And anvil block 11090 is when being in its closing position relative with nail bin 11080, close passage 11180 can be at its second place or In fully advanced position, and distal side closure pin 11210 can be at the second end or proximal end of cam slot 11190 11192。

Each cam slot 11190 may include crooked route or bow-shaped route.First driving surface 11193 may include first Arcuate surfaces, and the second driving surface 11194 may include the second arcuate surfaces.In all cases, each cam slot 11190 may include at least one bent portion and at least linear segment.In the case of at least one, each first driving surface 11193 may include the flat surfaces in the distal end 11191 of cam slot 11190.Flat surfaces may include perpendicular to or extremely The vertical surface of the longitudinal axis 11030 of apparatus 11010 is substantially perpendicular to less.Such flat surfaces can be used as ratchet, the spine Pawl is by the power for needing primary quantity so that closure pin 11210 is displaced in the arcuate section of cam slot 11190.In some situations Under, each first driving surface 11193 may include the flat surfaces 11196 in the proximal end 11192 of cam slot 11190. Each flat surfaces 11196 may include the horizontal surface parallel to or at least substantially parallel to longitudinal axis 11030.Flat table Face 11196 can provide larger mechanical dominance between close passage 11180 and anvil block 11090.In all cases, closure pin is worked as 11210 be in slit 11190 distal end 11191 when, the first driving surface 11193 can apply very to closure pin 11210 Small mechanical dominance；However, when sliding through cam slot 11190 in the proximally facing end 11192 of closure pin 11210, by The mechanical dominance that one driving surface 11193 applies to closure pin 11210 can increase.When closure pin 11210 enters proximal end When in 11192, the mechanical dominance applied by the first driving surface 11193 can be maximum, and is more than closing without doubt The mechanical dominance applied when dowel pin 11210 is in the distal end 11191 of cam slot 11190 by the first driving surface 11193. That is, in the case where distal end 11191 can apply compared with gadget advantage to closure pin 11210, distal end 11191 Closure pin 11210 can be made relative to the rapid traverse of storehouse 11080.Promote and apply to closure towards distal side in close passage 11180 During the mechanical dominance increase of pin 11210, as described above, the first driving surface 11193 can more slowly move anvil block 11090 to obtain The given speed of close passage 11180.

As shown in Figure 96, warehouse channel 11070 may also include the distal side closure slit 11215 being defined in warehouse channel, and it can To be configured to receive distal side closure pin 11210 when anvil block 11090 is close to its closing position.Distal side closes slit 11215 is substantially vertical, and may include the open end at the top of warehouse channel 11070 and at its opposed end Closure end.Slit 11215 is wide than end is closed at it at its open end.In all cases, anvil block is worked as During 11090 its closing position of arrival, the closure end of the accessible closure slit 11215 of closure pin 11210.In this case, The closure end of closure slit 11215 can stop the motion of anvil block 11090.In some cases, when anvil block 11090 closes in it When closing position, anvil block 11090 can contact nail bin 11080.In the case of at least one, anvil block 11090 can surround pivot pin 11200 Rotation, until the distal end 11091 of anvil block 11090 contacts the distal end 11081 of nail bin 11080.As shown in Figure 98, move The distal side closure pin 11210 of anvil block 11090 positions relative to pivot pin 11220 towards distal side.Therefore, applied by closure drive device Closing force to anvil block 11090 applies relative to pivot towards distal side, and anvil block 11090 is rotationally attached to warehouse channel by the pivot 11070.Similarly, the tensile force that anvil block 11090 is applied to by closure drive device applies relative to pivot towards distal side, the pivot Anvil block 11090 is rotationally attached to warehouse channel 11070.

As described above, shank 11015 may include close push button 11065, the close push button is configured to operate surgery The closed-system of apparatus 11010.The motion of close push button 11065 can be detected by such as sensor or switch.Work as close push button 11065 when being pressed, and closure switch 11285 can be activated or close, and this causes power flow direction to close motor 11110.This In the case of, switch 11285 can close power circuit, and the power circuit can provide power supply to closure motor 11110.In some situations Under, surgical instruments 11010 may include such as microprocessor.In this case, closure switch 11285 can be with microprocessor signals Communication, and when closure switch 11285 have closed, power source can be operably connected to closure motor by microprocessor 11110.Under any circumstance, first voltage polarity can be applied to closure motor 11110 so that closure output shaft 11130 is along the One direction rotates and closes anvil block 11090, in addition, second voltage polarity or opposite voltage polarity can be applied to closure horse Up to 11110 so that closure output shaft 11130 in a second direction or opposite direction rotates and opens anvil block 11090.

In all cases, surgical instruments 11010 can be configured to cause the operator of surgical instruments 11010 to need Close push button 11065 is maintained under pressed state, until closure drive device has reached its complete closed configuration.Closing In the case that button 11065 is released, microprocessor can stop closing motor 11110.Alternatively, if in closure drive device Close push button 11065 is discharged before reaching its complete closed configuration, then microprocessor can make the direction of closure motor 11110 anti- To.After closure drive device reaches its complete closed configuration, microprocessor can stop closing motor 11110.In various feelings As described in greater detail below under condition, surgical instruments 11010 may include to be configured to detect when closed-system reaches it The closed sensor 11300 (Figure 96 and Figure 98) of complete closed configuration.Closed sensor 11300 can lead to microprocessor signals Letter, when the signal that microprocessor has closed from the reception anvil block 11090 of closed sensor 11300, the microprocessor can be by power Source disconnects from closure motor 11110.In all cases, after closed-system has been placed into its closed configuration, but hitting For hair system by before operation, re-pressing close push button 11065 can cause microprocessor to make the direction of closure motor 11110 reverse And reopen anvil block 11090.In some cases, anvil block 11090 can be reopened to it and opened completely by microprocessor Position, and in other cases, microprocessor can reopen anvil block 11090 to partial open position.

Once the adequate closure of anvil block 11090, the trigger system can of surgical instruments 11010 is operated.Referring primarily to Figure 95 and Figure 97, trigger system may include to fire motor 11120.Firing motor 11120 can be adjacent fixed with closure motor 11110 Position.Closure motor 11110 can extend along first longitudinal direction motor axis, and fire motor 11120 can along parallel to or at least base Second longitudinal direction motor axis in sheet parallel to the first motor axis extend.First longitudinal direction motor axis and second longitudinal direction motor drive shaft Line can be parallel to the longitudinal axis 11030 of surgical instruments 11010.Closure motor 11110 can be positioned on the of longitudinal axis 11030 On side, and fire motor 11120 and can be positioned on the second side of longitudinal axis 11030.In this case, first longitudinal direction Motor axis can extend along the first side of longitudinal axis 11030, and second longitudinal direction motor axis can be along longitudinal axis 11030 Second side extends.In all cases, first longitudinal direction motor axis can extend across the center of closure axle 11130.With phase above Seemingly, percussion motor 11120 may include the rotatable beating shaft 11230 from its extension.Same similar to the above, second longitudinal direction motor Axis can extend across the center of beating shaft 11230.

Further described above, the first percussion gear 11240 may be mounted on beating shaft 11230.First percussion Gear 11240 engages engagement with being installed to the percussion driving screw drive gear 11250 of percussion driving screw 11260.Work as beating shaft 11230 by motor 11120 when being rotated, and beating shaft 11230 rotatable first fires gear 11240, the first percussion gear 11240 Rotatable percussion driving screw drive gear 11250, and fire the rotatable percussion driving screw of driving screw drive gear 11250 11260.Referring primarily to Figure 97, beating shaft 11230, first fire gear 11240, percussion driving screw drive gear 11250 and/or Percussion driving screw 11260 can be pivotably supported by motor block 11125.First percussion gear 11240 and percussion driving screw driving Gear 11250 can be positioned among the barrier plate 11126 of motor block 11125 and first.First barrier plate 11126 may be mounted to motor It on block 11125 and can also be pivotably supported beating shaft 11230, first and fire gear 11240, percussion driving screw sliding tooth Wheel 11250 and/or percussion driving screw 11260.In all cases, surgical instruments 11010, which may also include, may be mounted to the first resistance Second barrier plate 11127 of baffle plate 11126.It is similar to the above, the first closure gear 11140, idle gear 11150 and closure guide screw Bar drive gear 11160 can be positioned among the first barrier plate 11126 and the second barrier plate 11127.In all cases, first The barrier plate 11127 of barrier plate 11126 and/or second can be pivotably supported closure axle 11130, first close gear 11140, Idle gear 11150, closure driving screw drive gear 11160 and/or closure driving screw 11170.

Said motor and arrangement of gears can help to save the space in the shank 11015 of surgical instruments 11010.As above institute State, and be located at referring primarily to Figure 97, closure motor 11110 and percussion motor 11120 on motor block 11125.Close motor 11110 positioned at percussion motor 11120 side on and slightly proximally.Proximally biasing another motor from a motor can The space for two gear trains is produced, one of gear train is behind another gear train.E.g., including first closure tooth The closure gear train of wheel 11140, closure idle gear 11150 and closure driving screw drive gear 11160 fires positioned at including first The percussion gear train nearside of gear 11240 and percussion driving screw drive gear 11250.Motor drive shaft is set proximally to extend away from jaw (while the main body of motor extends towards distal side towards jaw) can produce space in shank 11015, and by making motor 11110 With 11120 main body beside miscellaneous part in shank 11015 parallel alignment allow shorter shank 11015.

Further described above, closure gear train and percussion gear train are designed to save space.Scheming In embodiment shown in 97, closure motor 11110 drives three gears, and fires motor 11120 and drive two gears；However, Closure gear train and percussion gear train may include any appropriate number of gear.3rd gear is closed to idle gear 11150 to add Being added to closure gear train allows closure driving screw 11170 to be offset downward relative to percussion driving screw 11260 so that single guide screw Bar can rotate around not coaxial line.In addition, the 3rd gear is eliminated for the axis using larger diameter gear skew driving screw Demand so that the overall diameter in the space needed for gear train and the volume of shank 11015 can reduce.

Referring primarily to Figure 98, closure driving screw 11170 can extend along first longitudinal direction axle axis, and fire driving screw 11260 can extend along second longitudinal direction axle axis.First longitudinal direction axle axis and second longitudinal direction axle axis can be parallel to surgical instruments 11010 longitudinal axis 11030.First longitudinal direction axle axis or second longitudinal direction axle axis can be conllinear with longitudinal axis 11030.Each In the case of kind, percussion driving screw 11260 can extend along longitudinal axis 11030, and second longitudinal direction axle axis can be with longitudinal axis 11030 is conllinear.In this case, close driving screw 11170 and first longitudinal direction axle axis can be inclined relative to longitudinal axis 11030 Move.

Further described above, percussion driving screw 11260 may include for example by 11125 rotatable twelve Earthly Branches of motor block The first end of support, the second end being pivotably supported by shank 11015, and prolong between first end and the second end The threaded portion stretched.Percussion driving screw 11260 can reside in " u "-shaped warehouse channel 11070 and on closure driving screw 11170 Side.Referring primarily to Figure 95, percussion drive device may also include percussion block 11265, and the percussion block may include and percussion driving screw The screwed hole 11266 that 11260 threaded portion is threadably engaged.Fire block 11265 can it is restrained and can not with fire guide screw Bar 11260 rotates together so that and the rotation of percussion driving screw 11260 can make percussion block 11265 proximally or towards distal translation, this The direction rotated depending on percussion driving screw 11260 by firing motor 11120.For example, when percussion driving screw 11260 along first When direction rotates, percussion driving screw 11260 can be such that percussion block 11265 is shifted towards distal side, and when percussion driving screw 11260 is along the When two directions rotate, percussion driving screw 11260 can be such that percussion block 11265 proximally shifts.It is as described in greater detail below, percussion Block 11265 can promote the nail being removedly stored in nail bin 11080 to dispose and/or incision capture in nail bin towards distal side Tissue between 11080 and anvil block 11090.

Further described above, percussion block 11265 may be attached to pushing block 11270 so that pushing block 11270 and percussion Block 11265 translates together.Trigger system may also include percussion wedge 11280, and the percussion wedge is attached to pushing block 11270 simultaneously And extend from pushing block 11270 towards distal side.Percussion wedge 11280 can include at least one CAM table at its each comfortable distal end Face, the cam face can be configured to project from nail bin 11080 and follow closely.Trigger system may also include along percussion wedge 11280 cutter blocks 11281 set in a manner of it can slide.In all cases, the initial distal side motion for firing block 11265 can To be not transferred to cutter block 11281；However, when percussion block 11265 promotes towards distal side, for example accessible cutter block of pushing block 11270 11281 and promoted towards distal side and cutter block 11281 and be installed to its knife 11282.In other cases, cutter block 11281 can be installed Onto percussion wedge 11280 so that cutter block 11281 and knife 11282 in the whole motion process of percussion wedge 11280 with Percussion wedge 11280 moves together.Fire block 11265, pushing block 11270, percussion wedge 11280, cutter block 11281 and knife 11282 can form pushing block and knife assembly.Under any circumstance, firing wedge 11280 and knife 11282 can move with same towards distal side When percussion be stored in tissue between nail bin 11080 and anvil block 11090 of the nail in nail bin 11080 and incision capture.Percussion The cam face of wedge 11280 can position relative to the cutting surfaces of knife 11282 towards distal side so that capture is in nail bin 11080 Tissue between anvil block 11090 can be sewn before it is cut into.

As described above, when pushed, the contact closure of close push button 11065 switch 11285 is so that closure motor 11110 is logical Electricity.Similarly, when pushed, firing button 11055 contacts percussion switch 11290 so that percussion motor 11120 is powered.Various In the case of, percussion switch 11290 can close power circuit, and the power circuit can provide electrical power to percussion motor 11120.At certain In the case of a little, percussion switch 11290 can communicate with the microprocessor signals of surgical instruments 11010, and work as percussion switch 11290 When having closed, power source can be operably connected to percussion motor 11120 by microprocessor.In either case, can be by One polarity of voltage is applied to percussion motor 11120 so that percussion output shaft 11230 is rotated in a first direction and promoted towards distal side Component is fired, and second voltage polarity or opposite voltage polarity can be applied to percussion motor 11120 so that percussion output shaft 11230 in a second direction or opposite direction rotate and make percussion component bounce back.In all cases, firing button 11055 can wrap Two-way switch is included, the two-way switch is configured to when firing button 11055 promotes in the first direction in its first direction Upper operation percussion motor 11120, and percussion is operated in its second direction when firing button 11055 promotes in a second direction Motor 11120.

As described above, after closed-system adequate closure anvil block 11090, trigger system can be activated.In various situations Under, anvil block 11090 can be when it have reached its fully closed position by adequate closure.Surgical instruments 11010 can be configured to It can detect when anvil block 11090 reaches its fully closed position.Referring primarily to Figure 98, surgical instruments 11010 may include to close Sensor 11300, the closed sensor are configured to detect the end when close passage 11180 reaches its closing stroke Point, and therefore when detection anvil block 11090 is in its closing position.Closed sensor 11300 can be positioned in closure guide screw At the distal end of bar 11170 or with closing the adjacent positioned of driving screw 11170.In the case of at least one, closed sensor 11300 may include proximity transducer, and the proximity transducer is configured to sense when close passage 11180 senses with closure Device 11300 is adjacent and/or is contacted with closed sensor 11300.Similar to the above, closed sensor 11300 can be with surgical instruments 11010 microprocessor signals communication.It has been reached when microprocessor receives close passage 11180 from closed sensor 11300 When fully advanced position and the signal in the close position of anvil block 11090, microprocessor can allow trigger system to activated.This Outside, microprocessor can prevent trigger system from activateding, until microprocessor receives such signal from closed sensor 11300. In this case, microprocessor can optionally apply according to the input from closed sensor 11300 to percussion motor 11120 Power from power supply, or optionally control is applied to the power of percussion motor 11120.Finally, in these embodiments In, until apparatus closes, percussion switch 11290 can just trigger firing schedule.

Some embodiments are contemplated, wherein even if closed-system is in part closed configuration and anvil block 11090 is in portion Point closing position, the trigger system of surgical instruments 11010 are still operable.In at least one embodiment, in percussion component towards remote When side is promoted to fire the nail being stored in nail bin 11080, the percussion component of surgical instruments 11010 can be configured to connect Touch anvil block 11090 and anvil block 11090 is moved into its fully closed position.For example, knife 11282 may include to be configured to The cam member of anvil block 11090 is engaged when knife 11282 promotes towards distal side, anvil block 11090 can be moved to it by the cam member Fully closed position.Knife 11282 may also include the second cam member for being configured to engage warehouse channel 11070.Cam structure Part can be configured to position anvil block 11090 relative to nail bin 11080 and anvil block 11090 and nail bin 11080 it Between set tissue space distance.In the case of at least one, knife 11282 may include I-beam, the I-beam can towards distal side shift with Tissue space is set, projects and follows closely from nail bin 11080, and incision tissue.

Surgical instruments 11010 may include to be configured to detect the sensing when trigger system has completed its firing schedule Device.In the case of at least one, surgical instruments 11010 may include sensor, such as encoder, and it can for example be adapted to The rotation of enough detection percussion driving screws 11260 simultaneously counts to it.Sensors with auxiliary electrode can be with the microprocessor of surgical instruments 11010 Device signal communication.Microprocessor can be configured to count the rotation for firing driving screw 11260, and fire After driving screw 11260 has rotated enough numbers to fire all nails from nail bin 11080, microprocessor can be interrupted to be supplied to and hit The power of motor 11120 is sent out so that percussion driving screw 11260 stops.In some cases, once percussion component fired it is all Nail, the reversible polarity of voltage for being applied to percussion motor 11120 of microprocessor, so that percussion component automatic retracted.

As described above, surgical instruments 11010 may include power source.Power source may include for example outside shank 11015 Power source and the cable that may extend into shank 11015.Power source may include to be contained at least one in shank 11015 Battery.Battery can be positioned in the first handle portions 11020 and/or shank handle 11040.It is contemplated that battery, gear, Motor and rotary shaft can be all merged into a unit, and the unit can be independently of the remainder of shank 11015.Such unit Can be cleanable and can sterilize.

In all cases, surgical instruments 11010 may include the state for being configured to instruction surgical instruments 11010 One or more indicators.In at least one embodiment, surgical instruments 11010 may include such as LED 11100.In order to by outside The state of section's apparatus sends user to, and during the different operating states of surgical instruments 11010, LED 11100 can be different Colour light emitting.For example, when surgical instruments 11010 is powered and the no-fix of unspent nail bin 11080 is in warehouse channel 11070 When, LED 11100 can send the light of the first color.Surgical instruments 11010 may include one or more sensors, the sensor Can be configured to detect nail bin 11080 whether there is in warehouse channel 11070 and nail whether penetrated from nail bin 11080 Go out.When surgical instruments 11010 is powered and unspent nail bin 11080 is positioned in warehouse channel 11070, LED 11100 can send the light of the second color.When apparatus 11010 is powered, unspent nail bin 11080 is loaded onto warehouse channel In 11070, and when anvil block 11090 is in the close position, LED 11010 can send the light of the 3rd color.Such 3rd color It may indicate that surgical instruments 11010 is ready to project from nail bin 11080 to follow closely.LED 11100 can be sent after percussion process starts The light of 4th color.LED can send the light of the 5th color after percussion process is completed.This is only an exemplary embodiment. Any suitable number of color can be used to indicate any suitable number of state of surgical instruments 11010.Although it can be used one Individual or multiple LED transmit the state of surgical instruments, but other indicators can also be used.

In use, the user of surgical instruments 11010 first can be by the way that nail bin 11080 be placed in warehouse channel 11070 To load nail bin 11080 for surgical instruments 11010.Storehouse 11080 is loaded into warehouse channel 11070 can cause LED 11100 from First color is changed into the second color.User can grasp shank handle 11040 and start closure switch 11065 using thumb to beat The anvil block 11090 of surgical instruments 11010 is opened, so as to which nail bin 11080 is placed in warehouse channel 11070.Then user will can follow closely Storehouse 11080 is positioned on the side of tissue to be stapled and crosscutting, and anvil block 11090 is positioned on the opposite side of tissue. Close push button 11065 is pinned by using its thumb, user can close surgical instruments 11010.Released before closing stroke completion Anvil block 11090 can be reopened and allow user to reposition surgical instruments as needed by putting close push button 11065 11010.User, which can enjoy, can use the opening linear cutter with pivotable jaw of nail bin without assembling linear incision The advantage of device part.User can further enjoy the sensation of pistol grip.

When anvil block 11090 moves to its fully closed position, close passage 11080 can contact closed sensor 11300, And closed sensor 11300 can be by microprocessor signals to arm percussion switch 11290.Now, LED 11100 can send The light of three colors is to show to have loaded, close and be ready to the surgical instruments 11010 of percussion.Then user's pressable percussion is pressed Button 11055, the firing button contact percussion switch 11290 and cause percussion switch 11290 percussion motor 11120 is powered. Percussion motor 11120 is powered can rotate beating shaft 11230, and the beating shaft then rotates the first percussion gear 11240 and hit Send out driving screw drive gear 11250.Fire driving screw drive gear 11250 and rotate percussion driving screw 11260.Fire driving screw 11260 be threadedly engaged the internal thread being defined in percussion block 11265 and resist its applying power fires block to be moved towards distal side 11265.Percussion block 11265 makes pushing block 11270 be moved towards distal side, so as to carry percussion wedge 11280 towards distal side.Percussion wedge shape The nail that cam face 11305 at the distal end of part 11280 makes to be stored in nail bin 11080 carries out convex towards anvil block 11090 Wheel motion, and anvil block 11090 can make nail shaping carry out fastening tissue.Pushing block 11270 engages cutter block 11281 to promote knife towards distal side Block 11281 and knife 11282, so as to the tissue of crosscutting suture.After firing schedule completion, percussion motor 11120 can be reversed So that pushing block 11270, cutter block 11281, percussion wedge 11280 and knife 11282 return.Surgical instruments 11010 may include button And/or switch, it indicates microprocessor retraction percussion component automatically, even if firing schedule is not yet completed.In some cases, hit Hair component may not be needed to bounce back.Under any circumstance, user can open surgical instruments by pressing close push button 11065 11010.Close push button 11065 can contact closure switch 11285 and closure motor 11110 is powered.Closing motor 11110 can edge Inverse direction is operated so that close passage 11180 proximally bounces back, so as to reopen the anvil block 11090 of surgical instruments 11010. LED 11100 can send the light of the storehouse of instruction percussion and the 4th color of the process completed.

Surgery suturing appliance 12010 is shown in Figure 99 into Figure 106.Apparatus 12010 may include shank 12015, closure driving Device and percussion drive device, the closure drive device include being configured to press between nail bin 12080 and anvil block 12090 The closure breech lock 12050 of contracting tissue, the percussion drive device, which is configured to project from nail bin 12080, follows closely and cuts tissue. Figure 99 is shown in opening, the apparatus 12010 of unlatched state.When apparatus 12010 is in its opening, unlatched state, anvil Seat 12090 pivots away from nail bin 12080.In all cases, anvil block 12090 can be pivoted through wide angle relative to nail bin 12080 Degree so that anvil block 12090 and nail bin 12080 can be easy to be positioned on the opposite side of tissue.Figure 100 shows in closure, not fastened with a bolt or latch The apparatus 12010 of lock status.When apparatus 12010 is in its closure, unlatched state, anvil block 12090 is towards nail bin 12080 Rotate in the closing position relative with nail bin 12080.In all cases, the closing position of anvil block 12090 may depend on fixed The thickness of tissue of the position among anvil block 12090 and nail bin 12080.It is positioned at for example, working as in anvil block 12090 and nail bin 12080 Between tissue it is thicker when compared with when organizing relatively thin, anvil block 12090 is reachable further away from the closure position of nail bin 12080 Put.Figure 101 is shown in closure, the apparatus 12010 of latch mode.When apparatus 12010 is in its closure, latch mode, close Breech lock 12050 is closed to be rotated to engage anvil block 12090 and position anvil block 12090 relative to nail bin 12080.Now, following article Further be more fully described, the percussion drive device of surgical instruments 12010 can activated with from the percussion nail of nail bin 12080 and Cut tissue.

Referring primarily to Figure 106, surgical instruments 12010 may include the framework 12020 extended from shank 12015.Framework 12020 It may include to be defined in the frame passage 12022 in framework, it can be configured to receive and/or support warehouse channel 12070. Warehouse channel 12070 may include proximal end and distal end.The proximal end of warehouse channel 12070 may be connected to framework 12020.Storehouse The distal end of passage 12070 can be configured to removedly receive nail bin 12080 in distal end.Frame passage 12022 may include the pivot hole 12207 that is defined in its opposite side.Pivot pin 12205 may be supported in pivot hole 12207 and It can extend between the side of passage 12022.Closure breech lock 12050 may include the latch frame with latch bar 12052 12051.Latch bar 12052 can be rotatably attached to framework 12020 via pivot pin 12205, and the pivot pin can extend across The pivot hole 12206 being defined in latch bar 12052.In all cases, pivot hole 12206,12207 and pivot pin 12205 Fixed axis 12208 can be limited, closure breech lock 12050 can surround the fixed axis and rotate.Closure breech lock 12050 may also include peace It is attached to the latch housing 12057 of latch bar 12052.When the user of surgical instruments 12010 moves latch housing 12057, door bolt Lock shell 12057 can move latch bar 12052.The operation of closure breech lock 12050 is hereinafter further more fully described.

Further described above, anvil block 12090 may include proximal end and distal end.Anvil block 12090 it is remote Side end may include multiple nail shapes pits alignd or can be aligned, wherein when anvil block 12090 is in its closing position, nail Chamber limit is in nail bin 12080.The proximal end of anvil block 12090 can be as pivotally connected to framework 12020.Anvil block 12090 May include can be right with the pivot hole 12202 being defined in warehouse channel 12207 and the pivot hole 12203 being defined in framework 12020 Neat pivot hole 12201.Pivot pin 12200 can extend across pivot hole 12201,12202 and 12203, and can be by anvil block 12090 are rotationally attached to warehouse channel 12207.In all cases, pivot hole 12201,12202 and 12203 and pivot Pin 12200 can limit fixed axis, and anvil block 12090 can surround the fixed axis and rotate.In some cases, pivot hole 12201, 12202 and/or 12203 can longitudinally extend, such as make it that pivot pin 12200 can be in pivot hole 12201,12202 and/or 12203 Interior slip.In this case, anvil block 12090 can rotate around axis relative to warehouse channel 12070, in addition, leading to relative to storehouse Road 12070 translates.Anvil block 12090, which may also include, is installed to its anvil block shell 12097.As the user of surgical instruments 12010 When moving anvil block shell 12097, anvil block shell 12097 can move anvil block 12090 so that anvil block 12090 can be in open position Rotated between (Figure 99) and closing position (Figure 100).

Further described above, anvil block 12090 may also include latch pin 12210.Anvil block 12090 may include breech lock Pin-and-hole 12211, and anvil block shell 12097 may include latch-pin aperture 12212, and the latch-pin aperture is configured to receive and propped up Support latch pin 12210.When anvil block 12090 is had been moved in its closing position or the position adjacent with its closing position, breech lock 12050 engageable latch pins 12210 and towards nail bin 12080 pull anvil block 12090.In all cases, breech lock 12050 Latch bar 12052 can each include being configured to the latch arms 12053 for engaging latch pin 12210.Breech lock 12050 can be not Rotated between position latching (Figure 100) and position latching (Figure 101), in unlatched position, latch arms 12053 not with latch pin 12210 engagements.When breech lock 12050 moves between its unlatched position and its position latching, 12053 engageable door bolt of latch arms Lock pin 12210 and anvil block 12090 is set to be moved towards nail bin 12080.Each latch arms 12053 may include to be configured to connect Touch the cam face of latch pin 12210.Cam face can be configured to promote and guide latch pin towards nail bin 12080 12210.When breech lock 12050 reaches its position latching, latch pin 12210, which can be trapped in, to be defined in latch bar 12052 Breech lock slit 12054 in.Breech lock slit 12054 can be limited by latch arms 12053 at least in part.Breech lock slit 12054 Opposite side may include lifted surface, the lifting surface can be configured in breech lock 12050 in its position latching and its Latch pin 12210 is engaged when being rotated between unlatched position to open apparatus 12010 and lifts anvil block 12090 away from nail bin 12080, following article is further more fully described.

As described above, anvil block 12090 can move towards nail bin 12080.In all cases, when the distal side of anvil block 12090 During the distal end of ends contact nail bin 12080, the motion of anvil block 12090 towards nail bin 12080 can stop.In some situations Under, when latch pin 12210 contacts warehouse channel 12070, the motion of anvil block 12090 can stop.Warehouse channel 12070 may include to limit Slit 12215 in warehouse channel, the slit are configured to receive latch pin 12210.Each slit 12215 may include face Upward open end includes closure end with other, and latch pin 12210 can enter slit 12215 by the open end. In all cases, when anvil block 12090 reaches its closing position, latch pin 12210 can contact the closed end of slit 12215 Portion.In some cases, if thick tissue is positioned between anvil block 12090 and nail bin 12080, latch pin 12210 may not Contact the closure end of slit 12215.In the case of at least one, anvil block 12090 may also include latch 12095.Latch 12095 can be installed on anvil block 12090 via the pin-and-hole 12096 being defined in latch and be supported by anvil block 12090.Stop Pin 12095 can be configured to contact warehouse channel 12070 and stop motion of the anvil block 12090 towards nail bin 12080.With Similar to the above, warehouse channel 12070 may also include the retaining slot 12075 being defined in warehouse channel, and the retaining slot can be by structure Cause that latch 12095 can be received.Each retaining slot 12075 may include open end upwardly and other closure End, latch 12095 can enter retaining slot 12275 by the open end.In all cases, when anvil block 12090 arrives During up to its closing position, latch 12095 can contact the closure end of retaining slot 12075.In some cases, if thick group Knit and be positioned between anvil block 12090 and nail bin 12080, then latch 12095 may not contact the closed end of retaining slot 12075 Portion.

As described above, warehouse channel 12070 can be installed to framework 12020.In all cases, warehouse channel 12070 can be with Rigidity and it is fixedly secured to framework 12020.In this case, warehouse channel 12070 is possible can not be relative to framework 12020 And/or shank 12015 moves.In some cases, warehouse channel 12070 can be pivotally coupled to framework 12020.At least In the case of one kind is such, warehouse channel 12070 may include to be defined in the pivot hole 12202 in warehouse channel, and the pivot hole can be by structure Cause that pivot pin 12200 can be connect.In this case, anvil block 12090 and warehouse channel 12070 can enclose relative to framework 12020 Rotated around pivot pin 12200.When breech lock 12050 engages with latch pin 12210, breech lock 12050 can lead to anvil block 12090 and storehouse Road 12070 is held in place by.

In some cases, further described above, apparatus 12010 may include to be configured to detect anvil block Whether 12090 be in one or more sensors of its closing position.In the case of at least one, apparatus 12010 may include fixed Pressure sensor of the position among framework 12020 and warehouse channel 12070.Pressure sensor may be mounted to such as frame passage 12022 or the bottom of warehouse channel 12070.When pressure sensor is installed to the bottom of warehouse channel 12070, pressure sensor can be Warehouse channel 12070 contacts frame passage 12022 when being moved towards frame passage 12022.If warehouse channel 12070 can be relative to frame Frame passage 12022 rotates, then warehouse channel 12070 can move towards frame passage 12022, as described above.Except it is described above it Outside or as replacement described above, if warehouse channel 12070 is bent towards frame passage 12022, warehouse channel 12070 can court Moved to frame passage 12022.When generating compressive load between anvil block 12090 and warehouse channel 12070, then warehouse channel 12070 It can be bent towards frame passage 12022.When anvil block 12090 moves to its closing position and/or when anvil block 12090 passes through Breech lock 12050 towards warehouse channel 12070 move when, compressive load can be generated between anvil block 12090 and warehouse channel 12070A.Work as anvil When seat 12090 is promoted towards warehouse channel 12070 and/or when breech lock 12050 is used to pull anvil block towards warehouse channel 12070 When 12090, warehouse channel 12070 can be against pivot pin 12205.In all cases, warehouse channel 12070 may include that being defined in storehouse leads to Slit or groove 12209 in road, it can be configured to receive pivot pin 12205.Under any circumstance, pressure sensing Device can be configured to the pressure or power that detection applies to warehouse channel 12070.Pressure sensor can be with surgical instruments 12010 Microprocessor signals communication.When the pressure detected by pressure sensor or power exceed threshold value, microprocessor can allow device The trigger system of tool 12010 is operated.It is micro- when user attempts operation trigger system before pressure or power exceed threshold value Processor can alert the user of surgical instruments 12010, and anvil block 12090 is possible not closed or may non-adequate closure.Except this Outside class warning or the replacement as such warning, if pressure or power detected by pressure sensor not less than threshold value, Microprocessor can prevent that the trigger system of apparatus 12010 from being operated.

In some cases, further described above, apparatus 12010 may include to be configured to detect breech lock Whether 12050 be in one or more sensors of its position latching.In the case of at least one, apparatus 12010 may include fixed Sensor 12025 of the position among framework 12020 and warehouse channel 12070.Sensor 12025 may be mounted to such as frame passage 12022 or the bottom of warehouse channel 12070.When sensor 12025 is installed to the bottom of warehouse channel 12070, breech lock 12050 can be Feeler 12025 when moving to its position latching from its unlatched position.Sensor 12025 can be with surgical instruments 12010 Microprocessor signals communication.When sensor 12025 detects that breech lock 12050 is in its position latching, microprocessor can be permitted Perhaps the trigger system of apparatus 12010 is operated.Sensed in sensor 12025 before breech lock 12050 is in its position latching, when When user attempts operation trigger system, microprocessor can alert the user of surgical instruments 12010, and anvil block 12090 may be not Closure may non-adequate closure.Replacement in addition to such warning or as such warning, if being not detected by breech lock 12050 are in its position latching, then microprocessor can prevent that the trigger system of apparatus 12010 from being operated.In all cases, pass Sensor 12025 may include such as proximity transducer.In some cases, sensor 12025 may include such as Hall effect sensing Device.It is at least one it is such in the case of, breech lock 12050 may include at least one magnetic element, such as permanent magnet, such as it can be by Hall effect sensor detects.In all cases, sensor 12025 can be held in place by by such as balladeur train 12026.

Referring primarily to Figure 105, the trigger system of surgical instruments 12010 may include to be configured to rotate beating shaft 12230 percussion motor 12120.The motor frame that percussion motor 12120 may be mounted in the shank 12015 of surgical instruments 12010 Frame 12125 so that beating shaft 12230 extends towards distal side.Trigger system may also include gear train, and the gear train includes：One, is installed The driving screw gear 12250 of driving screw 12260 is installed to the first percussion gear 12240 of closure axle 12230, and two,.The One percussion gear 12240 can engage engagement with driving screw gear 12250 so that when the first percussion gear 12240 is by beating shaft During 12230 rotation, the first percussion rotatable driving screw gear 12250 of gear 12240, and driving screw gear 12250 is rotatable Driving screw 12260.Referring primarily to Figure 104, driving screw 12260 may include first end 12261 and the second end 12263, and this One end is rotatably installed in the hole being defined in motor block 12125, and the second end, which is pivotally supported at, to be installed to In bearing on the bearing portions 12264 of shank 12015.Driving screw 12260 may additionally include the end of first end 12261 and second The threaded portion 12262 extended between portion 12263.Trigger system may also include logical with the threaded portion of driving screw 12,260 12262 Cross the percussion nut 12265 being threadedly engaged.Percussion nut 12265 can be restrained and can not be rotated together with driving screw 12260, make When proper driving screw 12260 is rotated in a first direction by firing motor 12120, driving screw 12260 can be promoted towards distal side and fired Nut 12265, and correspondingly, when driving screw 12260 is by firing motor 12120 in a second direction or opposite direction rotates When, driving screw 12260, which can proximally bounce back, fires nut 12265.

Further described above, percussion nut 12265 may be mounted to percussion block 12270, the percussion block can be with hitting Fat nut 12265 translates together.In all cases, fire nut 12265 and percussion block 12270 may be integrally formed.With it is above Similar, trigger system may also include the trigger shaft 12280 from its extension, the trigger shaft and percussion nut 12265 and percussion block 12270 translate together.In all cases, firing nut 12265, percussion block 12270 and trigger shaft 12280 may include by leading Screw rod 12160 is proximally and/or the percussion component towards distal translation.When percussion component is promoted by driving screw 12260 towards distal side When, trigger shaft 12280 can enter in nail bin 12080 and be followed closely from its injection.Trigger system may also include cutter block 12281 and installation To cutter block 12281 and from its extension knife bar 12282.When percussion block 12270 promotes towards distal side, trigger shaft 12280 is engageable Cutter block 12281 and promote cutter block 12281 and knife bar 12282 towards distal side.In all cases, percussion block 12270 can fire Move relative to cutter block 12281 during the initial part of stroke, then moved together during the last part of firing schedule. It is at least one it is such in the case of, trigger shaft 12280 can be slid through the slit being defined in cutter block 12281, until from trigger shaft One or more raised surface contact cutter blocks 12281 of 12280 extensions are simultaneously pushed away cutter block 12281 towards distal side with trigger shaft 12280 It is dynamic.In all cases, percussion component may also include can with percussion block 12270 and trigger shaft 12280 simultaneously move cutter block 12281 and knife bar 12282.In either case, when knife bar 12282 promotes towards distal side, the cutting edge of knife bar 12282 12283 can cut into tissue of the capture between anvil block 12090 and nail bin 12080.It is published in the entitled of on January 6th, 1987 “SURGICAL STAPLING INSTRUMENT WITH JAW LATCHING MECHANISM AND DISPOSABLE The disclosure of LOADING CARTRIDGE " United States Patent (USP) 4,633,874 is incorporated by herein.

Referring primarily to Figure 106, the trigger system of surgical instruments 12010 may include firing button 12055 and percussion switch 12290.When the user of surgical instruments 12010 presses firing button 12055, firing button 12055 can contact percussion switch 12290 and close it is operable percussion motor 12120 cocking circuit.When the user of surgical instruments 12010 discharges firing button When 12055, cocking circuit can be opened and be supplied to the power of percussion motor 12120 to be interrupted.Firing button 12055 can It is again propelled to operate percussion motor 12120 again.In some cases, firing button 12055 may include two-way switch, when When promoting in the first direction, the two-way switch can operate percussion motor 12120 in the first direction, and ought promote in a second direction When, the two-way switch can in a second direction or opposite direction operation percussion motor 12120.Percussion switch 12090 and/or percussion are opened Any suitably-arranged closed can be communicated with the microprocessor signals of surgical instruments 12010, and the microprocessor can be adapted to Enough control is supplied to the power of percussion motor 12120.In some cases, further described above, microprocessor can Ignore the signal from firing button 12055, until sensor 12025 detects that breech lock 12050 has closed.In any situation Under, firing button 12055 can be promoted to promote trigger shaft 12280 and knife 12282 towards distal side along its first direction, and can be along it Second direction is promoted so that trigger shaft 12280 and knife 12282 proximally bounce back.In some cases, surgical instruments 12010 can wrap Include and be configured to operate the firing button of percussion motor 12120 along its first direction and switch and be configured to edge The retraction button and switch of its second direction operation percussion motor 12120.After trigger shaft 12280 and knife 12282 have bounced back, Breech lock 12050 can move to its unlatched position from its position latching, so that latch arms 12053 depart from latch pin 12210.So Afterwards, anvil block 12090 is pivotably away from nail bin 12080, so that surgical instruments 12010 returns to opening, unlatched state.With it is above Similar, surgical instruments 12010 may include for example to be configured to indicate that the one or more of the state of surgical instruments 12010 refers to Show device, such as LED 12100.LED 12100 can communicate with the microprocessor signals of surgical instruments 12010, and can be such as To be operated with the similar mode with reference to described in LED 11100.LED 12100 can be held in place by by such as balladeur train 12101.

In all cases, apparatus 12010 may include to fire locking system, if anvil block 12090 is not in closing position Or adequate closure position, the percussion locking system can stop the propulsion of knife 12282 and/or trigger shaft 12280.Referring to Figure 104 and Figure 106, apparatus 12010 may include the biasing member 12400 for being for example installed to warehouse channel 12070, and the biasing member can be by knife 12282 are biased into and are engaged with the lock part of shank 12015.When anvil block 12090 rotates to its closing position, anvil block 12090 The biasing force of biasing member 12400 can be overcome and push down on knife 12282 away from lock part.Now, knife 12282 can be towards remote Side promotes.Similarly, apparatus 12010 may include biasing member, and the biasing member can be biased into trigger shaft 12280 and shank 12015 lock part engagement, wherein when anvil block 12090 moves to its closing position, anvil block 12090 can make trigger shaft 12280 depart from lock part.

Surgical instruments 12010 may include the closed-system of manual actuation and the nail trigger system of motor driving.Shank 12015 Part 12040 can be grasped by the hand of the user of surgical instruments 12010, and anvil block 12090 and breech lock 12050 can be by Its another manual operating.In at least one embodiment, as the part for closing breech lock 12050, user can be along one The general direction of hand moves its another hand, and this can reduce the accidental and accidental movement of surgical instruments 12010.Surgical instruments 12010 can be powered by any suitable power supply.For example, cable can extend in shank 12015 from external power source.In some situations Under, battery can be stored in such as shank 12015.

Surgery suturing appliance 13010 is shown in Figure 107 into Figure 110.Figure 107 is the side of shown surgical instruments 13010 View, some of parts are removed and miscellaneous part is illustrated in cross-section.Apparatus 13010 may include that shank 13015, first causes Move device 13020, the second actuator 13030, shaft assembly 13040 and performed including the end of anvil block 13050 and nail bin 13055 Device 13012.Shaft portion 13040 and anvil block 13050 can such as be published in the entitled " ARTICULATION on January 6th, 1998 Operated shown and described in ASSEMBLY FOR SURGICAL INSTRUMENTS " United States Patent (USP) 5,704,534.Announce In entitled " the ARTICULATION ASSEMBLY FOR SURGICAL INSTRUMENTS " U.S. on January 6th, 1998 The disclosure of patent 5,704,534 is incorporated by herein.Electricity input cable 13018 can connect apparatus 13010 It is connected to external power source.In the case of at least one, external power source may include such as generator, such as by Ethicon Energy, The GEN11 generators of Cincinnati, OH manufacture.In all cases, external power source may include AC to D/C adapter.Some In the case of, apparatus 13010 by such as internal battery powers, can such as be published in the entitled " MOTOR- on July 3rd, 2012 Battery shown and described in DRIVEN SURGICAL CUTTING INSTRUMENT " United States Patent (USP) 8,210,411.Announce In on July 3rd, 2012 it is entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " United States Patent (USP) 8, 210,411 disclosure is incorporated by herein.

In all cases, referring primarily to Figure 107, the anvil block 13050 of end effector 13012 can be in open position (such as Shown in Figure 107) moved between closing position, in the closing position, anvil block 13050 and the adjacent positioned of nail bin 13055 or and its Contact, following article are further more fully described.It is at least one it is such in the case of, nail bin 13055 can not be relative to anvil Seat 13050 pivots.In some cases, although being not shown, nail bin 13055 can pivot relative to anvil block 13050.At least one In the case of kind is such, anvil block 13050 can not can pivot relative to nail bin 13055.Under any circumstance, apparatus 13010 makes User can manipulate end effector 13012, so as to which tissue T is positioned between anvil block 13050 and storehouse 13055.Once tissue T is It is appropriately positioned between anvil block 13050 and nail bin 13055, user can pull the first actuator 13020 to activate apparatus 13010 closed-system.Closed-system can be such that anvil block 13050 is moved relative to nail bin 13055.For example, the first actuator 13020 It can be pulled towards the pistol grip portion 13016 of shank 13015 to close anvil block 13050, following article is further retouched in more detail State.

Closure drive device may include to be configured to the closure motor 13105 (Figure 110) for moving anvil block 13050.Close Shank 13015 can be installed to via such as motor balladeur train 13101 by closing motor 13105.By the first actuator 13020 from its open position Putting (Figure 108) and being expressed to its closing position (Figure 109) can make closure motor 13105 be powered.Referring primarily to Figure 110, motor is closed 13105 may include and close the rotatable output shaft that driving screw 13110 is operatively engaged.When closure motor 13105 makes output When axle is rotated in a first direction, closure driving screw 13110 can be rotated in a first direction by output shaft.Close the energy of driving screw 13110 Enough it is pivotally supported in shank 13015 and may include threaded portion.Closure drive device may also include and closure guide screw The closure nut that the threaded portion of bar 13110 is threadably engaged.Close nut can it is restrained and can not with close driving screw 13110 rotate together so that the translatable closure nut of rotary motion of closure driving screw 13110.Closing nut can be with closed yoke 13120 engagements are integrally formed therewith.When closure motor 13015 rotates along its first direction, closure driving screw 13110 can court Distal side promotes closed yoke 13120.In all cases, closed yoke 13120 can be slidably supported at shank by guide rail 13122 In 13015, the shank 13015 that the guide rail moves from constraint closed yoke 13120 extends to the path limited along longitudinal axis.It is such Axis can be with the longitudinal axis parallel, substantially parallel, conllinear or be substantially collinear that is limited by shaft assembly 13040.Closure driving Device may also include the closed tube 13125 extended from closed yoke 13120 towards distal side.Closed tube 13125 or shaft assembly 13040 A part, and can be relative to the framework translation of shaft assembly 13040.When closed yoke 13120 is by closing the court of driving screw 13110 When distal side promotes, closed yoke 13120 can promote closed tube 13125 towards distal side.The distal end of closed tube 13125 can be with anvil block 13050 are operatively engaged so that when closed tube 13125 promotes towards distal side, closed tube 13125 can be by anvil block 13050 from its Open position promotes towards its closing position.It is published in entitled " the ARTICULATION ASSEMBLY on January 6th, 1998 FOR SURGICAL INSTRUMENTS " United States Patent (USP) 5,704,534 discloses a kind of closed-system of manual actuation.

In at least one form, closed-system switch that apparatus 13010 may include to be positioned in shank 13015, when the One actuator 13020 from its open position (Figure 108) towards its closing position (Figure 109) move when, the closed-system switch can It is closed.In some cases, when the first actuator 13020 is in its closing position (Figure 109), closed-system switch can quilt Closure.In either case, when closed-system switch close when, closed-system power circuit can be closed with to closure motor 13105 provide electrical power, to make closure motor 13105 be rotated along its first direction, as described above.In some cases, outside Section's apparatus 13010 may include microprocessor, and similar to the above, and closed-system switch can communicate with microprocessor signals.When Closed-system switch to microprocessor send instruction the first actuator 13020 closed signal when, microprocessor can allow to Closure motor 13105 provides power to operate closure motor 13105 along its first direction and make anvil block 13050 towards its closure Move position.In all cases, as long as the first actuator 13020 activates at least in part and closed-system switch is in and closed Conjunction state, closure motor 13105 can be such that anvil block 13050 is moved towards its closing position.The first actuator is discharged in user 13020 and first actuator 13020 be back to its unactuated position in the case of, closed-system switch can be opened and carry The power of supply closure motor 13105 can interrupt.Such situation can be such that anvil block 13050 stays in partial closed position.When first When actuator 13020 is activated again and closed-system switch has been closed, power can be provided to closure motor 13105 again So that anvil block 13050 moves towards its closing position.According to described above, the user actuatable first of surgical instruments 13010 Actuator 13020 simultaneously waits motor 13105 to be closed that anvil block 13050 is positioned in its fully closed position.

In at least one form, the motion of the first actuator 13020 can be proportional to the motion of anvil block 13050.First Actuator 13020 moves across the first motion when can be moved between its open position (Figure 108) and its closing position (Figure 109) Scope or actuator range of movement.Anvil block 13050 moves when can be moved between its open position (Figure 107) and its closing position Through the second range of movement or anvil block range of movement.Actuator range of movement may correspond to anvil block range of movement.For example, cause Dynamic device range of movement can be equal to anvil block range of movement.For example, actuator range of movement may include about 30 degree, and anvil block motion model Enclosing may include about 30 degree.In this case, when the first actuator 13020 is in its fully open position, anvil block 13050 can In its fully open position；When the first actuator 13020 rotates 10 degree towards its closing position, anvil block 13050 can direction Its closing position rotates 10 degree；When the first actuator 13020 rotates 20 degree towards its closing position, anvil block 13050 can direction Its closing position rotates 20 degree, etc..In the case of being blocked and can not being seen in operative site in anvil block 13050, first Direct proportion motion between actuator 13020 and anvil block 13050 can give user's anvil block 13050 of apparatus 13010 relative to The sensation of the position of nail bin 13055.

Further described above, anvil block 13050 may be in response to the closed action and opening of the first actuator 13020 Action.For example, when the first actuator 13020 moves 10 degree towards pistol grip 13016, anvil block 13050 can be towards nail bin 13055 10 degree of motions, and when the first actuator 13020 moves 10 degree away from pistol grip 13016, anvil block 13050 can 10 degree are moved away from nail bin 13055.Although the motion of the first actuator 13020 and the motion of anvil block 13050 can be according to 1:1 ratio It is directly proportional, but other ratios are also possible.For example, the motion of the first actuator 13020 and the motion of anvil block 13050 can bases 2:1 ratio is directly proportional.In this case, when the first actuator 13020 moves 2 degree relative to pistol grip 13016, anvil Seat 13050 will move 1 degree relative to nail bin 13055.In addition, in this case, the range of movement of the first actuator 13020 can To be twice of range of movement of anvil block 13050.In another case, the motion of the first actuator 13020 and anvil block 13050 Motion can be according to 1:2 ratios are directly proportional.In this case, when the first actuator 13020 is relative to pistol grip 13016 When moving 1 degree, anvil block 13050 will move 2 degree relative to nail bin 13055.In addition, in this case, the first actuator 13020 Range of movement can be anvil block 13050 range of movement half.In all cases, the motion of the first actuator 13020 Can be with the motion of anvil block 13050 linearly.In other cases, the motion of the first actuator 13020 can be with anvil block 13050 Motion it is in non-linear proportion.Regardless of ratio used, such embodiment can turn into possible by using potentiometer, should Potentiometer can for example assess the rotation of the first actuator 13020, be more fully described as discussed further below.

Further described above, referring to Figure 108 to Figure 110, the closed-system of apparatus 13010 may include can detect The slip potentiometer 13090 of the motion of first actuator 13020.First actuator 13020 can be via pivot 13021 pivotly It is installed to shank 13015.First actuator 13020 may include gear parts 13070, and the gear parts include surrounding pivot Multiple gear teeth of 13021 circumferentially extendings.It is right when the first actuator 13020 proximally rotates towards pistol grip 13016 It is described further above, gear parts 13070 can rotate towards distal side.Correspondingly, when the first actuator 13020 revolves towards distal side When turning away from pistol grip 13016, gear parts 13070 can proximally rotate.Closed-system may also include slidably twelve Earthly Branches Support the closed yoke rack 13080 in shank 13015.Closed yoke rack 13080 may include the longitudinal direction extended along its lower surface Tooth array, gear parts 13070 of the lower surface towards the first actuator 13020.The gear parts of first actuator 13020 13070 can engage engagement with the tooth array being limited on closed yoke rack 13080 so that when the first actuator 13020 surrounds pivot When axle 13021 rotates, the first actuator 13020 can be such that closed yoke rack 13080 is shifted proximally or towards distal side, and this depends on the The direction of one actuator 13020 rotation.For example, when the first actuator 13020 rotates towards pistol grip 13016, first Actuator 13020 can be such that closed yoke rack 13080 is shifted towards distal side.Correspondingly, when the first actuator 13020 is held away from pistol type During 13016 rotation, the first actuator 13020 can be such that closed yoke rack 13080 proximally shifts.Shank 13015 may include to limit Due to the guide groove in shank, the guide groove can be configured to slidingly support closed yoke rack 13080 and constrain to close Close yoke rack 13080 and move to the path limited along longitudinal axis.The longitudinal axis can be with the longitudinal axis of shaft assembly 13040 It is parallel, substantially parallel, conllinear or be substantially collinear.

Closed yoke rack 13080 may include detectable element 13081 mounted thereto.Detectable element 13081 can wrap Include such as magnetic element, such as permanent magnet.When closing the translation in shank 13015 of rack 13080, element 13081 can detect It can be configured in the interior translation of longitudinal slit 13091 being defined in sliding potentiometer 13090.Slide potentiometer 13090 can be configured to detect position of the detectable element 13081 in longitudinal slit 13091 and pass the position Deliver to the microprocessor of surgical instruments 13010.For example, when the first actuator 13020 is in its open position or unactuated position When (Figure 108), detectable element 13081 can be positioned at the proximal end of longitudinal slit 13091 and potentiometer 13090 can incite somebody to action Signal is delivered to microprocessor, and the signal can indicate that the first actuator 13020 is in its open position to microprocessor.Utilize this Anvil block 13050 can be maintained at its open position by information, microprocessor.In the first actuator 13020 towards pistol grip During 13016 rotation, can detect element 13081 can slide in longitudinal slit 13091 towards distal side.Potentiometer 13090 can be to micro- place Manage one or more signals that device transmission indicates the position of the first actuator 13020.It is micro- in response to such one or more signals Processor is operable to close motor 13105 so that anvil block 13055 to be moved to the position with the position correspondence of the first actuator 13020 Put.When the first actuator 13020 is in its closing position or fully actuated position (Figure 109), detectable element 13081 can be determined At the distal end of longitudinal slit 13091 and potentiometer 13090 can pass the signal along to microprocessor, the signal can be to for position Microprocessor indicates that the first actuator 13020 is in its closing position.Using the information, microprocessor can transport anvil block 13050 Move its closing position.

Make it that it is substantially adjacent with the pistol grip 13016 of shank 13015 when the first actuator 13020 is pulled When, as described above, closed yoke rack 13080 moves to its farthest side position.When closed yoke rack 13080 is in its farthest side position When putting, the engageable closed yoke rack 13080 of release button 13140 is closed so that closed yoke rack 13080 to be releasably held in Its farthest side position, therefore, anvil block 13050 is releasably held in its closing position.Referring primarily to Figure 108, closure release Button 13140 can be pivotally mounted on shank 13015 around pivot 13141.Closure release button 13140 may include from Its lock arm 13142 extended.When the first actuator 13120 is in its unactuated position and closed yoke rack 13080 is in During its nearest side position, lock arm 13142 can be positioned on above the top surface of closed yoke rack 13080 and/or fixed against it Position.In such position, closed yoke rack 13080 can slide relative to lock arm 13142.In some cases, lock arm 13142 can bias against the top surface of closed yoke rack 13080.It is more fully described as discussed further below, apparatus 13010 It may also include and be configured to the first actuator 13020 and the second actuator 13030 being releasably held in shown in Figure 108 Non- actuated lock 13290.Spring 13150 can be positioned on lock 13290 and among firing button 13140, it can surround pivot Axle 13141 rotatably biases closure release button 13140 and by lock arm 13142 against the top of closed yoke rack 13080 Portion surface positions.In all cases, lock 13290 may include proximal projections 13296, and close release button 13140 can Including distal projections 13146, the two protuberances can be configured in lock 13290 release spring 13150 with closure Put and keep and snap to appropriate location between button 13140.As shown in Figure 109, when the first actuator 13020 rotates to its actuating During position, closed yoke rack 13080 can be at its farthest side position, and lock arm 13142 can be biased into or fall into and be defined in In recess 13082 in the proximal end of closed yoke rack 13080.In addition, when the first actuator 13020 move to Figure 109 and During its closing position or actuated position shown in Figure 110, lock 13290 proximally can be promoted and made by the first actuator 13020 Lock 13290 rotates around pivot 13214.In the case of at least one, the first actuator 13020 may include the actuating from its extension Device protuberance 13025, the actuator projection are configured to engagement from the distal projections 13295 of the extension of lock 13290.Lock 13290 this type games can lock 13290 and closure release button 13140 between compression spring 13150 and increase be applied to Close the biasing force of release button 13140.Once lock arm 13142 engages with recess 13082, closed yoke rack 13080 can not It can move along proximal direction or distal direction or at least substantially move.

As described above, the first actuator 13020 and the second actuator 13030 can be releasably held in and/or bias Into its unactuated position shown in Figure 108.Apparatus 13010 may include return spring 13210, and the return spring includes being connected to The first end of pivot 13214 and the second end for being connected to the spring mount 13034 from the extension of the second actuator 13030. Second actuator 13030 can be rotatably mounted to shank 13015 around pivot 13021, and return spring 13210 can be to Two actuators 13030 are biased power so that the second actuator 13030 rotates around pivot 13021.Lock 13290 can stop second Actuator 13030 surrounds the rotation of pivot 13021.More specifically, for closure return push-button 13140 to be biased into and closed yoke The spring 13150 that rack 13080 engages can also be used to promote lock 13290 towards distal side so that lock 13290 lock arm 13292 It is positioned in behind the shoulder 13032 being limited on the second actuator 13030, the shoulder can limit the second actuator 13030 Rotate and the second actuator 13030 is maintained in its unactuated position, as shown in Figure 108.Referring primarily to Figure 110, second Actuator 13030 may include shoulder 13031, and the shoulder can be configured to the gear part of adjacent first actuator 13020 Divide 13070 and the first actuator 13020 is biased into its unactuated position (Figure 108).When the direction of the first actuator 13020 When its actuated position (Figure 109) rotates, the first actuator 13020 can overcome by biasing force that spring 13210 provides and by second Actuator 13030 rotates at least in part towards pistol grip 13016.In fact, the actuating of the first actuator 13020 can make Obtaining the second actuator 13030 can be touched by the user of surgical instruments 13010.Before the first actuator 13020 is activated, second Actuator 13030 can be untouchable for user.Under any circumstance, reader will remember the cause of the first actuator 13020 It is dynamic proximally to promote lock 13295.Such proximal movement of lock 13295 can make lock 13295 from being limited to the second actuator 13030 On shoulder 13032 below shift.

Once the first actuator 13020 moved and be locked to its fully actuated position (Figure 109) and anvil block 13050 Its closing position is moved to, is positioned at as described above, apparatus 13010 can be used for suture among anvil block 13050 and nail bin 13055 Tissue.When user is dissatisfied to the positioning that is organized between anvil block 13050 and nail bin 13055, user can by by Conjunction release button 13140 is pressed off to unlock anvil block 13050.When pressing closes release button 13140, release button is closed 13140 lock arm 13142 can be pivoted up leaving recess 13082, and this can allow closed yoke rack 13080 proximally to move. In addition, return spring 13,210 first actuator 13120 and the second actuator 13130 can be returned to shown in Figure 109 its do not cause Dynamic position, and because the engagement of engaging between gear parts 13070 and closed yoke rack 13080, return spring 13210 can make Closed yoke rack 13080 returns to its proximal position.This type games of closed yoke rack 13080 can be by slip potentiometer 13090 Detect, the first actuator of microprocessor transmission 13020 that the slip potentiometer can be to apparatus 13010 has returned to it and do not activated Position and anvil block 13050 should return to the signal of its open position.In response to this, microprocessor may indicate that closure motor 13105 rotate along its second direction proximally to drive the closure nut of closed-system and closed tube 13125 is proximally returned Contracting, this will make anvil block 13050 return to its open position.Then, user can by activate again the first actuator 13020 come Reposition anvil block 13050 and nail bin 13055 and re-close anvil block 13050.In all cases, apparatus 13010 is micro- Processor can be configured to ignore the input signal from the second actuator 13030, until potentiometer 13090 detects Anvil block 13050 is in the close position or fully closed position.

Further described above, once positioning satisfaction of the user to anvil block 13050 and nail bin 13055, then make Second actuator 13030 can be pulled to closing position or actuated position by user so that it is close to the first actuator 13020.The Percussion switch 13180 in the actuating pressable or closure shank 13015 of two actuators 13030.In all cases, percussion is opened Closing 13180 can be supported by motor mount 13102, and the motor mount may be configured as that closure motor can be supported 13105 and/or percussion motor 13100.The operable percussion motor 13100 of closure of percussion switch 13180.In some cases, Percussion switch 13180 can communicate with the microprocessor signals of surgical instruments 13010.When microprocessor connects from percussion switch 13180 When receiving the signal that the second actuator 13030 has fully activated, microprocessor can provide power to percussion motor 13100.Various In embodiment, percussion motor 13100 can be directly connected to DC or AC power supplies to operate percussion horse by the closure of percussion switch 13180 Up to 13100.In the case of at least one, percussion switch 13180 may be arranged so that 13180 until the second actuator 13030 Its fully closed position is reached, percussion switch just closes.Referring primarily to Figure 110, the rotation of the second actuator 13030 can be at it Stopped at when being contacted with the first actuator 13020 in its fully closed position.In the case of at least one is such, the first actuator 13020 may include to be configured to receive from the second actuator 13030 when the second actuator 13030 reaches its closing position The stop recess 13023 of the stop lug 13033 of extension.

Percussion motor 13100 may include to be operatively engaged with the percussion driving screw 13190 of trigger system rotatable defeated Shaft.When fire motor 13100 be operable to output it axle be rotated in a first direction when, output shaft can will fire driving screw 13190 are rotated in a first direction.When firing, motor 13100 is operated to its output shaft in a second direction or opposite direction rotates When, output shaft can rotate in a second direction percussion driving screw 13190.Trigger system may also include percussion nut, the percussion spiral shell Female threaded portion with firing driving screw 13190 is threadably engaged.Fire nut can it is restrained and can not with fire driving screw 13190 rotate together so that the rotation of percussion driving screw 13190 can make percussion nut, and proximally or towards distal translation, this depends on In the direction that percussion driving screw 13190 rotates.Trigger system may also include the beating shaft for being operatively connectable to fire nut 13220, the beating shaft can shift together with percussion nut.Trigger system may also include knife bar 13200 and from the court of beating shaft 13220 The nail deployment percussion band of distal side extension.When percussion motor 13020 rotates along its first direction, percussion driving screw 13190 can make Fire nut, beating shaft 13220, knife bar 13200 and percussion band to shift towards distal side, nail is projected and cut from nail bin 13055 Enter to be positioned at anvil block 13050 and the tissue among nail bin 13055.Once knife 13200 and percussion are with the terminal for reaching its traveling, micro- Processor can rotate percussion motor 13100 so as to knife 13200 and bring back to its initial bit along its second direction or opposite direction Put.In all cases, apparatus 13010 may include the end of the traveling sensor to be communicated with microprocessor signals, and the traveling passes Sensor can send the letter that percussion drive device has reached the terminal of its firing schedule and firing schedule should bounce back to microprocessor Number.Such end of traveling sensor can be positioned in such as anvil block 13050 and/or nail bin 13055.In some cases, may be used The encoder for being operably coupled to fire motor 13100 can determine that percussion motor 13100 has rotated enough revolutions to make knife 13200 signals that should be bounced back with percussion with the terminal for reaching its traveling and to microprocessor transmission trigger system.

However, once the second actuator 13030 has been activated, apparatus 13010 is in its cock and microprocessor Any input for ignoring from the first actuator 13020 and/or sliding potentiometer 13090 can be configured to, until hitting Hair system has returned it to its initial position.In all cases, apparatus 13010 may include pause button, should in pressing Pause button can send the signal that percussion component should bounce back immediately to microprocessor.In the case of at least one is such, work as pressing When closing release button 13140, percussion sequence can stop.As described above, pressing closure release button 13140 makes closed yoke rack 13080 proximally move, and the closed yoke rack then makes detectable element 13081 proximally move.Detectable element 13081 Proximal movement can be detected by slip potentiometer 13090, and the slip potentiometer can send signal to microprocessor so that percussion motor 13100 rotation is reverse, and component and/or operation closure motor 13105 are fired to open anvil block 13050 so as to bounce back.

Apparatus 13010 may also include for example one or more indicators, such as LED 13300, and it can be adapted to The mode of operation of enough indicator instruments 13010.In all cases, LED 13300 can be for example with the side similar to LED 11100 Formula operates.Apparatus 13010 has also combined the ability for making end effector 13012 carry out joint motions.This passes through such as United States Patent (USP) Articulation knob 13240 described in 5,704,534 is completed.Shaft assembly 13040 can be manually rotated also in United States Patent (USP) 5, Had been discussed in 704,534.

In the modular concept of apparatus 13010, shaft assembly 13040 and end effector 13012 can be disposable, and And it is attached to reusable shank 13015.In another embodiment, anvil block 13050 and nail bin 13055 are disposable , and shaft assembly 13040 and shank 13015 are reusable.In various embodiments, including anvil block 13015, axle group The end effector 13012 of part 13040 and shank 13015 can be reusable, and nail bin 13055 can be replaceable 's.

Figure 111 is the perspective view of surgery suturing appliance 14010.Apparatus 14010 may include actuator or shank 14020, axle Part 14030, tubulose storehouse housing 14040, and anvil block 14050.Apparatus 14010, which may also include, to be configured to make anvil block 14050 closed-systems moved between the open position and the closed position.Actuator 14020 may include operable closed-system Rotating closed knob 14075, following article is further more fully described.Apparatus 14010 may also include trigger system, the percussion system System is configured to project the nail being removedly stored in storehouse housing 14040.Actuator 14020 may also include operable hit The percussion startup trigger 14070 of hair system, following article is further more fully described.Shaft portion 14030, storehouse housing 14040 Can be with being published in entitled " the SURGICAL ANASTOMOSIS STAPLING on March 8th, 1994 with anvil block 14050 Similar mode operates shown and described in INSTRUMENT " United States Patent (USP) 5,292,053.It is published on March 8th, 1994 It is entitled " in the disclosure of SURGICAL ANASTOMOSIS STAPLING INSTRUMENT " United States Patent (USP) 5,292,053 Appearance is incorporated by herein.

Further described above, actuator 14020 may include conveyer 14000 and be configured to operate The slider button 14060 of conveyer 14000.Slider button 14060 can be in the distal position (figure close to storehouse housing 14040 115) and between the proximal position (Figure 114) of storehouse housing 14040 move.When slider button 14060, to be in its near During side position, actuator 14020 is in first operator scheme or closed mode, and can make anvil block 14050 toward and away from storehouse Housing 14040 moves.When slider button 14060 is in its distal position, actuator 14020 is in second operator scheme or hit Hair pattern, and nail can be projected from storehouse housing 14040 towards anvil block 14050.When actuator 14020 is in its closed mode When, rotating closed knob 14075 can be rotated to make the court of anvil block 14050 around the longitudinal axis for extending through actuator 14020 Nearside moves towards distal side, and this depends on the direction that closure knob 14075 rotates.Pattern is fired when actuator 14020 is in it When, percussion startup trigger 14070 can be proximally rotated so that nail to be projected from storehouse housing 14040.Closed-system and trigger system Hereinafter further it is discussed in more detail.

Actuator 14020 may include such as electro-motor, such as motor 14090 (Figure 113 to Figure 115), and it can be via biography Send the operation of device 14000 closure drive device and percussion drive device.Motor 14090 may be supported on the actuating of actuator 14020 In device shell 14080.Referring primarily to Figure 113, actuator housings 14080 may include two half-unit, i.e. actuator housings right side 14080a and actuator housings left side 14080b.Actuator housings half portion 14080a and 14080b can be maintained at one by screw rod Rise, but can also be used any suitable fastening and/or adhesive bonding method to assemble actuator housings 14080.Motor 14090 can prop up Support between actuator housings half portion 14080a and 14080b and may include the rotatable shaft 14100 from it towards distal side extension. In some cases, actuator 14020 may include the motor support 14101 being positioned in shell 14080, the motor support It is configured to support the shell of motor 14100 and constrain motor case to rotate relative to actuator housings 14080.Various In the case of, rotatable shaft 14100 may include the expander part 14110 for being attached to it.Axle 14100 and expander part 14110 It can be rotationally coupled so that they rotate together.

Further described above, referring primarily to Figure 116, expander part 14110 may include cylinder or at least Substantially cylindrical main body 14111 and the flat being defined in the distal end 14113 of expander part 14110 14120.The cylinder-shaped body 14111 of expander part 14110 can be pivotally supported at actuator housings by bearing 14105 In 14080.The distal end 14113 of expander part 14110 can be positioned on the slider bore 14114 being defined in sliding block 14115 It is interior.Following article is further more fully described, and sliding block 14115 is a part for conveyer 14000 and can be in proximal position Offset between (Figure 114) and distal position (Figure 115), in proximal position, sliding block 14115 passes the rotary motion of motor 14090 Closed-system is delivered to, in distal position, the rotary motion of motor 14090 is delivered to trigger system by sliding block 14115.Work as sliding block 14115 between its proximal position (Figure 114) and its distal position (Figure 115) when offseting, and sliding block 14115 can be relative to expander Slide part 14110.The slider bore 14114 being defined in sliding block 14115 can limit periphery, the periphery matching or at least substantially Match the periphery of the distal end 14113 of expander part 14110 so that expanders part 14110 and sliding block 14115 can It is rotatingly coupled to together, and two, sliding blocks 14115 can translate relative to expander part 14110.In at least one situation Under, slider bore 14114 include the cylinder-shaped body 14111 of matching expander part 14110 cylindrical part 14116 and Flat 14117 with the flat 14120 being defined in the distal end 14113 of sliding block 14115.

Further described above, sliding block 14115 may include the structure of tubulose or generally tubular.Sliding block 14115 can The multiple periphery splines 14130 extended including distal end 14118 and around the outer surface of distal end 14118, the periphery Spline can be operatively engaged with percussion drive device, as shown in Figure 115.Sliding block 14115, which may also include, is defined in slider bore Multiple inner circumferential splines 14140 in 14114 distal end, the inner circumferential spline can operationally connect with closure drive device Close, as shown in Figure 114.Sliding block 14115 can be a part for slide block assembly 14150.Referring primarily to Figure 116, slide block assembly 14150 It may also include the top bearing of journals 14160, the bottom bearing of journals 14170, slider button 14060 and sliding block spring 14180.Top The bearing of journals 14160 and the bottom bearing of journals 14170 are combined to form the bearing of journals, and it can the enough loosely support slippers of an 14115 cause sliding block 14115 in bearing of journals internal rotation, and two, sliding block 14115 can be made to be shifted proximally and towards distal side.It is main Will be referring to Figure 116, sliding block 14115 may include the distal lip 14121 and proximal flange 14122 from its extension, and both can be Groove 14123 is limited therebetween, and the groove is configured to closely receive the bearing of journals.Present dynasty distal side promotes slider button When 14060, the bearing of journals can promote sliding block 14115 towards distal side against distal lip 14121.Correspondingly, slider button is worked as 14060 when proximally promoting, and the bearing of journals can proximally promote sliding block 14115 against proximal flange 14122.

Slide block assembly 14150 may include to be configured to the lock that sliding block 14115 is releasably held in appropriate location. Referring primarily to Figure 116, slider button 14060 may include flange 14181, the flange be optionally assembled to be limited to longitudinal direction it is narrow In the first depression at the first end or proximal end of groove and it is limited at the second end or distal end of longitudinal slit Second depression in, the longitudinal slit is limited in actuator housings 14080.When flange 14181 engages with nearside depression, Slide block assembly 14150 can be maintained in its proximal position by flange 14181, and the slide block assembly drives sliding block 14115 and closure Device is operatively engaged with motor 14090.When flange 14181 engages with distal side depression, flange 14181 can be by slide block assembly 14150 are maintained in its distal position, and the slide block assembly makes sliding block 14115 and percussion drive device and motor 14090 operable Ground engages.The top bearing of journals 14160 may include journal hole 14161, the journal hole be configured to slideably received within by The axle 14061 of button 14060.Can in journal hole 14161 downward promoting button 14060 so that flange 14181 and actuator housings 14080 depart from.Once flange 14181 departs from actuator housings 14080, button 14060 can be defined in outside actuator Slided in longitudinal slit in shell 14080, so that sliding block 14115 moves between its proximal position and distal position.Spring 14180 can be configured to bias flange 14181 towards actuator housings 14080, and when surgical instruments 14010 During user's release button 14060, button 14060 can upwards be biased into and be connect again with actuator housings 14080 by spring 14180 Close.

Further described above, when slide block assembly 14150 is in its proximal position, sliding block 14115 and closure The closure nut 14190 of drive device engages.Closure nut 14190 includes elongated tubular construction, and the elongated tubular construction includes The closure nut external splines 14200 being limited at its proximal end.When sliding block 14115 is in its proximal position, sliding block 14115 Internal spline 14140 with close nut 14190 external splines 14200 engage engagement so that when sliding block 14115 passes through motor During 14090 rotation, closure nut 14190 is rotated by sliding block 14115.Closing nut 14190 can be for example, by one or more Bearing (such as axle bush 14220) is pivotally supported in actuator housings 14080, and the bearing is pivotably supported closure spiral shell The distal end of mother 14190.Closing nut axle bush 14220 can be by such as acetal resin (Delrin), nylon, copper, brass, green grass or young crops Copper and/or carbon composition.In some cases, closing nut axle bush 14220 may include such as ball bearing or roller bearing.Each In the case of kind, closure nut axle bush 14220 can be the integral part of actuator housings 14080.

Closure nut 14190 may include the longitudinal hole 14191 being defined in closure nut.Closed-system may also include closure Bar 14230, the closure bar can be positioned at least partially in longitudinal hole 14191.Closure bar 14230 may include to be limited to thereon Screw thread 14231, the screw thread are threadably engaged with the closure nut thread 14210 being defined in longitudinal hole 14191.Close bar 14230 can be restrained without being rotated together with closure nut 14190 so that when closure nut 14190 by motor 14090 along the When one direction rotates, closure bar 14230 can proximally be translated by closing nut 14190.As shown in Figure 115, bar 14230 is closed Can proximally it be moved in the longitudinal hole 14191 of closure nut 14190.Similarly, when closure nut 14190 passes through motor 14090 in opposite direction or second direction rotate when, closure bar 14230 can be by closing nut 14190 towards distal translation.It is as follows Text be will be described further in more details, and closure bar 14230 can be operatively engaged with anvil block 14050 so that when closure bar 14230 When proximally pulling, anvil block 14050 can move towards storehouse housing 14040.Correspondingly, when closure bar 14230 promotes towards distal side, The movable remote storehouse housing 14040 of anvil block 14050.In all cases, the closing stroke length of closed-system can be in anvil block Measured between 14050 open position and closing position.Closure bar 14230 can be grown to accommodate at least as closing stroke length Closing stroke.

As described above, the button 14060 of actuator 14020 can proximal position (Figure 114) and distal position (Figure 115) it Between move, in the proximal position, conveyer 14000 engages with closure drive device, in the distal position, conveyer 14000 engage with percussion drive device.In this way, conveyer 14000 can be used for that drive device and percussion will be closed Drive device optionally couples with motor 14090.When surgical instruments 14010 user to anvil block 14050 relative to storehouse shell When the positioning of body 14040 is satisfied with, as shown in Figure 115, user can make button 14060 towards distal side shift so that sliding block 14115 with Closure drive device departs from and sliding block 14115 is engaged with percussion drive device.It is sliding when sliding block 14115 slides towards distal side The internal spline 14140 of block 14115 departs from closing the external splines 14200 of nut 14190 so that the follow-up rotation of sliding block 14115 It is no longer transferred to closure nut 14190 and closed-system.While sliding block and closed-system depart from, sliding block 14115 become with Trigger system engages.Alternatively, when sliding block 14115 shifts towards distal side, sliding block 14115 becomes to be departed from closed-system, and And because the additional far side of sliding block 14115 shifts, sliding block 14115 becomes to be engaged with trigger system.In this case, transmit Closure drive device and percussion drive device may not be operatively engaged by device 14000 with motor 14090 simultaneously.Any In the case of, trigger system may include to fire nut 14260, and when sliding block 14115 moves towards distal side, the percussion nut can be by sliding block 14115 engagements.

Further described above, referring primarily to Figure 116, percussion nut 14260 may include to be defined in percussion nut In hole 14261, the hole can be configured to when sliding block 14115 is advanced in its distal position (Figure 115) in hole Receive the distal end 14118 of sliding block 14115.Percussion nut bore 14261 may include the percussion nut limited around its inner circumference Spline 14270, the percussion nut spline can intermesh with the periphery spline 14130 of sliding block 14115.When outside sliding block 14115 When Zhou Huajian 14130 engages with firing the percussion nut spline 14270 of nut 14260, sliding block 14115 can be with firing nut 14260 are rotationally coupled so that the rotation of sliding block 14115 is passed to percussion nut 14260.Actuator 14020 can also wrap Include the percussion nut axle bush 14275 for being pivotably supported percussion nut 14260.Percussion nut axle bush 14275 may include for example to roll Needle bearing, acetal resin, the integral part of nylon and/or other plastic bushings, metal axle bush or actuator housings 14080. Percussion nut 14260 may also include the internal thread 14272 being defined in the distal inner surface of percussion nut bore 14261.Percussion system System may also include the firing tube 14280 being threadably engaged with the internal thread 14272 of percussion nut 14260.

In all cases, further described above, firing tube 14280 may include to limit on its outer surface Screw thread 14281, the screw thread are threadably engaged with internal thread 14272.Firing tube 14280 can it is restrained and can not with fire nut 14260 rotate together so that when firing nut 14260 by motor 14090 and the rotation of sliding block 14115, fire nut 14260 Translatable firing tube 14280.For example, when percussion nut 14260 is rotated in a first direction, firing tube 14280 can pass through percussion Nut 14260 towards distal side shift, and when fire nut 14260 in a second direction or opposite direction rotate when, firing tube 14280 Can proximally it be shifted by firing nut 14260.At least a portion of firing tube 14280, which can be positioned on, is defined in percussion nut In hole 14261 in 14260.When firing tube 14280 proximally shifts, firing tube 14280 can proximally be transported in hole 14261 It is dynamic.When firing tube 14280 shifts towards distal side, firing tube 14280 can move in hole 14261 towards distal side.Following article will be more detailed Carefully describing, firing tube 14280 can be operably connected with firing member, when firing tube 14280 promotes towards distal side, the percussion Component can project nail from storehouse shell 14040.When firing tube 14280 proximally moves, firing tube 14280 can make firing member Retraction.When firing member moves between non-firing position and firing position, firing tube 14280 can long enough with accommodate percussion The firing schedule of component.In all cases, the threaded portion of firing tube 14280 is shorter than the threaded portion of closure bar 14230. In this case, firing schedule can be shorter than closing stroke.In other cases, the length of the threaded portion of firing tube 14280 can The length of threaded portion with closing bar 14230 is identical.In this case, the length of firing schedule can be with the length of closing stroke Spend identical.In some cases, the threaded portion of firing tube 14280 is longer than the threaded portion of closure bar 14230.In such case Under, firing schedule can be longer than closing stroke.

Further described above, actuator 14020 and shaft portion 14030 may include total system.In various feelings Under condition, actuator 14020 and shaft portion 14030 may include integrated component.In some cases, actuator 14020 can be from axle Dismantle part 14030.Figure 34 is the perspective view of surgery suturing appliance 14010, and it shows the actuator dismantled from shaft portion 14030 14020.Apparatus 14010 may include to be configured to one that shaft portion 14030 is releasably held to actuator 14020 Or multiple locks or breech lock.For example, actuator 14020 can include breech lock 14025 on opposite sides thereof, the breech lock is configured to Shaft portion 14030 is releasably held into actuator 14020.Breech lock 14025 can be slided between the first location and the second location Dynamic, in the first position, the breech lock engages with shaft portion 14030, and in the second place, the breech lock departs from shaft portion 14030. As described in greater detail below, actuator 14020 and shaft portion 14030 may include the part of closed-system, when shaft portion 14030 When being assembled into actuator 14020, the part operationally fits together.Similarly, actuator 14020 and shaft portion 14030 may include the part of trigger system, when shaft portion 14030 is assembled into actuator 14020, the part operationally group It is fitted together.

Further described above, referring primarily to Figure 113, closed-system, which may also include, is attached to closure bar 14230 Distal end closed fastener 14240.In all cases, closed fastener 14240 can be locked to closure bar by screw rod 14230 so that when closing bar 14230 towards distal translation, closed fastener 14240 is towards distal translation, and correspondingly, when closing When conjunction bar 14230 proximally translates, the closed fastener 14240 proximally translates.Closed fastener 14240 may include one or Multiple lateral extensions, the lateral extension may fitted in the groove in actuator housings 14080, so that closed fastener 14240 align with closure bar 14230.Lateral extension can also prevent from closing bar 14230 and closed fastener 14240 in closure bar 14230 rotate when being driven by closure nut 14190, as described above.Closed fastener 14240 may include closing for actuator 14020 Close driving output device and could attach to the closure driving input unit of shaft portion 14030.The closure driving of shaft portion 14030 Input unit may include the second fixture 14250, and when shaft portion 14030 is assembled into actuator 14020, second fixture can It is attached to closed fastener 14240.When closed fastener 14240 is promoted by closure bar 14230 towards distal side, closed fastener 14240 can promote the second fixture 14250 towards distal side；Correspondingly, when closed fastener 14240 is by closing the court of bar 14230 During proximal retraction, closed fastener 14240 can proximally pull the second fixture 14250.

The closure drive part of shaft portion 14030 may also include what is be installed to the second fixture 14250 and extend from it One or more tension bands 14252 and 14253.Tension band 14252 and 14253 can be fastened to the second fixture 14250 so that when Second fixture 14250 by closed fastener 14240 towards distal side promote when, the second fixture 14250 can be by tension band 14252,14253 promote towards distal side, and correspondingly so that when the second fixture 14250 by closed fastener 14240 towards near When side bounces back, the second fixture 14250 can proximally pull tension band 14252,14253.In all cases, shaft portion 14030 can be bending, and in the case of at least one, it may include the bending axis that proximally shell installed part 14032 extends Shell 14031.In some cases, tension band 14252 and 14253 can be flexible to be driven with adapting to the closure of shaft portion 14030 The crooked route of dynamic part.The closure drive part of shaft portion 14030, which may also include, is attached to tension band 14253 and 14253 Attachment part or trochar 14258.Trochar 14258 can be fastened to tension band 14252,14253 so that trochar 14258 with Tension band 14252,14253 is promoted and bounced back together.Trochar 14258 may include distal end, and the distal end can be with anvil block 14050 are releasably engaged so that when anvil block 14050 is assembled into trochar 14258, anvil block 14050 and trochar 14,258 1 Rise and promote and bounce back.With reference to above, United States Patent (USP) 5,292,503 is discussed to this in more detail.

Further described above, referring primarily to Figure 113, trigger system, which may also include, is attached to firing tube 14280 Distal end percussion fixture 14290.In all cases, percussion fixture 14290 can be locked to firing tube by screw rod 14280 so that when firing tube 14280 is towards distal translation, percussion fixture 14290 is towards distal translation, and correspondingly, when hitting When hair pipe 14280 proximally translates, the percussion fixture 14290 proximally translates.Percussion fixture 14290 may include one or Multiple lateral extensions, the lateral extension may fitted in the groove in actuator housings 14080, so that percussion fixture 14290 and firing tube 14280 align.Lateral extension can also prevent firing tube 14280 and percussion fixture 14290 in firing tube 14280 rotate when being driven by percussion nut 14260, as described above.Percussion fixture 14290 may include hitting for actuator 14020 Hair driving output device and the percussion driving input unit that could attach to shaft portion 14030.The percussion driving of shaft portion 14030 Input unit may include the second fixture 14300, and when shaft portion 14030 is assembled into actuator 14020, second fixture can It is attached to percussion fixture 14290.Percussion fixture 14290 can be coordinated in a manner of tongue-groove with the second percussion fixture 14300. In assembling, when percussion fixture 14290 is promoted by firing tube 14280 towards distal side, percussion fixture 14290 can be by second Fixture 14300 promotes towards distal side；Correspondingly, when percussion fixture 14290 is proximally bounced back by firing tube 14280, hit Hair fixture 14290 can proximally pull the second fixture 14300.

Percussion drive device may also include staple drivers 14310, and the staple drivers are connected to the second fixture 14300, make Staple drivers 14310 are obtained proximally and towards distal side to move together with the second fixture 14300.When staple drivers 14310 pass through Two fixtures 14300 towards distal side move when, staple drivers 14310 can project from storehouse shell 14040 nail.In all cases, Second fixture 14300 can utilize staple drivers 14310 by knife 14320 towards distal side promote, with incision capture anvil block 14050 with Tissue between storehouse shell 14040.When the second fixture 14300 is proximally bounced back by firing fixture 14290, second is solid Determining part 14300 can make staple drivers 14310 and knife 14320 proximally bounce back.

Further described above, it should be noted that closed-system includes closing nut 14190 and closes bar The part that 14230 part and trigger system include firing nut 14260 and firing tube 14280 can be with one heart with it is nested 's.Percussion nut 14260 and firing tube 14280 can be considered external agency, and close nut 14190 and closure bar 14230 it is visual For internal mechanism.Together with sliding block 14115, closure nut 14190, closure bar 14230, percussion nut 14260 and firing tube 14280 It may make up conveyer 14000.The concentric and nested arrangement mode of conveyer 14000, which can reduce, makes system close and fire institute The space needed, to form smaller and actuator 14020 that is being more easily kept.The arrangement also allows external agency to be used as branch Support member simultaneously provides load-bearing surface for making the componental movement of internal mechanism.In an illustrated embodiment, the translation of internal mechanism Component is shown as the translation member for being longer than external agency.It can be such as about two inches to close bar 14230, and firing tube 14280 be such as about one inch；However, any suitable length can be used.When needing longer translation distance, can be used compared with Long translation member.In an illustrated embodiment, load driving can be longer than external agency by internal mechanism or closure drive device Or the distance of percussion drive device.That is, percussion drive device can drive the distance for being longer than percussion drive device by loading.

As described above, actuator 14020 and shaft portion 14030 are designed to be easy to assemble.Percussion fixture 14290 exists Include semicircle antelabium towards the end of the flange of distal side extension.The semicircle antelabium is near the second percussion fixture 14300 It is assembled at side end in semi-circular grooves.Because the assembling surrounds semicircular surface, it is possible to by making percussion fixture 14290 transversely or be orthogonal to part approximately longitudinally axis direction towards second fire fixture 14300 translation will hit Hair fixture 14290 is connected with the second percussion fixture 14300.The connection of closing assembly part also generally promotees in the same manner Enter.For example, closed fastener 14240 may include the flange towards distal side extension.It is solid from closure at the distal end of the flange Determine the semicircle antelabium of the basic upper semicylindrical portion extension of part 14240.Week in the portions of proximal of second fixture 14250 The semicircle antelabium is received to groove, closed fastener 14240 is attached to the second fixture 14250.Because closure is fixed The semicircle property of part 14240, the fixture 14250 of closed fastener 14240 and second by transverse direction or can be orthogonal to part Approximately longitudinally the translation of axis carrys out assembly and disassembly, so as to be advantageous to the quick connection of shaft portion 14030 and actuator 14020 and Disconnect.

Referring generally to Figure 113, firing trigger 14070 and closure knob 14075 are further shown in the manner of an exploded view Preferably to observe its interaction with adjacent part.Close knob 14075 can in the first direction or clockwise and Second direction or counterclockwise rotates.When closure knob 14075 is rotated in a first direction, closure knob 14075 is accessible And first switch is closed, and when closure knob 14075 rotates in a second direction, closure knob 14075 is accessible and closes Second switch.When closing first switch by closing knob 14075, motor 14090 can be energized and operate in the first direction, And when closing second switch by closing knob, motor 14090 can be energized and operate in a second direction.Work as motor 14090 along its first direction operate when, motor 14090 can will closure bar 14230 towards distal side drive so that anvil block 14050 moves far From storehouse housing 14040, and when motor 14090 operates along its second direction, motor 14090 can will closure bar 14230 towards near Side is driven so that anvil block 14050 moves towards storehouse housing 14040.Closure knob 14075 can be positioned on center or neutral position Put, wherein both first switch and second switch do not close and motor 14090 is not responsive to close knob 14075.Various In the case of, apparatus 14010 may include for example, at least a spring, such as spring 14076, and it is configured to that knob will be closed 14075 are biased into such as its neutral position.

Turning now to firing trigger 14070, firing trigger 14070 is rotatably pinned to actuator housings 14080 And spring loads are carried out by torsionspring 14071, the torsionspring forces firing trigger 14070 to reach away from actuator The position that shell 14080 rotates.When firing trigger 14070 overcomes the biasing force of torsionspring 14071 and towards outside actuator When shell 14080 rotates, the percussion switch 14305 near firing trigger 14070 is in and will connect with firing trigger 14070 In tactile position.When firing trigger 14070 is activated, firing trigger 14070 can close percussion switch 14305.When hitting During hair 14305 closure of switch, motor 14090 can operate to promote firing tube 14280 and staple drivers towards distal side in the first direction 14310.When firing trigger 14070 is released, torsionspring 14071 can make firing trigger 14070 move back into it not The contact with percussion switch 14305 of actuated position and disengaging.Now, percussion switch 14305 can be at open mode, and horse Firing trigger 14070 can be not responsive to up to 14090.In all cases, apparatus 14010, which may also include, is rotatably pinned to The security-latch 14320 of actuator housings 14080, the security-latch can be in the lockings that stop firing trigger 14070 is activated Position and wherein firing trigger 14070 can be activated to be rotated between the second place of percussion switch 14035 with closing.Any In the case of, motor 14090 can operate in a second direction so that firing tube 14280 and staple drivers 14310 bounce back.In some situations Under, when trigger system has reached the terminal of its firing schedule, motor 14090 can be cut between second direction in a first direction Change.In some cases, actuator 14020 may also include can be operable to operate motor 14090 along its second direction it is anti- To button and switch.

According to described above, the method using apparatus 14010 is provided below, but can also be used it is any suitable Method.In addition, being described above, actuator 14020 can provide two outputs and shaft portion 14030 can receive two Individual input, so as to perform two clock functions.These functions have been described as closure function and percussion function, but the invention is not restricted to This.The function may include for example any suitable function, such as joint motions function.In all cases, in order that with actuating Device 14020, user first can be by making actuator 14020 towards the shaft portion of the longitudinal axis perpendicular to actuator 14020 Actuator 14020 is assembled into shaft portion 14030 by 14030 motions, as shown in Figure 112.User can be by shaft portion 14030 The open side of proximal end towards the distal part of actuator 14020 open side alignment and by assembling parts together.This Class component can connect closed fastener and percussion fixture as described above.Similarly, as described above, the breech lock on actuator 14020 14025 can clamp the convex portion on shaft portion shell 14032, and actuator 14020 and shaft portion 14030 are releasably fixed at Together.After assembling actuator 14020 and shaft portion 14030, slide block assembly 14150 can be placed in its first by user Put, to use the first required function of the surgical technique and tools of attachment part.As described above, button 14060 can be used for sliding block group Part 14150 is positioned in its Part I.

Referring generally to Figure 114, when slide block assembly 14150 is in its first position, the internal spline on sliding block 14115 External splines 14200 on 14140 engageable closure nuts 14190.User then by rotating closed knob 14075 with relative to Storehouse shell 14040 positions anvil block 14050.Closed as described above, closure knob 14075 can rotate along its first direction with closing first Combination switch simultaneously makes anvil block 14050 move away from storehouse shell 14040, and can rotate along its second direction and be opened with closing the second closure Close and anvil block 14050 is moved towards storehouse shell 14040.In some cases, the closure of the first closure switch, which can close, makes horse The circuit to be worked up to 14090 along its first direction, and correspondingly, the closure of the second closure switch, which can close, makes motor 14090 The circuit to be worked along its second direction.In some cases, the first closure switch and the second closure switch can be with surgical instruments 14010 microprocessor connection, the microprocessor can be controlled according to the input from the first closure switch and the second closure switch The electrical power provided to motor 14090 is provided, includes the polarity of the electrical power provided it.As described above, can make can for motor 14090 Rotary shaft 14100, expander part 14110, sliding block 14115 rotate, and due to the configuration of conveyer 14000, can also make Closure nut 14190 rotates.As described above, closure nut 14190 and the closure by anvil block 14050 proximally and towards distal side displacement Bar 14230 is threadedly engaged.Alternatively, closure bar 14230 can perform some other functions.

As shown in Figure 114, when slide block assembly 14150 be in its first or during proximal position, motor 14090 may be in response to close Close knob 14075 and be not responsive to firing trigger 14070.In the case of at least one, when slide block assembly 14150 be in its During one position, the bottom bearing of journals 14170 of slide block assembly 14150 is accessible and closes the first transmitting switch 14340.Various In the case of, the first transmitting switch 14340 can be connected with the microprocessor of surgical instruments 14010, and the microprocessor can be constructed Into the input from percussion switch 14305 can be ignored when the first transmitting switch 14340 has closed.In such cases, outside User's pressable firing trigger 14070 of section's apparatus 14010, and motor 14090 does not respond to operate in this.On the contrary, In such cases, motor 14090 is revolved in response to the first closure switch and the second closure switch, the two closure switch by closure Button 14075 is activated to move anvil block 14050.As shown in Figure 115, when slide block assembly 14150 towards its second or distal position fortune When dynamic, the bottom bearing of journals 14170 departs from the first transmitting switch 14340, and the first transmitting switch 14340 will be returned to and beaten Open state.When slide block assembly 14150 move to its second or distal position in when, the bottom bearing of journals 14170 is accessible and closes Close the second transmitting switch 14350.In all cases, the second transmitting switch 14350 can be with the microprocessor of surgical instruments 14010 Connection, the microprocessor, which can be configured to ignore when the second transmitting switch 14350 has closed, carrys out self-closing knob 14075 input.In such cases, the rotatable closure knob 14075 of the user of surgical instruments 14010, and motor 14090 do not respond to operate in this.On the contrary, in such cases, motor 14090 by firing trigger 14070 in response to being activated Percussion switch 14305.

In order that slide block assembly 14150 moves to its second place from its first position, as described above, user's pressable Slider button 14060 with by slider button 14060 discharged from its ratchet and make slide block assembly 14150 towards distal side move to its Two positions.In such cases, sliding block 14115 can depart from closure nut 14160 and be engaged with percussion nut 14260.More Specifically, the external splines 14200 that the internal spline 14140 on sliding block 14115 can become and close on nut 14190 departs from, in addition, The external splines 14130 of sliding block 14150 can become to engage with firing the internal spline 14270 of nut 14260.Now, user can incite somebody to action Security-latch 14320 rotates to its unlocked position so that firing trigger 14070 prepares percussion.User can pass through such as Figure 115 It is shown to fire trigger system towards the rotate counterclockwise of actuator housings 14080 firing trigger 14070.As described above, Firing trigger 14070 can contact percussion switch 14305, and the percussion switch can make motor 14090 be powered.Similar to conveyer 14000 the first configuration, motor 14090 can rotate rotatable shaft 14100, expander part 14110 and sliding block 14115；So And in the second configuration of conveyer 14000, sliding block 14115 rotates percussion nut 14260 to translate firing tube 14280.

In all cases, can be powered by external power source to apparatus 14010.In some cases, it is available to be positioned at One or more battery in actuator 14020.Battery may be, for example, chargeable lithium cell.In some cases, battery and horse Up to 14090 can be positioned on it is cleanable, can sterilize and recycling removable sealing shell in.

After actuator 14020 is in surgical operation by use, user can dismantle actuator from shaft portion 14030 14020.User's pressable breech lock 14025 is so that actuator 14020 to be dismantled from shaft portion 14030.Then, actuator 14020 It can be cleaned, sterilized and recycled or abandoned.Similarly, shaft portion 14030 can be cleaned, sterilized and recycled or lost Abandon.When shaft portion 14030 is reused, nail can be reloaded into storehouse shell 14040.In some cases, storehouse shell 14040 may include the replaceable storehouse available for nail of reloading.In all cases, the various pieces of actuator 14020 may be used also Combining can be readily inserted into actuator housings 14080 and from the sealing compartmentation module of its removal.For example, motor 14090th, rotatable shaft 14100, expander part 14110, slide block assembly 14150, closure nut 14190, closure bar 14230, Percussion nut 14260 and firing tube 14280 are combined into the modular assembly that can be removed from actuator housings 14080.In addition, The part of actuator 14020 can be the part of single assembly module.For example, the electronic section of actuator 14020 is (all Such as motor 14090 and battery) it may include a module, and the mechanical component comprising rotationally and/or translationally part may include second Module.In such cases, the first module can be sterilized using the method different from the second module.Such situation can be advantageous to Radiated using the γ for example for the second module, this method may be not suitable for sterilizing to the first module.

Contemplate the various additions to actuator 14020.For example, it can detect closed-system using microprocessor and/or hit When the stroke end position of hair system, and notice motor 14090 stop closing stroke and/or firing schedule.It is also available Microprocessor determines to be attached to the type of the shaft assembly of actuator 14020.For example, actuator 14020 may include and actuator The sensor of microprocessor signals communication in 14020, the signal are that circular stapler shaft assembly is attached to actuator 14020, Or linear cutter shaft assembly is attached to actuator 14020.Contemplate actuator 14020 can to need for example, at least one, perhaps The surgical technique and tools power supply of many types of two or more lengthwise movements input.In all cases, actuator 14020 can be to Such as circular stapler, linear staplers, right angle stitching unstrument, scissors, grasper, and/or the power supply of other kinds of surgical instruments.

The further modification of actuator 14020 is using multiple motors so that can increase can be used by actuator 14020 Function quantity.Some modifications of actuator 14020 perform more than two function using identical motor.For example, it is envisioned that 3rd position of slide block assembly 14150, in the position, the 3rd function is driven by the 3rd nest mechanism.To entering traveling one above Step description, in some cases, slide block assembly 14150 can have the 3rd position, and the position is idle or neutral position, in the position Put, driven without function by motor 14090.

Further modification may include using electronics and/or magnetic devices with by sliding block 14115 from a position translation to another One position.For example, it can be used solenoid that sliding block 14115 is moved into another position from a position.Spring can be by sliding block 14115 are pre-loaded onto in default location, and solenoid energization sliding block 14115 can be moved into second from default location Put.

Surgery suturing appliance 15010 is shown in Figure 117 and Figure 118.Similar to above, apparatus 15010 may include shank, quilt It is constructed to be permeable to anvil block 15090 is transported relative to nail bin 15080 between open position (Figure 117) and closing position (Figure 118) Dynamic closed-system, and also include being configured to dispose nail from nail bin 15080 and cut capture in anvil block 15090 The trigger system of tissue between nail bin 15080.The shell of surgical instruments shank is removed in Figure 117 and Figure 118, to show Go out to be included in the various parts in surgical instruments shank.Same similar to above, the closed-system of apparatus 15010 may include to close Motor 15110 including the closure gear train for closing driving helical gear 15160 for being operably linked to close motor 15110, And it is operably linked to the closure drive screw 15170 of closure driving helical gear 15160.In all cases, close Motor 15110 can be supported by motor frame 15125, in addition, the motor frame can be pivotably supported closure driving helical tooth Wheel 15160 and closure driving driving screw 15170.Closed-system, which may also include, is configured to contact closure switch 15285 simultaneously The close push button 15065 for closing closure switch 15285, the closure switch can make closure motor 15110 work in closure.It is right It is described further above, in some cases, close push button 15065 can be configured to contact and be configured to The closure switch for making closure motor 15110 work in the first direction and closing anvil block 15090, and be configured to make to close Close the opening switch that motor 15110 works and opens anvil block 15090 in a second direction.

It is configured to engage anvil block 15090 and incites somebody to action further described above, closed-system may also include The storehouse 15180 that anvil block 15090 moves between its open position (Figure 117) and its closing position (Figure 118).Storehouse 15180 can wrap Include the screw nut part 15175 being threadedly engaged with the threaded portion of closure driving driving screw 15170.Storehouse 15180 can be restrained And it can not be rotated together with closure driving driving screw 15170 so that the rotation of closure driving driving screw 15170 can make storehouse 15180 Proximally and towards distal translation, this depends on the direction that closure driving driving screw 15170 rotates.When closure motor 15110 makes to close Driving driving screw 15170 is closed when being rotated in a first direction, closure driving driving screw 15170 can by storehouse 15180 towards distal side shift with Close anvil block 15090.Correspondingly, when closure motor 15110 makes closure drive driving screw 15170 to be rotated along second or opposite direction When, closure driving driving screw 15170 can proximally shift in storehouse 15180 to open anvil block 15090.Storehouse 15180 can be at least partly Ground is set around warehouse channel 15070, and in all cases, can be slidably retained warehouse channel 15070.Referring primarily to Figure 118, warehouse channel 15070 may include to be defined in one or more of its opposite side slit 15195, and the slit is configured to Can be slideably received within the one or more protuberances 15185 to be extended internally from storehouse 15080.In other cases, passage 15070 may include protuberance 15185, and storehouse 15080 may include slit 15195.In either case, the He of slit 15195 Protuberance 15185 can be configured to constraint such as storehouse 15180 to longitudinal direction or the generally longitudinally motion in path.

Storehouse 15080 can be moved to from first or proximal position (Figure 117) second or distal position (Figure 118) to close anvil block 15090.Storehouse 15080 may include cross bar 15081, when the cross bar is configured to move relative to anvil block 15090 in storehouse 15080 Contact anvil block 15090 simultaneously makes its motion.In all cases, anvil block 15090 can be pivotally coupled to storehouse around pivot 15200 Passage 15070, and storehouse cross bar 15081 can be such that anvil block 15090 is rotated around pivot 15200.More specifically, storehouse cross bar 15181 When can be configured to contact top or the cam face 15092 of anvil block 15090, and be moved in storehouse 15080 towards distal side Slided on top surface 15092 so that anvil block 15090 rotates towards the storehouse 15080 being positioned in warehouse channel 15070.At some In the case of, when anvil block 15090 reaches its fully closed position, the distal end 15091 of anvil block 15090 can contact storehouse 15080 Distal end 15081.Storehouse 15180 can promote towards distal side, until it reaches its farthest side position and/or anvil block 15090 In its fully closed position, this shows in Figure 118.In all cases, when storehouse 15180 reaches its farthest side position When, storehouse 15180 can contact stroke sensor and make its closure.In some cases, stroke sensor can be with surgery The microprocessor signals communication of apparatus 15010.When stroke sensor is closed by storehouse 15180, microprocessor can be interrupted and carried The electric power of supply closure motor 15110 simultaneously stops the propulsion in storehouse 15180.

As described above, the cross bar 15181 in storehouse 15180 can make anvil block 15090 by the way that cam face 15092 is pushed down on Cam motion is carried out towards nail bin 15080.Anvil block 15090 may also include the latch pin 15210 to be extended sideways from it, work as anvil block 15090 towards nail bin 15080 rotate when, the latch pin can be received in the slit being defined in the side of warehouse channel 15070 In 15215.In all cases, such as when anvil block 15090 reaches its closing position, latch pin 15210 can contact slit 15215 closure end.In some cases, anvil block 15090 can be in closing position, and latch pin 15210 can not be with The closure ends contact of slit 15215.In some cases, closed-system may include to be configured to engage latch pin 15210 and/or one or more breech locks 15190 for moving anvil block 15090 close to nail bin 15080.Breech lock 15190 can quilt Pivot pin 15191 is rotationally coupled to warehouse channel 15070, and can surround pivot axis and rotate to engage latch pin 15210. In some cases, the engageable latch pin 15210 of breech lock 15190 and against the closure end positioning latch pin of slit 15215 15210.Each breech lock 15190 may include latch arms 15192, should when breech lock 15190 is rotated in its closing position towards distal side Latch arms can be slided on latch pin 15210 and push down on latch pin 15210.Each latch arms 15192 can be at least partly Ground limits breech lock slit 15193, and the breech lock slit can be configured to when breech lock 15190 is moved in its actuated position Receive latch pin 15210.The closure end of latch arms 15192 and slit 15215 can cooperate with by latch pin 15210 trap and/ Or it is held in place by.

Further described above, when storehouse 15180 promotes towards distal side, storehouse 15180 can be such that breech lock 15190 is not fastening with a bolt or latch Moved between lock position (Figure 117) and position latching (Figure 118).Anvil block 15090 is not set to move to its in cross bar 15181 complete In the case of in closing position, breech lock 15190 can move to anvil block 15090 in its fully closed position.In all cases, Storehouse 15180 may include to be limited to distal camming surfaces 15182 thereon, when storehouse 15180 promotes towards distal side, the distal cam table The engageable breech lock 15190 in face.In the case of at least one is such, each cam face 15182 may include for example to tilt or angulation Spend surface.Rotated when closing driving driving screw 15170 along its second direction, and close driving driving screw 15170 to make storehouse 15180 When proximally bouncing back, breech lock 15190 can return to its unactuated position.In all cases, apparatus 15010 may also include for example One or more biasing springs 15195, the biasing spring can be configured in distal camming surfaces 15182 away from breech lock Breech lock 15190 is set proximally to rotate during 15190 retraction.Each breech lock 15190 may include to be limited to be adapted in breech lock Enough receive the hole 15194 of the first end of spring 15195.The second end of spring 15195 can be with extending from warehouse channel 15070 Spring stack 15079 engages.As described above, when storehouse 15180 makes breech lock 15190 rotate to its breech lock from its unlatched position towards distal side During position, spring 15195 can be extended resiliently so that when storehouse 15180 bounces back, it is initial that spring 15195 can be elastically returned to its State, so as to via such as hole 15194 to the applying power of breech lock 15090.Under any circumstance, when breech lock 15190 has returned to it During unlatched position, anvil block 15090 can move relative to nail bin 15080 again.

As described above, the cross bar 15181 in storehouse 15180 can contact the cam face 15092 of anvil block 15090 so that anvil block 15090 rotate towards nail bin 15080.Storehouse 15180 may be configured as anvil block 15090 being pivoted away from into nail bin 15080. In the case of at least one is such, anvil block 15090 may include to be limited to the second cam face 15093 thereon, be driven in closure When driving screw 15170 makes the storehouse 15080 proximally move, second cam face can be contacted by the cross bar 15181 in storehouse 15080.Such as It will be appreciate that, closing cam surface 15092 can be limited on the first side of pivot pin 15200, and opens cam face 15093 can be limited on second or opposite side of pivot pin 15200.Opening cam face 15093 can be relative to closing cam table The angled extension in face 15092.In all cases, when being bounced back in storehouse 15180, cross bar 15181 is accessible to open cam face 15093 and relative to the opening cam face slide.Opening cam face 15093 can be configured to so that wherein anvil block 15090 degree opened relative to nail bin 15080 or amount depend on the distance that cross bar 15181 proximally bounces back.It is if for example, horizontal Bar 15181 can make anvil block 15090 be pivoted upwardly away from nail bin in the first distance of proximal retraction of pivot 15200, then cross bar 15181 15080 first degree, and if cross bar 15181 is more than the second distance of the first distance in the proximal retraction of pivot 14200, then it is horizontal Bar 15181 can make anvil block 15090 be pivoted upwardly away from the second degree that nail bin 15080 is more than the first degree.

Above-mentioned closed-system can allow the user of surgical instruments by anvil block 15090 between the open position and the closed position Pivot, without with manual operating anvil block 15090.Above-mentioned closed-system also by 15090 automatic breech lock of anvil block or can be locked in it and close Close in position, without using single actuator.If user is unsatisfied with when anvil block 15090 is in its closing position The positioning being organized between anvil block 15090 and nail bin 15080, then user can reopen anvil block 15090, by anvil block 15090 Repositioned with nail bin 15080 relative to tissue, then close anvil block 15090 again.In the trigger system of actuating apparatus 15010 Before, user can repeatedly open and close anvil block 15090 as needed.Trigger system may include to be installed to motor frame 15125 percussion motor 15120, be operably linked to fire motor 15120 percussion gear train (including percussion gear 15240th, driving screw gear 15250 is fired) and percussion driving driving screw 15260.It is similar to above, percussion gear train and/ Or percussion driving driving screw 15260 can be pivotably supported by motor frame 15125.Percussion drive device may also include percussion and touch Device 15055 is sent out, the firing trigger is configured to close percussion switch 15290 when firing trigger 15055 is pressed, So that percussion motor 15120 works.When percussion motor 15120 works in the first direction so as to fire driving driving screw 15260 When being rotated in a first direction, percussion drive device can dispose the nail being removedly stored in nail bin 15080 and cut capture Tissue between anvil block 15090 and nail bin 15080.Led when percussion motor 15120 works in a second direction so as to fire driving When screw rod 15260 is along second or opposite direction rotation, percussion drive device can bounce back.Then, anvil block 15090 can be switched on again To remove the tissue between anvil block 15090 and nail bin 15080.In some cases, firing drive device can beat without retraction Open anvil block 15090.In such cases, percussion drive device can not engage anvil block 15090 when it is promoted towards distal side.At least In the case of one kind is such, percussion drive device can enter to be followed closely from its injection in nail bin 15080, and blade can be in nail bin Advanced between 15080 and anvil block 15090 to cut tissue.Anvil block 15090 can not be locked in it and close position by percussion drive device Put, but anvil block 15090 can be locked in the embodiment of its closing position by also contemplating percussion drive device.Such embodiment can Using such as I-beam, when I-beam promotes towards distal side, its engageable anvil block 15090 and nail bin 15080 and they are relative In being held in place by each other.

Apparatus 15010 can be powered by external power source and/or internal electric source.Cable can enter actuator housings 15080 in Electric power is provided from such as external power source.One or more battery (such as battery 15400) for example can be positioned on the handle of apparatus 15010 In portion with from such as internal electric source provide electric power.Apparatus 15010 may also include for example one or more indicators, and such as LED refers to Show device 15100, it for example, may indicate that the working condition of apparatus 15010.LED indicator 15100 can be indicated for example with above-mentioned LED The identical mode of device 11100 or similar mode work.LED indicator 15100 can lead to the microcontroller signal of apparatus 15010 Letter, the microcontroller can be positioned on for example on printed circuit board (PCB) 15500.

Previous surgical instruments is using being configured to make what anvil block moved between the open position and the closed position The closed-system of manual actuation.Various embodiments described herein, which utilizes, is configured to make anvil block in open position and closure The closed-system driven between position relative to the motor of fixed cartridge movement.Other embodiment is contemplated, wherein anvil block can quilt The closed-system of fixed and motor driving can be such that nail bin moves between the open position and the closed position.In any situation Under, the motor of closed-system can set the tissue space between anvil block and nail bin.In all cases, the closed system of surgical instruments System separates and different from trigger system.In other cases, closed-system and trigger system can be integrated.Work as closed-system With trigger system for it is single and different when, the user of surgical instruments can assess anvil block and nail before trigger system is operated Storehouse is relative to the position to be stapled with the tissue of incision.

As described above, the end effector (such as end effector 1000) of surgical instruments can be for example configured to By clamp tissue between its anvil jaw 1040 and nail bin 1060.When anvil jaw 1040 is in its closing position, group Knitting gap can be limited between anvil jaw 1040 and nail bin 1060.In some cases, end effector 1000 may be adapted to Thin tissue, thick tissue, and the tissue with the thickness between thin tissue and thick tissue are used together.End effector 1000 are applicable to the most thin tissue of suture and most thick tissue can limit tissue thickness's scope for end effector 1000. In the case of various, surgical instrument system may include shank and multiple end effectors of shank can be assembled, and its medial end portions performs One or more of device can have different tissues thickness range.For example, first end actuator can have the first tissue thickness Scope, and the second end actuator can have the minor microstructure thickness range different from the first tissue thickness range.At some In the case of, the first tissue thickness range and minor microstructure thickness range can be discrete, and in other cases, the first tissue is thick Spend scope and minor microstructure thickness range can be partly overlapping.Surgical instrument system can be used any suitable number of with difference Some in the end effector of tissue thickness's scope, wherein tissue thickness's scope can be overlapping at least in part, and other groups Knitting thickness range can be not overlapping.

Further described above, in all cases, the nail bin of end effector, such as end effector 1000 Nail bin 1060, such as can be interchangeable.In all cases, nail bin 1060 can be removably locked in end effector In position in 1000 lower jaw 1020.Once locking is in place, the platform or tissue contacting surface of nail bin 1060 can be relative to Lower jaw 1020 is not moved or not moved at least substantially.Therefore, when anvil jaw 1040 is moved in its closing position, Gu Set a distance or tissue space can be limited between the platform surface of anvil jaw 1040 and nail bin 1060.In order to change the fixation away from From nail bin 1060 can be removed from lower jaw 1020, and different nail bins removedly can be locked in lower jaw 1020.It is different The platform surface of nail bin can be configured to provide the tissue space different from the tissue space that nail bin 1060 is provided.If Such embodiment is thought, wherein surgical instrument system includes shank, multiple end effectors of shank, Yi Jike can be assembled To alternatively insert multiple nail bins in end effector.Such embodiment can allow user's selection can be with certain limit The end effector that is used together of tissue thickness, and select can pair can be by for the nail bin that is used together with end effector The scope of the tissue thickness of end effector suture is adjusted or finely tuned.In some cases, the first of surgical instrument system Nail bin may include the nail of the first kind, and the second nail bin may include the nail of Second Type.For example, the first nail bin may include have The nail of first unshaped or non-firing height, and the second nail bin may include with second unshaped highly different from first or The nail of non-firing height.

During the complete disclosure of following patent is hereby incorporated by reference：

Being published in 4 days April nineteen ninety-five entitled, " the ELECTROSURGICAL HEMOSTATIC DEVICE " U.S. is special Profit 5,403,312；

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

It is published in September, 2008 entitled " the MOTOR-DRIVEN SURGICAL CUTTING AND of 9 days FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK " United States Patent (USP) 7,422,139；

It is published in entitled " the ELECTRO-MECHANICAL SURGICAL INSTRUMENT on December 16th, 2008 WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS " United States Patent (USP) 7,464,849；

It is published in entitled " the SURGICAL INSTRUMENT HAVING AN ARTICULATING on March 2nd, 2010 END EFFECTOR " United States Patent (USP) 7,670,334；

It is published in entitled " the SURGICAL STAPLING INSTRUMENTS " United States Patent (USP) on July 13rd, 2010 7,753,245；

It is published in entitled " the SELECTIVELY ORIENTABLE IMPLANTABLE on March 12nd, 2013 FASTENER CARTRIDGE " United States Patent (USP) 8,393,514；

It is filed in entitled " the SURGICAL INSTRUMENT HAVING RECORDING on January 31st, 2006 CAPABILITIES " U.S. Patent Application Serial Number 11/343,803 (being now United States Patent (USP) 7,845,537)；

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

It is filed in entitled " the END EFFECTORS FOR A SURGICAL CUTTING AND of on 2 15th, 2008 STAPLING INSTRUMENT " U.S. Patent Application Serial Number 12/031,873 (being now United States Patent (USP) 7,980,443)；

It is filed in September, 2008 entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " of 23 days U.S. Patent Application Serial Number 12/235,782 (being now United States Patent (USP) 8,210,411)；

It is filed in entitled " the POWERED SURGICAL CUTTING AND STAPLING on October 10th, 2008 APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM " U.S. Patent Application Serial Number 12/249, 117 (being now United States Patent (USP) 8,608,045)；

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

It is filed in September, the 2012 entitled " STAPLE CARTRIDGE " U.S. Patent Application Serial Number 12/ of 29 days 893,461 (being now U.S. Patent Application Publication 2012/0074198)；

It is filed in entitled " SURGICAL STAPLING INSTRUMENT " the United States Patent (USP) Shen of on 2 28th, 2011 Please sequence number 13/036,647 (being now United States Patent (USP) 8,561,870)；

Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " U.S. Patent Application Serial Number 13/118,241 (is now U.S. Patent Application Publication 2012/ 0298719)；

It is filed in entitled " the ARTICULATABLE SURGICAL INSTRUMENT on June 15th, 2012 COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/524,049 (is now U.S. Patent Application Publication 2013/0334278)；

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

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

It is filed in entitled " the SURGICAL CUTTING AND FASTENING INSTRUMENT on January 31st, 2006 WITH CLOSURE TRIGGER LOCKING MECHANISM " U.S. Patent Application Publication 2007/0175955；

It is filed in entitled " the SURGICAL STAPLING INSTRUMENT WITH AN on April 22nd, 2010 ARTICULATABLE END EFFECTOR " U.S. Patent Application Publication 2010/0264194 (be now United States Patent (USP) 8,308, 040)。

As it was previously stated, sensor can be configured to detect and collect the data associated with surgical device.Processing The sensing data that device processing receives from sensor.

Processor can be configured to perform operation logic.Processor can be multiple monokaryons as known in the art or Any one in polycaryon processor.Storage device may include to be configured to permanent and interim (work) for storing operation logic The volatibility and non-volatile memory medium of copy.

In various embodiments, operation logic can be configured to handle the data associated with motion, as above institute State.In various embodiments, operation logic can be configured to perform initial treatment, and transfer data to trustship and answer With the computer of program to determine and generate instruction.For these embodiments, operation logic can be further constructed to can From trustship computer receive information and provide it feedback.In alternative embodiment, operation logic can be configured to In receive information and determine to play the part of prior role in feedback.In either case, either it is independently determined or rung Instructions of the Ying Yu from trustship computer, operation logic can be further constructed to that feedback can be controlled and be provided to user Feedback.

In various embodiments, operation logic can be by the instruction that the instruction set architecture (ISA) of processor is supported Lai real Apply, or implemented with higher level language, and be compiled into supported ISA.Operation logic may include one or more logics Unit or module.Operation logic can be implemented in a manner of object-oriented.Operation logic can be configured to multitask Mode and/or multithreading perform.In other embodiments, operation logic can be implemented in hardware (such as gate array).

In various embodiments, communication interface can be configured to be advantageous between ancillary equipment and computing system Communication.The communication may include the collected biometric data associated with position, posture and/or user's body part Exercise data be sent to trustship computer, and the data associated with touch feedback are sent to periphery from master computer and set It is standby.In various embodiments, communication interface can be wired or wireless communication interface.The example of wired communication interface may include but not It is limited to USB (USB) interface.The example of wireless communication interface may include but be not limited to blue tooth interface.

For various embodiments, processor can be packaged together with operation logic.In various embodiments, processor can be with Operation logic is packaged together to form system in package (SiP).In various embodiments, processor can in same die with Operation logic integrates together.In various embodiments, processor can be packaged together with operation logic to form on-chip system (SoC)。

Various embodiments can be described in the general background of computer executable instructions herein, the computer Executable instruction such as software, program module, and/or just by the engine of computing device.In general, software, program module, And/or engine includes being arranged to any software element for performing specific operation or realizing particular abstract data type.Software, journey Sequence module, and/or engine may include execution particular task or the routine for realizing particular abstract data type, program, object, portion Part, data structure etc..The specific implementation of software, program module, and/or engine components and technology is storable in some form of meter Transmitted on calculation machine computer-readable recording medium and/or by some form of computer-readable medium.Thus, computer-readable Jie Matter can be any usable medium that can be used for storage information and can be accessed by computing device.Some embodiments can also be distributed Put into practice in formula computing environment, in the DCE, operate by long-range by the one or more of communication network links Processing equipment performs.In a distributed computing environment, software, program module, and/or engine can be set positioned at memory storage is included In local and remote computer-readable storage medium including standby.Can use memory (such as random access memory (RAM) or other Dynamic storage device) carry out storage information and treat instruction by computing device.Memory can also be used to treat by handling in execution Temporary variable or other average informations are stored during the instruction that device performs.

Although some embodiments can be illustrated and described as including functional part, software, engine, and/or performed various The module of operation, but it is to be understood that this base part or module can by one or more hardware componenies, software part, and/or Combinations thereof is realized.Functional part, software, engine, and/or module can be by for example treating by logical device (for example, processor) The logic (for example, instruction, data, and/or code) of execution is realized.This logic of class is storable in positioned at one or more types Inside or outside logical device on computer-readable recording medium.In other embodiments, functional part such as software, draw Hold up, and/or module can be realized by hardware element, the hardware element may include processor, microprocessor, circuit, circuit element (example Such as, transistor, resistor, capacitor, inductor etc.), integrated circuit, application specific integrated circuit (ASIC), programmable logic device (PLD), digital signal processor (DSP), field programmable gate array (FPGA), gate, register, semiconductor equipment, core Piece, microchip, chipset, etc..

The example of software, engine, and/or module may include software part, program, application, computer program, using journey Sequence, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, Process, software junction surface, application program junction surface (API), instruction set, calculation code, computer code, code snippet, calculating Machine code snippet, word, value, symbol or any combination of them.Determine embodiment whether using hardware element and/or software member Part can change to realize according to any amount of factor, these factors all computation rate, power level, thermal capacitance as desired Difference, processing cycle budget, input data rate, output data rate, memory resource, data bus speed and other designs Or performance constraints.

One or more of module as described herein may include to be embodied as firmware, software, hardware or their any group One or more built-in application programs of conjunction.One or more of module as described herein may include various executable moulds Block, software, program, data, driver, application programming interfaces (API) etc..Firmware be storable in controller 2016 and/or In the memory that may include nonvolatile memory (NVM) of controller 2022, such as bit mask read-only storage (ROM) or sudden strain of a muscle In fast memory.In various specific implementations, firmware, which is stored in ROM, can protect flash memory.Nonvolatile memory (NVM) it may include other kinds of memory, including such as programming ROM (PROM), erasable programmable ROM (EPROM), electricity Erasable programmable ROM (EEPROM) or battery backed random access memory (RAM), such as dynamic ram (DRAM), even numbers According to rate DRAM (DDRAM) and/or synchronous dram (SDRAM).

In some cases, various embodiments can be realized as article of manufacture.The article of manufacture can include being arranged to Store the computer-readable storage medium of the logics of the various operations for performing one or more embodiments, instruction and/or data Matter.In various embodiments, for example, the article of manufacture may include disk, CD, flash memories or firmware, these products Comprising suitable for the computer program instructions by general processor or application specific processor execution.However, embodiment is not limited to that.

The work(of the various functions element, logical block, module and the circuit element that are described with reference to presently disclosed embodiment It can implement in the general environment of computer executable instructions, such as by the software of processing unit execution, control module, patrol Volume, and/or logic module.In general, software, control module, logic, and/or logic module include being arranged to perform it is specific Any software element of operation.Software, control module, logic, and/or logic module may include to perform particular task or implement special Determine the routine of abstract data type, program, object, part, data structure etc..Software, control module, logic, and/or logic mould The specific implementation of block and technology is storable on some form of computer-readable medium and/or by some form of meter Calculation machine computer-readable recording medium transmits.Thus, computer-readable medium can be available for storage information and can be visited by computing device Any usable medium asked.Some embodiments can also be put into practice in a distributed computing environment, in the DCE, Operation by one or more remote processing devices of communication network links by being performed.In a distributed computing environment, software, control The local and remote computer storage that molding block, logic, and/or logic module can be located at including memory storage device is situated between In matter.

Moreover, it will be appreciated that embodiment as described herein illustrates exemplary specific implementation, and functional element, patrol Volume block, module and circuit element can be consistent with the embodiment various other modes implement.In addition, by this class function Property the operation that performs of element, logical block, module and circuit element can be combined and/or separate for given specific implementation, and And it can be performed by greater number or lesser amount of part or module.Such as those skilled in the art institute upon reading this disclosure It will be apparent that each there is discrete parts and feature in separate embodiments described and illustrated herein, without departing substantially from this public affairs On the premise of the scope opened, the part and feature can easily with the character separation of any aspect in some other aspects or Combination.Can logically possible order performs any methods described by the order of the event or by any other.

It is worth noting that, it is any to " one embodiment " or " embodiment " refer to mean it is in conjunction with the embodiments described Special characteristic, structure or characteristic are included at least one embodiment.The phrase occurred everywhere in the description is " in an implementation Example in " or " in one aspect " might not be all referring to identical embodiment.

Unless stated otherwise, it should be understood that term " processing ", " computing ", " calculating ", " it is determined that " etc. be Action and/or process, the computing electronics for referring to computer or computing system or similar computing electronics are such as general Processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or it Any combinations, it is designed to perform function as described herein, and it, which is manipulated, is expressed as thing in register and/or memory The data of reason amount (for example, electronics) and/or convert thereof into and be similarly expressed as memory, register or other such letters Cease other data of storage device, conveyer or the physical quantity in display device.

It is worth noting that, expression " connection " and " connection " and their derivative words can be used to retouch for some embodiments State.These terms are not intended to synonym for each other.For example, term " connection " and/or " connection " can be used for some embodiments Description, to represent that two or more elements are in direct physical contact with each other or made electrical contact with.However, term " connection " can also refer to two Individual or more element is not directly to contact each other, but is fitted to each other or interacts.For software element, for example, art Language " connection " can refer to interface, message interface, application programming interfaces (API), exchange message etc..

It should be appreciated that described any patent incorporated herein by reference, publication or other open materials, no matter It is full text or part, does not only conflict with the definition, statement or other open materials provided in the disclosure in the material being incorporated to In the range of be incorporated herein.Similarly, and under necessary degree, the disclosure being expressly recited herein substitutes with the side of reference Any conflict material that formula is incorporated herein.Be herein incorporated by reference but with it is as described herein it is existing definition, statement or other Afoul any material of open material or part thereof, only it will not produced between the material and existing open material being incorporated to It is incorporated herein under the degree of conflict.

Disclosed embodiment of this invention is applied to conventional endoscopy and open surgical apparatus and is applied to The operation of robot assisted.

The embodiment of apparatus as disclosed herein may be designed as abandoning after being intended for single use, and be also designed to for being used for multiple times. It is any of the above-described or two kinds in the case of, these embodiments can all be repaired, so as to using reusing afterwards at least once.Repair It may include any combination of following steps again：Provision for disengagement and then cleaning are changed specific component and then re-assemblied. Specifically, can be with the embodiment of provision for disengagement, and optionally change or remove device in any combination Any number of specific component or part.When cleaning and/or changing particular elements, the embodiment of described device can be set in reparation The place of applying re-assemblies or re-assemblied before it will carry out surgical operation by surgical team for then using.This area Technical staff will understand that device reparation can be dismantled using multiple technologies, clean/change and re-assembly.These The device that the use of technology and gained are repaired again is within the scope of application.

Only by way of example, embodiment as described herein can be handled before surgical operation.It is possible, firstly, to obtain Newly or used apparatus, and cleaned as needed.Then, apparatus can be carried out disinfection.In a kind of disinfection technology In, the apparatus is placed in the container of closure and sealing, in such as plastics or TYVEK bag.Then container and apparatus can be put In the radiation field that can penetrate the container, such as γ radiation, X ray or high energy electron.Radiation can be killed on apparatus and in container Bacterium.Apparatus after sterilization can be then stored in sterile chamber.Sealing container can keep apparatus to be in germ-free condition, Until the container is opened in medical facilities.Any other technology known in the art also can be used to sterilize device, including But it is not limited to β radiation or γ radiation, oxirane or steam.

It will be recognized by those skilled in the art, part as described herein (for example, operation), device, object and it The discussion enclosed be to be used as example for the sake of clear concept, and be contemplated that a variety of configurations modifications.Therefore, as herein Used, the instantiation of elaboration and the discussion enclosed are intended to represent their more generally classifications.Generally, any specific example makes With being intended to represent its classification, and concrete composition part (for example, operation), device and object do not include part and should not take limit System.

For substantially any plural number used herein and/or singular references, those skilled in the art can turn from plural number Change odd number into and/or pluralized from odd number conversion, as long as being suitable for context and/or using can.For clarity, it is various Singular/plural displacement is not stated clearly herein.

Theme as described herein elaborates the different parts being included in other different parts or portion different from other sometimes The different parts of part connection.It should be appreciated that the framework so described is only example, and it in fact can implement to realize and obtain phase Many other frameworks of congenerous.On conceptual sense, any arrangement for obtaining the part of same functionality all has Imitate " associated ", so as to obtain required feature.Therefore, appoint herein for what acquisition particular functionality was combined together What two component can all be considered as " being connected " each other, so as to obtain required feature, regardless of whether structure or intermediate module how. Equally, any two part being so connected can also be considered as " being operatively connected " each other or " operatively coupling ", to obtain The feature needed, and any two part that can be so connected can all be considered as " being operatively coupled " each other, to obtain Required feature.The instantiation being operatively coupled include but is not limited to can Physical Match and/or physics interactive component, And/or wireless interactive, and/or wireless interaction part, and/or logic interaction, and/or logic interactive feature.

Some aspects can be described using expression " connection " and " connection " and their derivative words.It should be appreciated that this A little terms are not intended to synonym for each other.For example, some aspects can be described using term " connection ", with represent two or More elements are in direct physical contact with each other or made electrical contact with.In another example, term " connection " can be used for some aspects Description, to represent two or more element direct physical contacts or electrical contact.However, term " connection " can also refer to two or More elements are not directly to contact each other, but are fitted to each other or interact.

In some cases, one or more parts are referred to alternatively as " being configured to ", " are configurable to herein Can ", " operable/operationally ", " be adapted to/being suitable to ", " can ", " adapt to/be adapted to " etc..Those skilled in the art will Recognize, unless context indicates otherwise, otherwise " be configured to " part and/or inactivation that can generally cover active state The part of state and/or the part of holding state.

Although have been shown and describe the particular aspects of invention as described herein theme, to the technology of this area Personnel are evident that, based on teaching herein content, can make and change in the case where not departing from theme as described herein Change and modification, and such as in the true scope of theme as described herein, its broader aspect and therefore appended claims All such changes and modification are included in the range of it.It will be understood by those of skill in the art that in general, herein especially It is that term used in appended claims (for example, text of appended claims) is typically aimed at as open to the outside world term (example Such as, term " comprising " should be interpreted that " including but is not limited to ", and term " with " should be interpreted that " at least with ", and term "comprising" should It is construed to " including but not limited to " etc.).Those skilled in the art be also understood that when introduced claim narration it is specific When number is for expected from, then such intention will be described clearly in the claims, and in the case of in the absence of such narration, In the absence of such intention.For example, understand for help, following appended claims can include to introductory phrase " at least one " and The use of " one or more " is described with introducing claim.Pass through however, the use to such phrase is not construed as hint Indefinite article "one" or " one kind ", which introduce claim narration, will include such any specific weights for introducing claim narration Profit requires to be limited in the claim comprising the such narration of only one, or even when same claim includes introductory phrase " one or more " or " at least one " and such as "one" or " one kind " are (for example, "one" and/or " one kind " should generally be explained To mean " at least one " or " one or more ") indefinite article when；This is also applied for for introducing claim narration Definite article use.

In addition, when clearly narration introduces the given number of claim narration, those skilled in the art should Recognize, such number that generally should be construed as meaning at least to be described that describes is (for example, in the situation without other modifiers Under, the naked narration to " two narrations " generally means that at least two narrations or two or more narrations).In addition, make wherein In the case of with the convention similar to " at least one of A, B and C etc. ", it is however generally that, this class formation is intended to have this The technical staff in field will be understood that the meaning of the convention (for example, " system with least one of A, B and C " will include But be not limited to only A, only B, only C, A and B together, A and C together, B and C together and/or A, B and C system together etc.). In the case of wherein using the convention similar to " at least one of A, B or C etc. ", it is however generally that, this class formation is intended to With it should be appreciated by those skilled in the art that the meaning of the convention (for example, " system with least one of A, B or C " By include but is not limited to only A, only B, only C, A and B together, A and C together, B and C together and/or A, B and C together etc. be System).Those skilled in the art is also understood that generally, unless the context indicates otherwise, otherwise no matter in specific embodiment party The turning word and/or phrase that two or more alternative terms are presented in formula, claim or accompanying drawing are interpreted as covering Include the possibility of any one or the two term in one of described term, the term.For example, " A or B " are logical for phrase It often will be understood to comprise " A " or " B " or " A and B " possibility.

For appended claim, it will be appreciated by those skilled in the art that the operation wherein listed can generally appoint What order is carried out.In addition, although necessarily sequentially to list multiple operating processes, it is to be understood that, it can be differently configured from shown suitable Other of sequence sequentially carry out a variety of operations, or can carry out a variety of operations simultaneously.Unless the context requires otherwise, Otherwise such example for substituting sequence may include it is overlapping, staggeredly, interruption, rearrangement, increment, preparation, supplement, simultaneously, reversely, Or the sequence of other changes.In addition, unless the context requires otherwise, otherwise the term as " in response to ", " correlation " or its The adjective of his past tense is generally not intended to exclude such variant.

In a word, it has been described that many beneficial effects as caused by using concept as described herein.In order to illustrate and The purpose of description, there has been provided the described above of one or more embodiments.The explanation is not intended to as detailed or limit Surely precise forms disclosed in this invention are arrived.The present invention can be modified according to above-mentioned teachings or modification.It is selected One or more embodiments with description are in order to show the principle of the present invention and practical use, so as to allow the common of this area Technical staff can utilize multiple embodiments, and carry out various modifications in the case of the concrete application for being adapted to contemplate.With this The claims together submitted are intended to limit four corner.

Claims (20)

1. a kind of surgical instruments, including：

End effector, the end effector include：

Fastener cartridge, the fastener cartridge include the multiple fasteners being removedly stored in the fastener cartridge；With

Anvil block, the anvil block are configured to deform the fastener；

Drive device is closed, the closure drive device is configured to make the anvil block transport relative to the fastener cartridge It is dynamic；

Drive device is fired, the percussion drive device is configured to dispose the fastener from the fastener cartridge；With

Rotatable shaft, the rotatable shaft include：

First screw thread, wherein the closure drive device can be threadedly engaged with described first so that the anvil block moves；With

Second screw thread, wherein the percussion drive device can be threadedly engaged to dispose the fastener with described second, and

Characterized in that, first screw thread and second screw thread are overlapping at least in part.

2. surgical instruments according to claim 1, in addition to motor, wherein include can with the rotatable shaft for the motor The rotatable output device operatively engaged.

3. surgical instruments according to claim 1, wherein the closure drive device includes being threadedly engaged with described first Closure pin, wherein the closure pin is configured to translate along first path, wherein the percussion drive device includes The percussion nut being threadedly engaged is threaded through with described second, wherein the percussion nut is configured to along the second path Translation, and wherein described first path and second path are overlapping at least in part.

4. surgical instruments according to claim 3, wherein the closure pin is configured to along the first via The percussion nut is passed through in footpath when translating.

5. surgical instruments according to claim 4, wherein the percussion nut includes being defined in the percussion nut Slit, and wherein described closure pin is configured to through the slit.

6. surgical instruments according to claim 1, wherein first screw thread includes the first pitch, and second spiral shell Line includes the second pitch, and wherein described first pitch is different from second pitch.

7. surgical instruments according to claim 6, wherein first pitch includes non-constant pitch, and it is wherein described Second pitch includes constant pitch.

8. a kind of surgical instruments, including：

End effector；

First driving means, the first driving means are configured to perform first end actuator function；

Second drive device, second drive device are configured to perform the second end actuator function；With

Rotatable shaft, the rotatable shaft include：

First screw thread, performed wherein the first driving means can be threadedly engaged with described first with performing the first end Device function；With

Second screw thread, performed wherein second drive device can be threadedly engaged with described second with performing the second end Device function, and

Characterized in that, first screw thread and second screw thread are coextensive at least in part.

9. surgical instruments according to claim 8, in addition to motor, wherein include can with the rotatable shaft for the motor The rotatable output device operatively engaged.

10. surgical instruments according to claim 8, wherein the first driving means include being threadedly engaged with described first Closure pin, wherein the closure pin is configured to translate along first path, wherein second drive device includes The percussion nut being threadedly engaged is threaded through with described second, wherein the percussion nut is configured to along the second path Translation, and wherein described first path and second path are coextensive at least in part.

11. surgical instruments according to claim 10, wherein the closure pin is configured to along described first Pass through the percussion nut during path shift.

12. surgical instruments according to claim 11, wherein the percussion nut includes being defined in the percussion nut Slit, and wherein described closure pin is configured to through the slit.

13. surgical instruments according to claim 8, wherein first screw thread includes the first pitch, and described second Screw thread includes the second pitch, and wherein described first pitch is different from second pitch.

14. surgical instruments according to claim 13, wherein first pitch includes non-constant pitch, and wherein institute Stating the second pitch includes constant pitch.

15. a kind of surgical instruments, including：

End effector, the end effector include：

Fastener cartridge, the fastener cartridge include the multiple fasteners being removedly stored in the fastener cartridge；With

Anvil block, the anvil block are configured to deform the fastener；

Drive device is closed, the closure drive device is configured to make the anvil block transport relative to the fastener cartridge It is dynamic；

Drive device is fired, the percussion drive device is configured to dispose the fastener from the fastener cartridge；With

Rotatable shaft, the rotatable shaft include：

First screw thread, wherein the closure drive device includes to be threadedly engaged with described first so that what the anvil block moved Closure pin, and wherein described closure pin is configured to translate along first path；With

Second screw thread, wherein the percussion drive device includes to be threadedly engaged with described second to dispose the fastener Nut is fired, wherein the percussion nut is configured to along the second path shift, and

Characterized in that, the first path and second path are overlapping at least in part.

16. surgical instruments according to claim 15, wherein the closure pin is configured to along described first Pass through the percussion nut during path shift.

17. surgical instruments according to claim 16, wherein the percussion nut includes being defined in the percussion nut Slit, and wherein described closure pin is configured to through the slit.

18. surgical instruments according to claim 15, wherein first screw thread includes the first pitch,

And second screw thread includes the second pitch, and wherein described first pitch is different from second pitch.

19. surgical instruments according to claim 18, wherein first pitch includes non-constant pitch, and wherein institute Stating the second pitch includes constant pitch.

20. surgical instruments according to claim 15, in addition to motor, wherein the motor includes and the rotatable shaft The rotatable output device being operatively engaged.