CN105307580B

CN105307580B - Motor with lockable double driving shafts drives surgical instruments

Info

Publication number: CN105307580B
Application number: CN201480034192.6A
Authority: CN
Inventors: S·K·帕里哈尔; R·L·小科克; C·O·巴克斯特三世; F·E·谢尔顿四世
Original assignee: Ethicon Endo Surgery Inc
Current assignee: Ethicon Endo Surgery Inc
Priority date: 2013-04-16
Filing date: 2014-04-12
Publication date: 2019-02-12
Anticipated expiration: 2034-04-12
Also published as: RU2015148977A; RU2015148982A3; JP2016518913A; BR112015026110A2; RU2651066C2; CN105307578B; RU2015148982A; BR112015026110B1; MX2015014564A; MX2015014554A; CN105307578A; BR112015026087A2; BR112015026087B1; JP6352396B2; CN105307580A; JP6453308B2; RU2015148977A3; JP2016518920A

Abstract

The invention discloses a kind of surgical instruments of motor driving, which includes the first rotary drive system and the second rotary drive system.Various forms includes transmission assembly, the transmission assembly can selectively shift between the first activation point and the second activation point, in the first activation point, first rotary drive system is transferred by the rotary motion that motor generates, in the second activation point, the second rotary drive system is transferred by the rotary motion that motor generates.Various forms further includes locked component, which is configured to mechanically prevent the second rotary drive system from rotating when transmission assembly is in the first activation point and prevents the first rotary drive system from rotating when transmission assembly is in the second activation point.

Description

Motor with lockable double driving shafts drives surgical instruments

Cross reference to related applications

According to the regulation of 35U.S.C. § 119 (e), this non-provisional requires the name for being filed 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 equity, being incorporated by reference of this application be incorporated to this Text.According to the regulation of 35U.S.C. § 119 (e), this non-provisional also requires the title for being filed on April 16th, 2013 For the equity of the copending United States temporary patent application sequence number 61/812,376 of " LINEAR CUTTER WITH POWER ", Being incorporated by reference for this application is incorporated herein.According to the regulation of 35U.S.C. § 119 (e), this non-provisional is also wanted Ask that entitled " the LINEAR CUTTER WITH MOTOR AND PISTOL GRIP's " for being filed on April 16th, 2013 is common The equity of pending U.S. Provisional Patent Application Serial No. 61/812,382, being incorporated by reference for this application are incorporated herein.Root According to the regulation of 35U.S.C. § 119 (e), 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 equity, being incorporated by reference of this application be incorporated to this Text.According to the regulation of 35U.S.C. § 119 (e), this non-provisional also requires the title for being filed on April 16th, 2013 For " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR " The equity of copending United States temporary patent application sequence number 61/812,372, being incorporated by reference for this application are incorporated to this Text.

Background technique

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

Detailed description of the invention

It refers to the following explanation of the embodiment of the present invention in conjunction with the accompanying drawings, various feature and advantage of the invention and its obtains It takes method will be apparent, and is better understood invention itself, in which:

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 the surgical instruments of Fig. 2；

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

Fig. 5 is the side front view that motor drives surgical instruments, wherein removing a part of 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, The actuating of middle motor will lead to the actuating of the first drive system of the surgical instruments of Fig. 2-5.

Fig. 6 A is the perspective view of the alternative transmission bracket with locking device；

Fig. 6 B be include Fig. 6 A transmission bracket motor-driven system and transmission assembly perspective view, wherein transmission group Part is in the first activation point, and wherein the actuating of motor will lead to the actuating of the first drive system and the second drive system is locked Determine device locking；

Fig. 6 C is the motor-driven system of Fig. 6 B and the perspective view of transmission assembly, and wherein transmission assembly is in the second driving Position, wherein the actuating of motor will lead to the actuating of the second drive system and the first drive system locking means lock；

Fig. 7 is the motor-driven system of Fig. 6 and another perspective view of transmission assembly, and wherein transmission assembly is in second and drives Dynamic position, wherein the actuating of motor will lead to 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, shank shell is omitted 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；

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

Figure 13 is the schematic partial front perspective view of a 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 cross-sectional view of the transmission assembly of the surgical instruments of Figure 13 and Figure 14, which is in the first driving position It sets；

Figure 16 is another cross-sectional view of the transmission assembly of the surgical instruments of Figure 13-15, which 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 certain parts of motor, transmission assembly and the first and second drive systems that Figure 20 is Figure 18 and Figure 19 Figure, wherein it transmits shaft assembly and is in the first activation point；

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

Figure 22 is another motor, transmission assembly and the first and second driving systems of a kind of form surgical instruments of the 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 cross-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 cross-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 the motor of Figure 22-25 and another cross-sectional view of transmission assembly, and wherein transmission assembly is in the first driving position It sets；

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

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

Figure 29 is the perspective view of a part that another motor drives surgical instruments, wherein for the sake of clarity, being omitted outer A part of 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 the motor drive unit of Figure 30；

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

Figure 33 is that the decomposition of the mechanical coupling system for being operatively coupled together four rotation drive shafts assembles 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 of shell；

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

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

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

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

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

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

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

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

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

Figure 44 is another local perspective view of a part of the surgical end-effector of Figure 42 and Figure 43；

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

Figure 46 is the perspective view that the end effector configuration of component is detached from driving；

Figure 47 is the local perspective view of the surgical end-effector of Figure 46, wherein for the sake of clarity, the end is omitted A part of actuator, and wherein the nearside driving system of closed system is partially disengaged the distal drive system part of closed system；

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

Figure 49 is another local perspective view of the surgical end-effector of Figure 48, this illustrates end effector trigger system Certain parts；

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

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

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

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

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

Figure 54 is the perspective view that the other end actuator of component is detached from equipped with driving；

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

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

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

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

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

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

Figure 61 be include handle portions and shaft portion modular motor driving surgical instruments block diagram；

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

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

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

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

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

Figure 67 is the sectional perspective view of the coupling configuration of Figure 66, and this diagram depicts according to various embodiments of the present disclosure not It is attached to a pair of of drive member to pod and further depicts the coupling configuration in unlocked configuration；

Figure 68 is the sectional perspective view of the coupling configuration of Figure 66, and this diagram depicts according to various embodiments of the present disclosure It is attached to a pair of of drive member to pod and further depicts the coupling configuration in locked configuration；

Figure 69 is the sectional perspective view of the coupling configuration of Figure 66, and this diagram depicts according to various embodiments of the present disclosure It is attached to a pair of of drive member to pod and further depicts the coupling configuration in unlocked configuration；

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

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

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

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

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

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

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

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

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

Figure 79 be include rotatable drive shaft surgical instruments partial perspective cutaway view, closure driving can be by the driving Axis operation, and fire driving and can be operated by the drive shaft, wherein closure driving is shown as in partially opening configuration and hit Hair driving is shown as in non-percussion configuration；

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

Figure 81 is the partial perspective cutaway view of the surgical instruments of Figure 79, is shown with closure driving and place in open configuration It is driven in the percussion of non-percussion configuration；

Figure 82 is the partial perspective cutaway view of the surgical instruments of Figure 79, is shown with closure driving and place in closed configuration It is driven in the percussion of non-percussion configuration；

Figure 83 is the partial perspective cutaway view of the surgical instruments of Figure 79, is shown with closure driving and place in closed configuration It is driven in the percussion of percussion configuration；

Figure 84 is the partial perspective cutaway view of the surgical instruments of Figure 79, is shown with percussion driving and place in retracted configuration Closure driving during reopening；

Figure 85 is the end effector of the surgical instruments to be closed, shown in non-percussion configuration and the partial sectional view of axis；

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

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

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

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

Figure 90 is the end effector of Figure 85 and the partial sectional view of axis, is shown as in closure, the configuration not fired；

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

Figure 92 is the end effector of Figure 85 and the partial sectional view of axis, is shown as in closure, the configuration fired；

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

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

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

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

Figure 97 is the motor of the surgery suturing appliance of Figure 94 and the local perspective view of gear assembly；

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

The perspective view of the surgery suturing appliance of at least one embodiment according to Figure 99 is shown as being in and opens, is unlatched Situation；

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

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

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

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

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

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

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

The cross-sectional view of the surgery suturing appliance of at least one embodiment according to Figure 107 comprising shank, axis and end are held Row device；

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

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

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

The perspective view of the surgery suturing appliance of at least one embodiment according to Figure 111 comprising shank and axis；

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

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

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

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

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

The perspective view of the surgery suturing appliance of at least one embodiment according to Figure 117, the surgery suturing appliance are shown as moving In addition to some components and it is shown as in open configuration；

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

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

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

Another perspective view of end effector and nail packet that Figure 121 is Figure 120, wherein the positioning member of the nail packet is therefrom It removes.

Through multiple views, corresponding reference symbol indicates corresponding component.Example shown in this article shows in one form The preferred embodiment of the present invention out, and this example should not be not understood as limiting the scope of the invention in any way.

Specific embodiment

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

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

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

The beauty of entitled " THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS " State's patent application serial number 13/782,338；

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

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

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

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

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

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

The U.S. Patent Application Serial Number 13/782,536 of entitled " SURGICAL INSTRUMENT SOFT STOP ", These applications are incorporated by reference accordingly to be incorporated to.

Present applicant also possesses the following patent application for being filed on March 14th, 2013, and wherein each It is respectively incorporated by reference and is incorporated 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 The U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT "；

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

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

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

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

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

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

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

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

Present applicant also possesses the following patent application for being filed on March 25th, 2014, and wherein each It is respectively incorporated by reference and is incorporated herein:

The beauty of entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " State's patent application serial number 14/226,106；

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

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 The U.S. Patent Application Serial Number 14/226,117 of AND WAKE UP CONTROL "；

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

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

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

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

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

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

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

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

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

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

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT " It please sequence number 14/226,125；

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

Entitled " SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING The U.S. Patent Application Serial Number of DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT " _ _ _ _ _ _ _ _ _ _ _ (attorney number END7407USNP/140055)；

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

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

The United States Patent (USP) of entitled " TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT " Patent application serial numbers _ _ _ _ _ _ _ _ _ _ _ (attorney number 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 number END7411USNP/140059)；

The U.S. Patent Application Serial Number of entitled " POWERED SURGICAL STAPLER " _ _ _ _ _ _ _ _ _ _ _ (agency People file number END7412USNP/140060)；

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

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

Certain 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 accompanying drawings.The common skill of this field Art personnel will be understood that specifically describing herein and being illustrated in the device and method in attached drawing is unrestricted exemplary reality Example is applied, and the range of multiple embodiments of the invention is limited only by the appended claims.It is carried out in conjunction with an exemplary embodiment It illustrates or the feature of description can be combined with the feature of other embodiments.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., It means in combination with the specific characteristics, structures, or characteristics described in the examples and is included at least one embodiment.Therefore, this theory Phrase " in various embodiments " that bright book occurs in the whole text, " in some 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, under unconfined situation, the specific spy that shows or describe in conjunction with one embodiment Sign, structure or characteristic can be entirely or partly in conjunction with the feature structures of one or more other embodiments or characteristic.It is such to repair Change that it is intended to be included within the scope of the present invention with modification.

Term " nearside " and " distal side " are herein defined as coming relative to the clinician of the handle portions of manipulation surgical instruments It uses.Term " nearside " refers near the part of clinician, and term " distal side " refers to the portion far from clinician Point.It is also understood that using such as "vertical", "horizontal", "up" and "down" in combination with attached drawing herein for the sake of succinct and is clear 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 execute laparoscopic type and micro-wound surgical operation.However, this field is general Logical technical staff is it will be readily understood that various method and apparatus disclosed herein can be used in many surgical operations and application, packet It includes and is for example combined with open surgery.With continued reference to present embodiment, those skilled in the art will be into One step understands that various instruments disclosed herein can be in any way in insertion body, such as by natural cavity, by being formed in Notch or puncturing hole in tissue etc..The working portion or end effector portion of instrument can be plugged directly into patient's body or can It is inserted by the device that enters with service aisle, the end effector and elongated shaft of surgical instruments can be pushed away by service aisle Into.

Attached drawing is gone to, wherein the similar component of similar digital representation, Fig. 1 depicts usual expression in multiple views It in one form include motor driving surgical instruments 10 for 2 modularization surgical instrument system, which drives surgery device Tool is used in combination with a variety of surgical end-effectors such as end effector 1000,2000 and 3000.In embodiment illustrated, It includes shell 12 that motor, which drives surgical instruments 10, and the shell is by being configured to by clinician's grasping, manipulation and actuating Shank 14 forms.With continued reference to present embodiment, it being understood, however, that, in conjunction with shank 14 and disclosed herein each Various unique and novel drive systems constructions that kind of end effector configuration is described can also be effectively outer with robot control Department system is used together.Therefore, term " shell " can also cover capable of accommodating or can otherwise operating for robot system 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 generate the control campaign that can be used for activating end effector configuration as described herein and its corresponding equivalent structure. Term " frame " can refer to a part of handheld surgical.Term " frame " can also represent motor-driven system or robot control Surgical instruments a part and/or can be used for being operatively controlled surgical instruments robot system a part.For example, this Drive system disclosed in text construction and end effector configuration can in entitled " SURGICAL STAPLING The U.S. Patent Application Serial of INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " Various robot systems, instrument, portion disclosed in number 13/118,241 (being now U.S. Patent Application Publication 2012/0298719) Part and method are used together, which is incorporated by reference accordingly is incorporated herein.

Fig. 2-5 is referred now to, shank 14 may include a pair of of handle shell section 16 and 18, this can pass through handle shell section The interconnection such as screw rod, snap in features, adhesive.In shown construction, the cooperation of handle shell section 16,18 can be by clinician to be formed The pistol grip portion 19 for grasping and manipulating.It such as will be discussed in further detail below, shank 14 is operably supported wherein Two rotary drive systems 20,40, the rotary drive system be configured to generate various controls movements and by these Control movement is applied to the respective drive part for being attached to specific end effector thereon.First rotary drive system 20 It such as can be used to move to the corresponding closure drive shaft construction application " closed " being operatively supported in end effector, and the Two rotary drive systems 40 can be used to the corresponding percussion drive shaft construction application into the end effector being attached to thereon and " hit Hair " movement.

First rotary drive system 20 and the second rotary drive system 40 are passed through by motor 80 substantially in two drivings systems Between so that unique and novel " displaceable " transmission assembly 60 of power/movement displacement is powered.First rotary drive system 20 Including the first rotation drive shaft 22, which is pivotally supported in the shell 12 of shank 14 and limits the One drive axis " FDA-FDA ".First driving gear 24 is keyed to or is otherwise non-rotatably attached to the first rotation Turn drive shaft 22, to therewith rotate around the first drive axis FDA-FDA.Similarly, the second rotary drive system 40 include the second rotation drive shaft 42, which is pivotally supported in the shell 12 of shank 14 and limits Second drive axis " SDA-SDA ".In at least one construction, the second drive axis SDA-SDA and the first drive shaft axis Line FDA-FDA is deviated and is parallel to or substantially parallel to the first drive axis FDA-FDA.As used in this context , term " offset " indicates that such as the first drive axis and the second drive axis be not coaxial.Second rotation drive shaft 42 has There is the second driving gear 44, which is keyed to or is otherwise non-rotatably attached to the second drive shaft 42, 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 in the second rotation drive shaft 42 Drive axis SDA-SDA is rotated freely.

Referring to fig. 2-5, in one form, motor 80 includes motor output shaft 81, which has and can not revolve 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, it is as follows to will be discussed in more detail.In at least one form, transmission assembly 60 includes Transmit bracket 62, the transmission bracket be supported for driving gear 82 with second rotate drive shaft 42 on gear 44 and 46 it Between axially advance.For example, slideably axle journal is connected in support shaft 63 transmission bracket 62, which is mounted on axis mounting base In shell 12 on 61, so that gear train of the position of transmission bracket perpendicular to rotary drive system.Axis mounting base 61 is by structure It causes in the slit that can be rigidly supported in shell 10 or other features.Transmitting bracket 62 includes bracket gear 64, the support Frame gear be pivotally supported in support shaft 63 and be adapted to be enough in when engage with the driving driving of gear 82 and Gear 44 and 46 is selectively engaged.In the discribed construction of Fig. 2-5, transmission bracket 62 is operatively attached to shift Device or " device for transfer " 70, the shift unit are configured to make to transmit bracket 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 Shifter solenoid 71 in shell 12.Shifter solenoid 71 may include bistable solenoid, or for example may include " double It is position, spring-loaded " solenoid.Construction is shown for example including spring 72, which will transmit bracket 62 towards distal direction " DD " is biased into the first activation point, and in first activation point, bracket gear 64 is engaged with idler drive gear 46, It is also engaged simultaneously with driving gear 82.When being in first activation point, the starting of motor 80 will lead to gear 82,46 With 24 rotation, this will eventually lead to the rotation of the first drive shaft 22.If will be further discussed herein, shifter solenoid 71 can It is activated by the firing trigger 90 being pivotally supported on the shell 12 of shank 14, as shown in Figure 2 and Figure 5.In the reality of illustration It applies in example, firing trigger 90 is pivotally supported on the firing trigger axis 92 being mounted in shank 14.Firing trigger 90 by 94 vertical bias of firing trigger spring to unactuated position.Referring to Fig. 3.The installation of firing trigger 90 is used for can grasp The percussion switch 96 being supported on control circuit board component 100 with making carries out operable actuating.In the construction shown, percussion The actuating of trigger 90 leads to the actuating of shifter solenoid 71.Such as retouched in more detail below in conjunction with Figure 61, Figure 63, Figure 64 It states, shank processor 7024 provides driving signal to shifter solenoid 7032 (71).It now returns to referring to fig. 2-5, therefore, hits The actuating of hair trigger 90, which will will lead to shifter solenoid 71, will transmit proximally direction " PD " drawing of bracket 62, thus make to hold in the palm Frame gear 64 is moved into be engaged with the second driving gear 44.Referring to Fig. 7.When bracket gear 64 and driving gear 82 and second When driving gear 44 is engaged, the actuating of motor 80 will lead to the second drive shaft 42 and revolve around the second drive axis " SDA " Turn.If can be also found out from Fig. 2-5, displaceable transmission assembly 60 may also include instruction system 74, which includes that can grasp It is attached to control panel 100 with making and transmits a pair of switches 75 and 76 of indicator light 77.Switch 75,76 is for detecting transmission bracket 62 position, this causes control system to activate indicator light 77 according to the position of transmission bracket 62.For example, indicator light 77 can transmit Bracket 62 is energized when being in the first activation point.This is provided an indication that clinician: the actuating of motor 80 will lead to The actuating of one drive system 20.

Various surgical instruments disclosed herein may also include transmission assembly 60 ', the transmission assembly and 60 base of transmission assembly This is identical, but also including for locking the first drive system 20 and the second drive system 40 to prevent them being not intended to be caused The locked component or device (being typically expressed as 65) of accidental activation occur when dynamic.For example, Fig. 6 A is shown including the first driving locking The alternative transmission bracket 62 ' of part 66 and the second driving locking piece 68.First driving locking piece 66 includes being located on transmission bracket 62 ' First gear engagement member or tooth, when the driving of bracket gear 64 and intermediate gear 46 engage (that is, working as 60 ' place of transmission assembly When the first activation point), first gear engagement member or tooth are positioned to engage with the second driving intermeshing of 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 driving gear 44 Splice grafting merging prevents its relative rotation when the first drive shaft 22 rotates in the above described manner.Equally, when transmission assembly 60 ' is in the When two activation points (i.e. bracket gear 64 and the second driving gear 44 is engaged), the second driving locking piece 68 is just driven with centre Moving gear 46 is engaged.Referring to Fig. 6 C.Therefore, when transmission assembly 60 ' is in the second activation point, the second driving locking piece 68 prevent intermediate gear 46 from rotating, this also prevents the first driving gear 24 from rotating.As a result, when clinician operate motor 80 so that When dynamic first drive system 20, during the second drive system 40 is locked into place.Equally, when clinician's actuating second is driven When dynamic system 40, during the first drive system 20 is locked into place.

It is 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 always in some orientation.This feature will be used to avoid 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, another advantage as obtained from locking non-rotating (that is, being not powered on) gear train is will folder in percussion Tool and/anvil block are maintained at settling position.

For example, motor 80 can be that the DC that maximum (top) speed is about 25,000RPM has brush drive motor.In other constructions, Motor may include brushless motor, wireless motor, syncmotor, stepper motor or any other suitable electric motor, including The motor of hot pressing.Motor 80 can be powered by power supply 84, and in one form, which may include power supply group 86, the power supply group It is removedly 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) wherein.Battery respectively may include for example Lithium ion (" LI ") or other suitable batteries.Power supply group 86 is adapted to be enough in and removably be operatively attached to The control circuit board component 100 for being equally operably coupled to motor 80 and being mounted in shank 14.Can be used can be connected in series Power supply of multiple batteries as surgical instruments.In addition, for example, power supply 84 can be interchangeable and/or chargeable, and It may include CR123 battery at least one situation.Motor 80 can be by being pivotally mounted to the pistol grip portion 19 of shank 14 " rocker arm-trigger " 110 activate.Rocker arm trigger 110 is configured to actuating and is operably coupled to control panel 100 First motor switch 112.First motor switch 112 may include pressure switch, and the pressure switch is by by rocker arm trigger 110 It is pivoted into and is in contact with it to activate.The actuating of first motor switch 112 will lead to the actuating of motor 80, so that driving gear 82 exists It is rotated on first direction of rotation.Second motor switch 114 is also attached to circuit board 100 and is mounted to by rocker arm trigger 110 It selective contacts with.The actuating of second motor switch 114 will lead to the actuating of motor 80, so that driving gear 82 is in second direction Upper rotation.For example, in use, polarity of voltage provided by power supply 84 can operate electric motor 80 in the clockwise direction, Wherein by battery be applied to the polarity of voltage on electric motor can be it is opposite, to operate electronic horse in the counterclockwise direction Up to 80.As other forms described herein, shank 14 may also include the direction for being configured to detection drive system movement Sensor.Figure 61, Figure 63, figure of one particular implementation of motor 80 below in association with description brushless DC motor 7038 64 are described.DC motor 7038 can be hot pressing.

Fig. 8-12 shows another form of surgical instruments 10 ', other than difference as described below, surgical instruments 10 ' It can be identical as surgical instruments 10.Those of identical as the component in above-mentioned surgical instruments 10 component of surgical instruments 10 ' will be with identical Element number indicates.Those of the corresponding component that can similarly operate but be different from surgical instruments 10 of surgical instruments 10 ' portion Part will with same parts number plus " ' " or some cases under add " " " indicate.As seen from Fig. 8, for example, the first drive shaft Axis " FDA " and the second drive axis " SDA " are deviated and are parallel to or substantially parallel to the second drive axis " SDA ".It is main It will be referring to Fig. 9, for example, transmission assembly 60 and more specifically transmission bracket 62 " can be by being operatively attached to percussion triggering 120 manual transfer of link assembly of device 90 '.As seen from the 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 transmission yoke 124.Transmission Movably pin joint extremely transmits bracket 62 " to yoke 124.Therefore, the actuating of firing trigger 90 ' leads to the axial direction for transmitting bracket 62 " Movement.It will thus be appreciated that the execution substantially of link assembly 120 is similar with those of performed by above-mentioned shifter solenoid 71 Actuating movement.As, relative to used in the transmission movement of bracket 62 ", term " can manual transfer in the context of this embodiment " refer to and exist other than pressing firing trigger 90 ' without using in the case where electric power or other power devices, making to transmit bracket It is moved between first activation point and the second activation point.

As equally from Fig. 8-12 as it can be seen that the second driving gear 44 ' passes through spacer 45 and centre in the second drive shaft 42 ' Gear 46 ' is spaced apart.Second driving 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, relative to second drive shaft freedom Rotation.In one form, for example, distal side driving gear 130 is supported in a manner of being engaged with idler drive gear 46 '. Similarly, distal side driving gear 136 is supported in a manner of being engaged with the second driving gear 44 '.However, in this construction In, transmission bracket 62 " further includes the transmission gear assembly 140 being centrally located, which is operatively attached to pass Loser bracket 62 ' is advanced with therewith axial.Referring still to Fig. 8-12, transmitting gear assembly 140 includes the displacement being centrally located Device drive gear 142, the shift unit driving gear slidably mate engaging motor driving gear 82.Therefore, motor sliding tooth The rotation of wheel 82 leads to the rotation of shift unit driving gear 142.In addition, the taper driving gear 144 extended proximally is attached to Shift unit drives gear 142 and is adapted to be enough in and be attached to the proximal gear pod 146 of proximate drive gear 136 Selectively it is engaged.Equally, it is adapted to be enough in and be attached to distal side towards the taper driving gear 148 that distal side extends The distal side gear pod 150 of driving gear 130 is selectively engaged.

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 extended towards distal side driving gear 148 and be attached to distal side driving gear 130 The placement of distal side gear pod 150 is engaged.Referring to Fig. 8-10.When at that position, horse will lead to the operation of motor 80 Up to driving gear 82, shift unit driving gear 142, distal side driving gear 130, idler drive gear 46 ', the first driving gear 24 And first drive shaft 22 rotation.When clinician it is expected to activate the second drive system 40, clinician triggers percussion Device 90 ' moves to position shown in Figure 11 and Figure 12, to make the taper extended proximally driving gear 144 and be attached to nearside drive The placement of proximal gear pod 146 of moving gear 136 is engaged.When at that position, drive will lead to the operation of motor 80 Moving gear 82, shift unit drive gear 142, the driving gear 44 ' of proximate drive gear 136, second and the second drive shaft 42 ' Rotation.As equally from Fig. 8-12 as it can be seen that sensor 152 and 154 can be used to detect the position of transmission bracket 62 ", 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, other than difference as described below, outside Section's instrument 310 can be identical as surgical instruments 10.Those of identical as the component in above-mentioned surgical instruments 10 portion of surgical instruments 310 ' Part will be numbered with similar elements and be indicated.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 to be keyed to the be non-rotatably attached to the second driving wheel 344 thereon thereon or otherwise second driving Axis 42.Such as from Figure 14 it is seen, for example, the first drive axis " FDA " and the second drive axis " SDA " are deviated and parallel or base The second drive axis " SDA " is parallel 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 axis 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 can operate on it Ground supports the second transmission belt 387.Second transmission belt 387 also receives 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.

Instrument 310 further includes transmission assembly 360, which includes being supported for axially advancing in apparatus housings Transmission bracket 362.When transmit bracket 362 by shifter solenoid 71 be axially moved when, transmission bracket 362 operationally with It is supported in response to being contacted and the interaction of the idle pulley bracket 374 of lateral movement with transmission bracket 362.Idle pulley bracket 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 " The upper bracket 362 that will transmit is towards the first activation point bias, and in first activation point, transmitting bracket 362 causes idle pulley bracket 374 It is 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 lead to The rotation of first drive shaft 22.Although the second motor belt pulley 384 will also be rotated when motor 80 starts, the second transmission belt 387 relaxation prevents rotary motion to be passed to the second driving wheel 344.Therefore, movement is passed to the second driving system without spin System 40.As above it discusses, shifter solenoid 71 can be activated by firing trigger 90.However, in alternative configuration, shift unit helical Pipe 71 can also be replaced by the manually actuable link assembly of such as the above-mentioned type.In the construction shown, firing trigger 90 Actuating will lead to shifter solenoid 71 and pull transmission bracket 362 along proximal direction " PD ", to make idle pulley bracket 374 along the Two laterals " SLD " lateral displacement, so that the second idle pulley 376 contacts to tense the transmission belt with the second transmission belt 387.Idle pulley Such lateral movement of bracket 374 is disengaged the first idle pulley 375 with the first transmission belt 385, to allow the first transmission The relaxation of band 385.Therefore, when motor 80 is in such second activation point, the actuating of motor 80 leads to 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 several different advantages.For example, V-belt uses so that need not will be one or more Gear is aligned with clutch engagement.In addition, such transmission structure can start or deactivate under a load.In addition, transmission assembly more than 360 It can disengagement and engagement without displacement.

Figure 17-21 shows another form of motor driving surgical instruments 410, other than difference as described below, outside Section's instrument 410 can be identical as surgical instruments 10.Those of identical as the component in above-mentioned surgical instruments 10 portion of surgical instruments 410 ' Part will be numbered with similar elements and be indicated.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 to be keyed to the be non-rotatably fixed to the second driving wheel 444 thereon thereon or otherwise second driving Axis 42.Such as from Figure 18 it is seen, for example, the first drive axis " FDA " and the second drive axis " SDA " are deviated and parallel or base The second drive axis " SDA " is parallel on this.

Referring now to Figure 19, in one form, motor 480 includes splined actuating shaft 481, which is suitable for slidably Ground engagement transmission shaft assembly 490, which is configured to interact with transmission bracket 462, so that transmission support 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 as it can be seen that transmission axle Component 490 has spline bore hole 491 wherein, for receiving splined actuating shaft 481 slidably therein and operationally. In addition, distal side engagement lining ring 492 is formed in the distal end of transmission shaft assembly 490.Distal side engagement lining ring 492 is configured to have There is ring-shaped groove 493, which is configured to wherein receiving the yoke part 464 for being attached to transmission bracket 462 Two opposite yoke bars 465.Such construct is attached to transmission shaft assembly 490 for that will transmit bracket 462, while allowing transmission axle group Part 490 is rotated relative to transmission bracket 462.

Referring still to Figure 19, the first motor belt pulley 482 is adapted to be enough in selectively 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 that is formed in its proximal end, should The size of bearing lining ring is set to slidably and rotatably to receive in the bore hole 483 in the first motor belt pulley 482.Separately Outside, the first motor belt pulley 482 further includes star nearside driving chamber 488, which is suitable for being engaged to be 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 further includes second motor belt pulley 484 with star bore hole 489, The star bore hole is configured in the drive part 495 for being wherein engaged transmission shaft assembly 490.Second motor belt pulley 484 are operably supported also second transmission belt 487 of the reception on the second driving wheel 444 on it.

As described above, instrument 410 further includes transmission assembly 460, which includes being supported in apparatus housings The transmission bracket 462 inside axially advanced.It transmits bracket 462 and transmits the operationally phase interaction of shaft assembly 490, equally to make to transmit 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 shifter solenoid 71 set.As seen from the figure, transmission bracket 462 has made transmission shaft assembly 490 move to its recent side position It sets, which also may be referred to " the first activation point ", in the position, the star in drive part 495 and the first motor belt pulley 482 The driving engagement of shape bore hole 488.Therefore, the rotation of motor drive shaft 481 will lead to transmission shaft assembly 490 and the first motor belt pulley 482 Rotation.The rotation of first motor belt pulley 482 will lead to the rotation of the first transmission belt 485, this eventually leads to the first drive shaft 22 rotation.When transmission shaft assembly 490 is in the first activation point, shaft assembly 490 is transmitted relative to the second motor belt pulley 484 rotate freely.Therefore, when activating the first drive system 20, the holding of the second drive system 40 is not activated.When shift unit helical Pipe 71 is actuated to position shown in Figure 21 (by activating firing trigger 90), and transmission bracket 462 makes to transmit the movement of shaft assembly 490 To its farthest position on motor drive shaft 481, which also may be referred to " the second activation point ".Such as from Figure 21 as it can be seen that when passing When defeated shaft assembly 490 is in the second activation point, drive part 495 is moved into and the star in the second motor belt pulley 484 Bore hole 489 is engaged.Therefore, the rotation of motor drive shaft 481 will lead to the rotation of the second motor belt pulley 484.Second motor skin The rotation of belt wheel 484 will lead to the rotation of the second transmission belt 487, this leads to the rotation of the second drive shaft 42.When transmission shaft assembly 490 be in second activation point when, transmission shaft assembly 490 rotated freely in the first motor belt pulley 482.Therefore, work as cause When dynamic second drive system 40, the first drive system 20 is in unactuated state.

Figure 22-27 shows another motor that can be used together with various surgical instruments described herein, transmission assembly and One and second drive system.The construction shown includes the motor 580 with motor drive shaft 581.3 and Figure 24 referring to fig. 2.Motor driving Gear 582 or " sun gear " 582 are attached to motor drive shaft 581 non-rotatably to rotate with it.The construction further 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 sun gear 582, so that sun gear 582 can It is 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 The rotation of distal side carrier 573 will lead to the rotation of the second drive shaft 542 of the second drive system 40.Three planetary gears 572 with The mode being engaged with ring gear component 575 supports.More specifically, on planetary gear 572 and ring gear component 575 Internal ring gear 576 is engaged.Ring gear component 575 further includes outer annular gear 577, the outer annular gear with The the first driving gear 524 for being attached to the first drive shaft 522 of the first drive system 20 is engaged.Such as from Figure 24 as it can be seen that example Such as, the first drive axis " FDA " and the second drive axis " SDA " are deviated and are parallel to or substantially parallel to the second drive shaft Axis " SDA ".

As it can be seen that the construction further includes solenoid 71 such as in Figure 23, which can be by firing trigger with described herein Various modes operate.In this construction, transmission assembly 560 is attached to the axis 73 of solenoid 71.Figure 24 is shown to be driven 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 Determining component includes first or nearside locking tab part 592 and second or distal side lock tab on transmission assembly 560 Ear portions 594.As seen from the 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, planetary gear set 570 and the sun are prevented Gear 582 rotates as a whole.However, the rotation of sun gear 582 leads to the rotation of planetary gear 572.Planetary gear 572 rotation leads to the rotation of ring gear component 575.The rotation of ring gear component 575 leads to 524 He of the first driving gear The rotation of first drive shaft 522.Due to preventing nearside carrier 574 from rotating, the rotation of distal side carrier 573 is also prevented.Therefore, also anti- The rotation of the second drive shaft 544 is stopped, while the first drive shaft 522 rotates.Spring (not shown) can be used for solenoid 71 is (and attached It is connected to its transmission assembly 560) it is biased into this " first activation point ".When clinician needs to activate the second drive system 40 When, firing trigger as described above can be used to activate for solenoid 71, and solenoid shaft 73 is moved to position shown in Figure 25 On.When transmission assembly 560, which is in, is somebody's turn to do " the second activation point ", ring gear is fixedly engaged in distal side locking tab part 594 Component 575 is to prevent its rotation.Therefore, when sun gear 582 rotates, pinion frame is (that is, distal side carrier 573 and nearside Carrier 574) it also will rotation.Planetary gear 572 will rotate in fixing internal ring gear 576.Such rotary motion will transmit To the second drive shaft 542, while the holding of the first drive shaft 522 does not activate.

Figure 28 shows another form of motor driving surgical instruments 610, other than difference as described below, surgery device Tool 610 can be identical as surgical instruments 10.Those of identical as the component in above-mentioned surgical instruments 10 component of surgical instruments 610 ' will It is indicated with similar elements number.Such as from Figure 28 it is seen, for example, the first drive axis " FDA " and the second drive axis " SDA " It deviates and is 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 mounted on first On motor drive shaft 681, and support at being engaged idle gear 646.Idle gear 646 is operably supported into and installation to the first driving First driving gear 624 of the first drive shaft 622 of system 620 is engaged.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 mounted on the second motor drive shaft 683, and is supported at nibbling Splice grafting closes the second driving gear 644 being installed in the second drive shaft 642 of the second drive system 640.Therefore, the second motor The actuating of axis 683 will lead to the actuating of the second drive system 640.

Figure 29 shows another form of motor driving surgical instruments 710, other than difference as described below, surgery device Tool 710 can be identical as surgical instruments 10.Those of identical as the component in above-mentioned surgical instruments 10 component of surgical instruments 710 ' will It is indicated with similar elements number.Such as from Figure 29 it is seen, for example, the first drive axis " FDA " and the second drive axis " SDA " It deviates and is 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 having to be keyed to non-rotatably to be attached to the first of the first driving gear 724 thereon thereon or otherwise Drive shaft 722.Similarly, the second drive system 740 includes having to be keyed to non-rotatably to attach thereon or otherwise To the second drive shaft 742 of the second driving gear 744 thereon.Motor 780 includes the axis for being non-rotatably attached to motor 780 781 motor gear 782.

In the construction shown, the second motor 750 is used to shift 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 The mode (as described in below in conjunction with Figure 61, Figure 63, Figure 64) controlled like motor 7038 is controlled.Such as from Figure 29 as it can be seen that 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.First pivot axis limit pivot axis " PA ".Second transmission wheel 755 is non-rotatable Ground is mounted 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.In addition, lazy Wheel shaft 763 is attached to transmission connecting rod 762, which is operably supported idle gear 764 on it.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 are revolved around pivot axis P A Turn, so that the idle gear is engaged with motor gear 782 and the first driving gear 724.When in this position, motor 780 actuating then will lead to 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 motor gear 782 and the second driving gear around pivot axis P A 744 are engaged.When in this position, the actuating of motor 780 leads to the actuating of the second drive system 740.This can be utilized One of constitution realization has an advantage that be orientated without precise tooth.It is rotatable when idle gear 764 is swung in appropriate location And the tooth that cooperation will be automatically found.

Figure 30-32 shows the mountable unique and novel motor unit 800 in type enclosure described herein.Motor list Member 800 may include separate housing structure 801, which 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 may 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 Fig. 8, for example, the first drive shaft Axis " FDA " and the second drive axis " SDA " are deviated and are parallel to or substantially parallel to the second drive axis " SDA ".It is single Member 800 may also include control circuit board 808, the contact 808A of the control circuit board and be mounted in apparatus housings or with its other party Formula support is operativelyd interface with wherein and with the corresponding contact on the circuit board of the control system of instrument connection.Shell can also wrap Electric contact 808B is included, which is configured to can with electric contact corresponding on the end effector tool for being attached to shell Operatively join.

As shown in Figure 1, modularization surgery system 2 may include in combination with various surgical instruments described herein use it is a variety of Different surgical end-effector constructions 1000,2000 and 3000.As discussed in more detail below, end effector 1000,2000, 3000 respectively include dual, independent " first end actuator driven system and the second end actuator driven system ", these drives Dynamic system be suitable for in surgical instruments the first drive system and the second drive system operatively interface with to receive from it control Movement.The end effector drive system is respectively configured to outer in response to being operably attached to by end effector Section's instrument is applied to the correspondence rotary motion of the end effector drive system, by corresponding end actuator actuator component from First or initial linear position move to second or terminate linear position.The end effector actuator component will be caused linearly Dynamic movement is applied to the various end effector parts in the end effector tool head part, various outer to execute Section's operation.As discussed in more detail below, which uses unique component and system to assist clinician by surgery The first drive shaft and the second drive shaft of instrument couple with the respective drive in the end effector.Since four drive shafts are Substantially it is linked together simultaneously, therefore, various coupling configurations and control technology can be used to ensure that axis is in and be beneficial to 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 can be removed simultaneously and be operably coupled to the correspondence in end effector " driven " axis.System of connections 50 may include can The convex connector for the drive shaft being attached in surgical instruments and the concave for the driven shaft being attached in surgical end-effector Pod connector.For example, Fig. 9 shows the convex connection for being attached to the first drive shaft 22 and the second drive shaft 42 by positioning screw 52 Connect device 51.Referring again to Figure 33, each convex connector 51 is configured to drivingly to receive and hold also attaching to end In the correspondence concave pod connector 57 of driven shaft in row device.In one form, each convex connector 51 includes at least Three driving ribs 53, these driving ribs are equally spaced around the central part 54 of convex connector 51.In embodiment illustrated In, for example, five driving ribs 53 are equally spaced around central part 54.Each driving rib 53 has slightly pointed distal end 55. Each driving rib 53 can be formed with the edge 56 of rounding to a certain extent, to be conducive to be easily inserted concave pod connector 57 In interior correspondence pod groove 58.Each pod groove 58 has tapered proximal inlet port part 59, to be conducive to that driving will be corresponded to Rib 53 is plugged into.The distal end 55 of the point of each driving rib 53 is combined with the tapered inlets 59 of each pod groove 58 will Adjustment is in a degree of dislocation in connection process between the corresponding concave 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 concave pod connector In 58.

In one form, at least one of convex connector 51 is movably attached to the correspondence first of surgical instruments Its of drive shaft or the second drive shaft or surgical end-effector correspond to first driven shaft and second driven shaft.More specifically, can Convex connector 51 is attached on the axis radially or angularly advance, " to travel radially first in advance really on axis Fixed amount ".This for example can be set to advantageous by the size that key and keyway constitution realization, the key and keyway construct relative to each other It is radial or angularly advance a certain amount on the axis in convex connector 51.In other words, for example, the axis can have shape At being installed thereon or otherwise to its key, which is less than the correspondence keyway being formed in convex connector 51, so that Key can move in keyway and establish the first predetermined radial row input.The first predetermined radial row input is excellent Selection of land is used to back-drive or drive forwards connector enough.For example, for having the convex connector 51 there are five rib 53, The first predetermined range that travels radially can be such as 5-37 degree.There may be such some embodiments: for example, first The predetermined range that travels radially can be less than 5 ° and preferably no more than 4 °.If such as corresponding concave pod connector 57 Be rigidly attached to its respective drive and in other words the concave pod connector can not carry out it is any travel radially, then The radial or angled such range advanced can be enough.However, if both convex connector and concave connector have 50% can be reduced by having the radial ability perhaps angularly adjusted radial or being at an angle of the such range advanced, to be every One connector (convex connector and corresponding concave pod connector) provides the travel range of about 3-16 degree.Concave pod connection It connects radial direction that device 57 can move in its respective shaft or the angled amount advanced is referred to alternatively as that " second predefines herein Radial row input ".It is corresponding that concave pod connector 57 can also be attached to them using key as described above and keyway construction Second predetermined radial row input needed for drive shaft, the key and keyway construction provide.There may be such some realities Apply example: for example, the second predetermined range that travels radially can be less than 5 ° and preferably no more than 4 °.

The various combinations and mounting structure of convex connector and concave 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 with to its corresponding drive shaft of surgical instruments (or The driven shaft of surgical end-effector).Equally, one or two concave pod connector can by it is described herein it is various in a manner of can It installs to its corresponding driven shaft (or drive shaft of surgical instruments) on end effector on movement ground.For example, in the first driving The convex connector on one in axis and the second drive shaft can be movably mounted on the axis.It is attached to other drive shafts Other convex connectors can not be movably mounted with to the axis.Joining on driven shaft corresponding to the convex being movably mounted with The concave pod connector for connecing device can not movably be attached to its driven shaft, and other are mounted on the correspondence on driven shaft It can be movably mounted in the concave pod connector for the connector not being movably mounted with to its driven shaft.Therefore, " connection Device to " convex connector and concave pod connector in one be movable.Term " connector to " refers to that convex joins Device and corresponding concave pod connector are connect, they are configured to be linked together can grasp the drive shaft of surgical instruments It is attached to its correspondence driven shaft of end effector with making.In other constructions, the convex connector and concave of connector pair are held Both nest connector can movably be attached to their corresponding axis.

Such coupler configuration is used to provide a small amount of angled relaxations for example between coupler component, so that component It can slightly rotate to realize sufficiently alignment, it is this sufficiently to allow to be attached to two coupling portions for individually rotating driving system to brigadier It is aligned while part.In addition, the recoil or relaxation that can provide sufficient amount in driving system are to adapt to connection process.It is such recoil or Relaxation can be provided by forming key/keyway in gear, connector and/or fitted shaft, with the such slight of promoting member Rotation.In addition, switch structure in combination with various displaceable transmission assemblies come using, can for connection purpose starter motor with Drive shaft is caused slightly to rotate.

This and other control technologies can be used for ensuring that the drive shaft in surgical instruments is located in required position, with advantageous 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, so that drive shaft is connected in the case where capable of having certain dislocation between corresponding axis Together.It should be appreciated that although various embodiments described herein shows the convex connection for the drive shaft being attached in surgical instruments Device 51 and the concave pod connector 58 for being attached to end effector drive shaft, but convex connector 51 is attached to end and is held Row device drive shaft and concave pod connector 58 is attached to the drive shaft of surgical instruments.

Figure 34-37 describes surgical end-effector 1000, which 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 The United States Patent (USP) 5,415,334 of entitled " SURGICAL STAPLER AND STAPLE CARTRIDGE " and entitled It is disclosed in the United States Patent (USP) 8,561,870 of " SURGICAL STAPLING INSTRUMENT ", 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 made of the shell segments 1012,1014 for being removably coupled to by screw rod, lug, snap in features etc. together.From end Actuator shell 1010 protrusion in portion's is the lower jaw 1020 and upper pincers that can be collectively form end effector tool head 1004 Mouth 1040.Lower jaw 1020 includes lower jaw frame 1022, which is configured to operationally prop up wherein Support surgery nail bin 1060.Such surgery nail bin is well-known in the art, and therefore will not be retouched in more detail herein It states.In simple terms, surgery nail bin 1060 may include warehouse 1062, which has each cross side in elongated slot 1068 Upper 1066 line of nail pit formed therein, the elongated slot are centrally positioned in warehouse 1062.Slit 1068 is adapted to It is enough longitudinally travelled and passes through suitable for cutting element 1090, will be discussed in more detail Ru following.One or more surgical staples (are not shown It is supported on the nail drive member (not shown) in nail pit 1066 out), which is configured to firing It is moved upwards in their corresponding pits 1066 in journey.Nail bin 1060 can be configured to move from lower jaw frame 1022 It removes, and is able to reuse that end effector 1000 with another unused storehouse replacement.However, end effector 1000 can also It abandons after a single use.

Referring to Figure 36, lower jaw frame 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 wherein in a manner of placement.The side of U-shaped distal part 1024 Wall 1026 can have distal end 1028, which is configured to releasable and can be retentively engaged surgery nail bin 1060 a part.Cartridge body 1062 can also have engagement features 1064, which is suitable for being releasably engaged lower pincers The upright wall portion 1030 of mouth frame 1022.End effector 1000 further includes upper jaw 1040, which includes anvil portion Divide 1042.Anvil portion 1042 may include downside (not shown) wherein with multiple nail shapes pits.Upper jaw 1040 is also Including proximal body portion 1044, which, which has, extends through distal side gudgeon pin 1046 therein.Distal side trunnion The end of the proximal end lateral protrusion of the proximally main part 1044 of pin 1046 is rotatably received in lower jaw 1020 Trunnion hole 1032 in.Gudgeon pin 1046 limits attachment axis AA-AA, and the proximal end of upper jaw 1040 is around attachment axis AA-AA is pivoted relative to lower jaw 1020, enable anvil portion 1042 with the nail bin that is mounted in lower jaw 1020 It 1060 open positions spaced apart and is transported with nail bin 1060 and/or between the adjacent closed position of tissue between the two It is dynamic.End effector 1000 may also include lateral backing pin 1050, and transverse direction backing pin reception is being formed in the upright of lower jaw 1020 In in bracket 1034 in the wall 1030 and hole 1016 that is mounted in shell segments 1012,1014.Backing pin 1050 can be used as anvil block Enclose the fulcrum axis rotated about or surface in part 1042.

The movement of anvil portion 1042 between the open position and the closed position by first end actuator driven system ( It is also referred to as end effector closure system 1070 herein) control.In one form, for example, end effector closed system System 1070 includes closure shuttle 1072, which extends around the proximal body portion 1024 of lower jaw 1020.It is closed shuttle 1072 It may be additionally referred to as " first end actuator actuator ".Being closed shuttle 1072 may include U-shaped part, which includes distal side 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 for receiving the corresponding part for the cam pin 1048 for being attached to upper jaw 1040.Therefore, closure shuttle 1072 is 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 It acts on backing pin 1050 and is pivoted around attachment axis AA-AA.

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

End effector 1000 further includes that the second end actuator driven system (is also referred to as trigger system herein 1100), the second end actuator driven system for driving tissue cutting element between the start position and the end position 1090 and wedge slider assembly 1092.When wedge slider assembly 1092 is driven through surgery nail bin 1060 towards distal side, Wedge slider assembly 1092 operationally interacts with the driver with the surgical staples being supported in storehouse 1060. When wedge slider assembly 1092 is driven towards distal side, driver is driven upwardly in their corresponding pits, to drive branch The nail of support on it is formed with the downside of the anvil portion 1042 of upper jaw 1040 to be engaged.In one form, trigger system 1100 further include rotation screw thread beating shaft 1102, which is pivotally supported at end effector shell 1010 In.Beating shaft 1102 limits the beating shaft axis FSA-FSA for being parallel to or being arranged essentially parallel to closure axis axis CSA-CSA.Ginseng See such as Figure 37.Beating shaft 1102 includes distal end portion 1104, which, which is pivotally supported at, is installed on In installation unit 1106 in end effector shell 1010.Concave pod connector 57 is attached to the proximal end of beating shaft 1102 Portion is coupled with being conducive to beating shaft 1102 with the concave for the second drive shaft being attached in surgical instruments closure connector 51.It hits Hair system 1100 further includes percussion nut 1110, and the percussion nut is by tapped receptor 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 It cuts component 1090 and wedge slider assembly 1092 and is attached to percussion nut 1110 by one or more trigger shafts 1112.One A or multiple trigger shafts are also referred to as " the second end actuator actuator " herein, which rings It should be linear or be axially moved in the actuating of trigger system.Therefore, beating shaft 1102 will will be fired along the rotation of first direction Nut 1110, one or more trigger shafts 1112, tissue cutting element 1090 and wedge slider assembly 1092 are along distal side side It drives to " DD " from such as initial position (Figure 35) to end position, wherein tissue cutting element 1090 and wedge slider assembly 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 slider assembly 1092 are along proximal direction " PD " drives go back to their corresponding initial positions from their corresponding end positions.In some embodiments, the wedge-shaped slides Component is positively retained at the distal end of surgery nail bin, and not with 1090 correcting action of tissue cutting element.Another In some embodiments, tissue cutting element and wedge slider assembly component are positively retained at the distal end of nail bin component.

End effector 1000 can also be equipped with being attached to the end effector being mounted in end effector shell 1010 The various sensors of contact plate 1120.Contact plate 1120 can be positioned with end effector shell 1020, so that working as end effector 1000 when being operably coupled to surgical instruments, and end effector contact plate 1120, which is electrically coupled to, is mounted on surgical instruments shell 12 Interior surgical instruments contact plate 30.See, for example, Fig. 1.Referring again to Figure 34, closed sensor 1122 is mountable to be executed in end In device shell 1010 and it is electrically coupled to end effector contact plate 1120, so that when end effector 1000 is operatively coupled When to surgical instruments, closed sensor 1122 is connected to the control system of surgical instruments.Closed sensor 1122 may include suddenly Your effect sensor 7028, such as below for example in conjunction with shown in Figure 61, Figure 63, the hall effect sensor be able to detect switch it is convex Position of the ear 1086 on closure nut 1084.In addition, trigger sensor 1124 is also mountable in end effector shell 1010 It is interior, to detect the presence of trigger shaft 1112.Trigger sensor 1112 may include hall effect sensor 7028, such as example below As combine Figure 61, Figure 63 shown in, and be electrically coupled to end effector contact plate 1120 with surgical instruments control system (such as Shank processor 7024) finally connection, it is as follows to be discussed in more detail in conjunction with Figure 61, Figure 63, Figure 64.

The use that surgical instruments 10 will be combined to explain end effector 1000 now.It will be appreciated, however, that end effector 1000 can be operably coupled to various other surgical instruments constructions disclosed herein.Before use, closure 1080 He of axis Beating shaft 1102 is " clock control ", or is located in their corresponding initial positions, to be conducive to be respectively attached to the first drive Moving axis 22 and the second drive shaft 42.In order to which end effector 1000 is attached to surgical instruments 10, for example, clinician is by end Actuator 1000 moves to following position, in the position, is closed axis axis CA-CA and the first drive axis FDA-FDA is axial Alignment, and beating shaft axis FSA-FSA and the second drive axis SDA-SDA is axially aligned.It is recessed on axis 1080 by being closed Type pod connector 57 is inserted into the convex connector 51 being operatively engaged in the first drive shaft 22.Equally, by beating shaft Concave pod connector 57 on 1102 is inserted into the convex connector 51 being operatively engaged in the second drive shaft 42.Therefore, When in this position, closure axis 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 engage with the operable connection of surgical instruments 10, end effector 1000 includes Retainer latch 1130, the retainer latch are attached to end effector shell 1010 and are configured to releasedly connect Close a part of apparatus housings 12.Retainer latch 1130 may include keeping lug 1132, which can be releasable Ground engages the retainer chamber 15 being formed 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 Displaceable transmission assembly (or it transmits bracket 62) is recognized in its first activation point.This can pass through the indicator light on shell 12 77 actuating confirms, as above discusses.If displaceable transmission assembly 60 is not at its first activation point, clinic doctor Life can activate firing trigger 92 and be moved in the first activation point with that will transmit bracket 62, so that rocker arm trigger 110 It will lead to the actuating of the first drive system 20 to the actuating of driven motor 80.Assuming that closed system 1070 and trigger system 1100 Each in their corresponding initial positions and end effector 1000 has and is properly attached to unused nail bin 1060 therein, So clinician then can be by jaw 1020,1040 relative to be cut and suture destination organization positioning.Clinician can With by actuator rocker arm trigger 110 come driven motor 80 and rotate the first drive shaft 22 upper jaw 1040 is closed.Once By target tissue held between the surgery nail bin 1060 in upper jaw 1040 and lower jaw 1020, then clinician can Actuating firing trigger 92 will transmit bracket 62 and move to its second activation point, so that the actuating of motor 80 will lead to second The rotation of drive shaft 42.Once transmission bracket 62 is moved to the second activation point, clinician can activate again and shake Arm trigger 110 activates the trigger system 1100 in the second drive system 40 and end effector 1000, to drive towards distal side Tissue cutting element 1090 and wedge slider assembly 1092 pass through surgery nail bin 1060.Present dynasty distal side drives tissue cutting element 1090 and when wedge slider assembly 1092, the destination organization being clamped between jaw 1020,1040 is cut and is sutured.Once Tissue cutting element 1090 and wedge slider assembly 1092 have been driven to the farthest side position to them in surgery nail bin 1060 Set, clinician can actuator rocker arm trigger 110 keep motor rotation reversed and trigger system 1100 made to be back to its starting Position.

When using end effector 1000 and other end effectors disclosed herein comprising similar jaw construction When with surgical instruments, to sufficiently clean the anvil block pit on the downside of anvil block, there may be challenges.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, which is shown, can solve some (even if being not all of) in these challenges Disposably " nail packet " 1300.

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

Referring still to Figure 119, a form of " disposable " nail packet 1300 includes anvil block 1302, which has nail forming Surface 1304, the staple forming surface include multiple nail shapes pit (not shown) formed therein.Nail packet 1300 further includes nail Storehouse 1310, the nail bin have storehouse platform 1312, which is adapted to be enough in the nail shaped lower face with anvil block 1302 1304 form spaced confronting relationship.Nail bin 1310 can be similar to other disclosed nail bins in further detail herein and can operate wherein Ground supports multiple surgical staples.Nail packet 1300 further includes disposable positioning member 1320, the size and shape setting of the positioning member It is frictionally engaged at anvil block 1302 and nail bin 1310, so that following closely the nail pit in shaped lower face 1304 using preceding maintenance and following closely Nail (not shown) alignment in storehouse 1310.Locating piece 1320 may additionally include being isolated of extending between anvil block 1302 and nail bin 1310 Item 1322.The locating piece can for example be formed by plastics or other suitable molded of polymeric material, and isolating bar 1322 can be by Metal material is made.Other holding features that isolating bar 1322 can be frictionally held in slit or be formed in locating piece 1320 In.

Referring now to Figure 120, pacified by the way that anvil block 1302 to be aligned with the opening distal end 1243 in upper jaw 1240 Binding packet 1300, and nail bin 1310 is aligned with the opening distal end 1245 in lower jaw frame 1222.Hereafter, nail packet 1300 Position shown in Figure 120 is moved to along proximal direction " PD ".Antelabium 1245 is kept to be used in 1240 inner support anvil block 1302 of upper jaw. End effector 1000 ' may also include manually actuable latch feature 1340, which can be from unlatched position (figure 119) latch position (Figure 121) is moved to.When being in latch position, 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 frame 1222.For example, latch feature 1340 may include movable 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, pawl, flange or one or more other keep features).Similarly, latch feature 1340 may 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, pawl, flange or one or more other keep feature).Upper latch arms 1342 and lower latch arms 1344 pivotly or Otherwise be movably supported on end effector 1000 ', with selectively latch position and unlatched position it Between move.In various forms, upper latch arms 1342 can be vertical by one or more spring (not shown) with lower latch arms 1344 It is biased into latch position.In such configuration, clinician can be by 1300 insertion upper jaw 1240 of nail packet and lower jaw frame In 1222.When the proximal end of anvil block 1302 contacts upper latch arms 1342, upper latch arms 1342 are pivoted or are moved to allow anvil Seat 1302 is placed into position.Once anvil block is placed into position, upper latch arms 1342 be biased into and engaged with 1302 latch of anvil block (if Using spring or biasing member).It, can be by upper 1342 manual movement of latch arms into latch position in alternative configuration. Equally, when the proximal end of nail bin 1310 contacts lower latch arms 1344, lower latch arms 1344 are pivoted or are moved to allow nail bin 1310 are placed into position.Once nail bin 1310 is placed into position, lower latch arms 1344 be biased into engaged with 1310 latch of nail bin with Hold it in appropriate location (if using spring or biasing arrangement).It, can be by lower latch arms in alternative embodiment 1344 manual movements are to latch position.Once nail packet 1300 installed and anvil blocks 1302 and nail bin 1310 be latched or with Other modes are attached to end effector 1000 ', and positioning component 1320 can be removed in clinician.See, for example, Figure 121.It is wrapped in nail After 1300 have been used, locating piece 1320 can be then 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 positioning member 1320 and then by positioning member 1320 press back at 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 positioning member In 1320, clinician upper latch arms 1342 and lower latch arms 1344 can be moved to their unlatched positions so that nail packet 1300 can be drawn out upper jaw 1240 and lower jaw frame 1222.Hereafter, nail packet 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, which includes that 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 U.S. of " RETAINING PIN LEVER ADVANCEMENT MECHANISM FOR A CURVED CUTTER STAPLER " The U.S. of patent 6,988,650 and entitled " KNIFE RETRACTION ARM FOR A CURVED CUTTER STAPLER " It is disclosed in patent 7,134,587, 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.Protrusion 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 of interval Frame pillar or plate 2022, the frame pillar or plate are securely attached to shell 2010 and from them towards distal side protrusion.C-shaped support Structure 2024 is attached to the distal end of frame plate 2022.Term " C-shaped " is used to describe support construction in this specification in the whole text 2024 and surgery nail bin module 2060 recess property.It is functional that C-shaped configuration is conducive to enhancing, and uses in the present specification Term C-shaped is understood to include the functional various concave shapes that can similarly enhance surgical stapling and cutting device.Support Structure 2024 by from the receiver hole that support construction 2024 extends to frame plate 2022 Shoulder rivets 2023 and column 2026 come It is attached to frame plate 2022.In various forms, support construction 2024 can be formed via one-piece construction.More specifically, support Structure 2024 can be formed by extrusion aluminium.By forming support construction 2024 by this method, there is no need to multiple portions, and show Writing reduces and manufactures and assemble relevant cost.In addition, it is believed that the integral structure of support construction 2024 enhances end effector 2000 general stability.In addition, the one of support construction 2024, which squeezes out structure, provides weight saving, since cobalt radiation will be effective It penetrates and squeezes out aluminium and easier disinfection is provided, and tissue is caused less based on the smooth outer surface realized via extrusion Wound.

End effector 2000 further 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 It receives between frame pillar 2022, axially to advance between frame pillar 2022.Closure beam assembly 2072 is also referred to as first End effector actuator and have open bottom, which is configured to slideably received within trigger system 2100 percussion bar assembly 2112, it is as follows to will be discussed in more detail.In one form, for example, closure beam assembly 2072 is Forming is as follows to will be discussed in more detail for movement and functional molded plastic component.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 easier to penetrate than stainless steel.According to alternative configuration, it is closed beam assembly 2072 It can be made of extrusion aluminium, wherein final feature is machined into appropriate position.It may not although squeezing out aluminium closure beam assembly It is easily fabricated as plastic components, but it will have same advantage (that is, reducing component, being more easily assembled, more light weight, more Easily disinfection).

Being closed beam assembly 2072 includes curved distal end 2074, and the size of the curved distal end is set to receive Between the side wall 2027 of support construction 2024.Curved distal end 2074 is sized and shaped to receive and keep The storehouse shell 2062 of storehouse module 2060.In various forms, the proximal end for being closed beam assembly 2072 is attached to closure nut 2084, which is closed on axis 2080 by tapped receptor in screw thread.It is closed axis 2080 and limits closure axis axis CSA-CSA And there is concave pod connector 57, which is attached to the proximal end of closure axis 2080 to be conducive to close Sympodium 2080 couples with the convex connector 51 for the first drive shaft being attached in surgical instruments.Axis 2080 is closed along first direction Rotation will cause be closed nut 2084 will be closed beam assembly 2072 along distal direction " DD " drive.Axis 2080 is closed along phase negative side To rotation will similarly result in closure nut 2084 and be closed beam assembly 2072 nearside advance.

As described above, the distal end 2074 of closure beam assembly 2072 is configured to be operably supported storehouse wherein The storehouse shell 2062 of module 2060.Storehouse module 2060 includes multiple surgical staples (not shown) on staple drivers (not shown), When axially promoting, surgical staples are displaced its corresponding pit 2066 being located on the every side of slit 1068, the slit by staple drivers It is configured to pass through suitable for cutter component 2115.Storehouse module 2060 for example can be to a certain extent similar to such as United States Patent (USP) Storehouse module disclosed in 6,988,650 and 7,134,587, other than any pointed difference, the two patents it is corresponding Full content is herein incorporated by reference.End effector 2000 can abandon after using single or end effector 2000 can by replaced during the operation just carried out hole capital after selling all securities module come reuse or again sterilize after be reused for New operation.

End effector 2000 further includes trigger system 2100, which includes percussion bar assembly 2112, the percussion Bar assembly is configured in the opening bottom for being slidably received in closure beam assembly 2072.Referring to Figure 39.In a kind of shape In formula, trigger system 2100 further includes beating shaft 2102, and the beating shaft is with screw thread distal end 2104 and has square The portions of proximal 2106 of cross-sectional shape.Screw thread distal end 2104 is being attached to percussion bar assembly 2112 by tapped receptor In the screw thread percussion nut 2110 of proximal end.The size of screw thread percussion nut 2110 is set to be slidably received in closure spiral shell In axial cavity 2085 in female component 2084.Referring to fig. 41.Such construct allows to fire nut 2110 in end effector 2000 It axially promotes when being moved to closed position with closure nut assembly 2084, and is then activated in trigger system 2100 together When, it is axially moved relative to closure nut 2084 and closure beam assembly 2072.The restriction of beating shaft 2102 is parallel to or substantially puts down Row is in the beating shaft axis FSA-FSA of closure axis axis CSA-CSA.See, for example, Figure 41.As also from Figure 39 and Figure 41 as it can be seen that hitting The portions of proximal 2106 of hair axis 2102 is slidably received in the elongated passageway 2105 in concave pod connector 57 ', this is recessed Type pod connector is identical as concave pod connector described herein.Elongated passageway 2105 has square cross-sectional shape, should The size of shape is set to receive the portions of proximal 2106 of beating shaft 2102 slidably therein.Such construct allows beating shaft 2102 are axially moved relative to concave pod connector 57 ', while can rotate together with concave pod connector 57 '.Therefore, when It is closed after the first drive system actuating of the beam assembly 2072 in surgical instruments when being promoted on distal direction " DD ", fires nut 2110 will be carried in closure nut assembly 2084 along distal direction " DD ".The portions of proximal 2106 of beating shaft 2102 will be in concave It is axially moved in channel 2105 in pod connector 57 ', while keeping being engaged with it.Hereafter, be operably coupled to it is recessed Starting of second drive system along a direction of rotation will be such that beating shaft 2102 revolves in the surgical instruments of type pod connector 57 ' Turn, this will cause percussion bar assembly 2112 to move on 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 moves on 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 protrusion.Such as from Figure 39 as it can be seen that cutter component 2115 is slidably received in the anvil block arm section of anvil assembly 2140 In 2142, which is configured to be placed in the bending anvil block support section 2025 of support construction 2024.About 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.About 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 further includes tissue retaining pin actuating mechanism 2160.Tissue retaining pin actuating mechanism 2160 include Saddle type sliding part 2162, the saddle type sliding part are located 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 long axis longitudinal movement of end effector 2000.Push rod driver 2163 is connected by the circumferential grooves 2165 on push rod 2164 To push rod 2164, which is buckled into the slit 2166 of push rod driver 2163.Referring to fig. 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 includes for narrow with the circumferential direction in retaining pin 2180 The groove 2174 that slot 2182 interconnects.The manual movement of sliding part 2162 leads to the movement of push rod 2164.It transports in the distal side of push rod 2164 Dynamic or proximal retraction leads to the corresponding sports of retaining pin 2180.2180 actuating mechanism 2160 of retaining pin also with closure beam assembly 2072 It operationally interacts, so that if the retaining pin is not by manual movement to its farthest position, closed system 2070 Actuating will lead to the automatic distal movement of retaining pin 2180.When retaining pin 2180 is pushed into, storehouse shell is extended through 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 include yoke 2190, the yoke via pivotal pin 2192 rotatably Or it is pivotally supported in shell 2010.Being closed beam assembly 2072 further includes column or lug 2073, and the column or lug are in shell It is extended laterally on closure 2072 two sides of beam assembly in 2010.These columns 2073 are slidably received in the corresponding bow in yoke 2190 In shape slit 2194.Yoke 2190 includes cam pin 2196, which is oriented to push 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 closed position towards distal side, if surgeon selects It selects 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 by this method, that is, allows manual closing and retraction retaining pin 2180.If surgeon Non- manual closing retaining pin 21280, then the retaining pin actuating mechanism 2160 will be closed automatically the guarantor in instrument clamping process Hold pin.Actuating and the other details that uses about 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 being attached to the end effector being mounted 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 end effector shell 2010 and it is electrically coupled to end effector contact plate 2120, so that working as end effector 2000 When being operably coupled to surgical instruments, closed sensor 2122 is connected to the control system of surgical instruments.Closed sensor 2122 may include hall effect sensor 7028, and as below in conjunction with shown in Figure 61, Figure 63, which is constructed Lug 2086 is switched in the position being closed on nut 21084 at being able to detect.Referring to fig. 40.In addition, trigger sensor 2124 is also It is mountable in end effector shell 2010, and be arranged to detection percussion nut 2110 closure nut 2084 in position. Trigger sensor 2124 may 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 to be finally connected to surgical instruments control system, as discussed herein.Contact plate 2120 can It is positioned together with end effector shell 2020, so that when end effector 2000 is operably coupled to surgical instruments, End effector contact plate 2120 is electrically coupled to the surgical instruments contact plate 30 being mounted in surgical instruments shell 12, as above discusses It states.

The use that surgical instruments 10 will be combined to explain end effector 2000 now.It will be appreciated, however, that end effector 2000 can be operably coupled to various other surgical instruments constructions disclosed herein.Before use, closure 2080 He of axis Beating shaft 2102 is " clock control ", or is located in their initial position, to be conducive to be respectively attached to the first drive shaft 22 and second drive shaft 42.In order to which end effector 2000 is attached to surgical instruments 10, for example, clinician executes end Device 2000 moves to following position, and in the position, closure axis 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 concave on axis 2080 will be closed Pod connector 57 is inserted into the convex connector 51 being operatively engaged in the first drive shaft 22.Equally, by beating shaft 2102 On concave pod connector 57 ' be inserted at the convex connector 51 being operatively engaged in the second drive shaft 42.Therefore, work as place When this position, closure axis 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 executes Sensor in device 2000 is operationally connected to the control system of surgical instruments.In order to keep end effector 2000 and surgery Instrument 10 is operatively coupled engagement, and end effector 2000 includes retainer latch 2130, which is attached to end It portion's actuator shell 2010 and is configured to be releasably engaged a part of apparatus housings 12.Retainer latch 2130 It may include keeping lug 2132, which 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 displaceable transmission assembly (or it transmits bracket 62) in its first activation point.This can pass through the instruction on shell 12 The actuating of lamp 77 confirms, as above discusses.It is clinical if displaceable transmission assembly 60 is not at its first activation point Doctor can activate firing trigger 92 and be moved in the first activation point with that will transmit bracket 62, so that rocker arm trigger 110 The actuating that will lead to the first drive system 20 to the actuating of driven motor 80.Assuming that closed system 2070 and trigger system 2100 each in its corresponding initial position and end effector 2000 has and is properly attached to unused nail bin mould therein Block 2060, then closed system 2070 may be actuated then capturing destination organization in storehouse module 2060 and anvil block group in clinician Between part 2140.

Clinician come driven motor 80 and can rotate the first drive shaft 22 by actuator rocker arm trigger 110, with court Distal movement is closed beam assembly 2072.The actuating moves storehouse module 2060 towards anvil assembly 2140, and destination organization is clipped in Between the two.When closure beam 2072 moves toward the far side, the interaction of column 2073 and yoke 2190 will lead to tissue and keep causing The actuating of motivation structure 2160 with towards distal side driving retaining pin 2180 pass through terrace part 2161 and pass through anvil assembly 2140 into Enter in pin pit 2141 (referring to fig. 4 1) therein.Retaining pin 2180 is used to capture destination organization in anvil assembly 2140 and storehouse Between module 2060.Once by target tissue held between anvil assembly 2140 and storehouse module 2060, clinician It firing trigger 92 then can be activated will transmit bracket 62 and move to its second activation point, so that the actuating of motor 80 will be led Cause the rotation of the second drive shaft 42.Once transmission bracket 62 is moved to the second activation point, clinician can cause again Shake arm trigger 110 to activate the trigger system 2100 in the second drive system 40 and end effector 2000, with towards distal side Driving percussion bar assembly 2112, which also passes through storehouse module 2060 towards distal side driving cutter component 2115, to cut The destination organization being clamped between anvil assembly 2140 and storehouse module 2060.When percussion bar assembly 2112 moves toward the far side, drive The surgical staples being supported in storehouse module 2060 driving export module 2060 is also passed through destination organization and and anvil block by dynamic component 2114 2140 shaping contact of component.Once completing the cutting and suture movement, rocker arm trigger 110 is may be actuated so that motor in clinician Rotation is reversed and trigger system 2100 is made to be back to its initial position.Clinician can will then transmit by firing trigger 92 Bracket 62 is back to its first activation point, so that the actuating of rocker arm trigger 110 in opposite direction will cause motor 80 anti- It is rotated on direction so that closure beam assembly 2073 is back to its initial position.When closure beam assembly 2073 is transported in a proximal direction When dynamic, retaining pin 2180 can be withdrawn into its initial position with the tissue interaction of retaining pin actuating mechanism 2160 by yoke 2190. In alternative arrangement, clinician can be used saddle type sliding part 2162 by 2180 manual retrieving of retaining pin to its initial position.Face Bed doctor can be bounced back retaining pin 2180 with that will be closed before beam 2072 is back to its initial position in actuating closed system 2070 To its initial position.About bending suture cutter the other details used can from United States Patent (USP) 6,988,650 and 7,134, It is found in 587.

Figure 42-45 describes surgical end-effector 3000, which includes that may be commonly referred to as " outside round 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 is had become The preferred method 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 with for being related to the surgical operation of low level colon, wherein in lesion portion After being removed, each section of low level colon is bonded together.Circular stapler for executing such operation is disclosed in example Such as United States Patent (USP) 5,104,025,5,205,459,5, in 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, which can be by The shell segments 3012,3014 being removably coupled to by screw rod, lug, snap in features etc. together are made.It is executed from end 3010 protrusion of device shell is elongated shaft assembly 3020.Elongated shaft assembly 3020 is configured to be operably supported round work Have head 3300 and anvil block 3320 and interacts with them.It is more as proved by exemplary U patent referred to above The different round nail bin of kind and anvil block construction are as known in the art.As shown in figure 43, for example, circular stapler head 3300 can To include housing member 3302, the housing member is in the storehouse support group for wherein supporting the form of rounded staple drivers component 3304 Part, under which is suitable for joining with round nail bin 3306 and driving the nail for being supported on nail therein and anvil block 3320 to shape 3326 shaping contact of surface.Circular knife member 3308 is also centrally positioned in staple drivers component 3304.Housing member 3302 Proximal end can be connected to the tubulose outer shield 3022 of arch shaft assembly 3020 by distal side collar member 3024.Anvil block 3320 Including annular body portion 3322, which has for trochar to be attached to anvil shaft 3324 thereon.Anvil Seat main body 3322 has nail shaped lower face 3326 on it and can also have the shield 3328 for being attached to its distal end.Anvil Seat axis 3324 is also provided with a pair of of trochar retaining clip or leaf spring 3330, the trochar retaining clip or leaf spring It engages for releasably holding trochar 3042 with anvil shaft 3324, is discussed in detail as discussed further below.

In one form, shaft assembly 3020 includes compressional axis 3030, distal compaction shaft portion 3032 and tension band group Part 3040, these components 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 further includes closed system 3070 and trigger system 3100.In at least one form, Closed system 3070 includes closure nut assembly 3084, which is attached to the proximal end of tension band 3040.Such as From Figure 42 and Figure 43 as it can be seen that closure nut assembly 3084 includes proximal coupler component 3085, which passes through Fastener 3087 is attached to the proximal end of tension band 3040.Closed system 3070 further includes screw thread closure axis 3080, the screw thread Closure axis is threadedly engaged with closure nut 3084.Axis 3080 is closed to limit closure axis axis CSA-CSA and there is concave pod Connector 57, the concave pod connector are attached to the proximal end of closure axis 3080 to be conducive to be closed axis 3080 and be attached to The convex connector 51 of the first drive shaft in surgical instruments couples.Closure axis 3080 will cause to be closed along the rotation of first direction Nut 3084 drives tension band component 3040 along distal direction " DD ".Being closed the rotation of axis 3080 in opposite direction will similarly The nearside for being closed nut 3084 and tension band component 3040 is caused to be advanced.

Such as from Figure 43 as it can be seen that distal compaction shaft portion 3032 is attached to staple drivers component 3304.Therefore, compressional axis 3030 Axial movement in external tubular housing 3022 causes staple drivers component 3304 to be axially moved in housing member 3302.Pressure Axial advance of contracting axis 3030 is controlled by trigger system 3100.In one form, trigger system 3100 includes screw thread beating shaft 3102, the screw thread beating shaft and the screw thread percussion nut 3110 for the proximal end for being attached to compressional axis 3030 are threadedly engaged.Percussion Axis 3102 limits the beating shaft axis FSA-FSA for being parallel to or being arranged essentially parallel to closure axis axis CSA-CSA.See, for example, figure 44 and Figure 45.The proximal end of beating shaft 3102 has concave pod connector 57, and it is close which is attached to this Side end is coupled with being conducive to beating shaft 3102 with the convex connector 51 for the second drive shaft being attached in surgical instruments.Surgery Starting of second drive system of instrument 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 moves on distal direction " DD ", by round staple drivers Component 3304 drives 3326 shaping contact of downside 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 driving system The actuating along the second direction of rotation of uniting will cause compressional axis 3030 to move on proximal direction " PD ".

End effector 3000 can also be equipped with being attached to the end effector being mounted 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 mounted in end effector shell 3010 and is electrically coupled to end effector contact plate 3120, so that when will When end effector 3000 is operably coupled to surgical instruments, the control of one or more closed sensors 3122 and surgical instruments System connectivity processed.One or more closed sensors 3122 may include hall effect sensor 7028, such as below in conjunction with figure 61, described in Figure 63, which is configured to the position of detection closure nut 3084.Referring to fig. 44.In addition, One or more trigger sensors 3124 are also mountable 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 is finally connected to, for example, as follows will further retouch in conjunction with Figure 61, Figure 63, Figure 64 It states.Contact plate 3120 can position together with end effector shell 3020, so that when operationally joining end effector 3000 When being connected to surgical instruments, end effector contact plate 3120 is electrically coupled to the surgical instruments being mounted in surgical instruments shell 12 and connects Touch panel 30 is as above discussed.

The use that surgical instruments 10 will be combined to explain end effector 3000 now.It will be appreciated, however, that end effector 3000 can be operably coupled to various other surgical instruments constructions disclosed herein.Before use, closure 3080 He of axis Beating shaft 3102 is " clock control ", or is located in their initial position, to be conducive to be respectively attached to the first drive shaft 22 and second drive shaft 42.In order to which end effector 3000 is attached to surgical instruments 10, for example, clinician executes end Device 3000 moves to following position, and in the position, closure axis 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 concave on axis 3080 will be closed Pod connector 57 is inserted into the convex connector 51 being operatively engaged in the first drive shaft 22.Equally, by beating shaft 3102 On concave pod connector 57 be inserted at the convex connector 51 being operatively engaged in the second drive shaft 42.Therefore, work as place When this position, closure axis 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 executes Sensor 3122,3124 in device 3000 is operationally connected to 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 latch 3130, retainer door bolt It locks and is connected to end effector shell 3010 and is configured to be releasably engaged a part of apparatus housings 12.It keeps Device latch 3130 may include keeping lug 3132, which 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 be confirmed displaceable transmission assembly (or it transmits bracket 62) in its first activation point.This can be by shell 12 The actuating of indicator light 77 confirm, as above discuss.If displaceable transmission assembly 60 is not at its first activation point, that Clinician can activate firing trigger 92 and be moved in the first activation point with that will transmit bracket 62, so that rocker arm triggers The actuating that will lead to the first drive system 20 to the actuating of driven motor 80 of device 110.Assuming that closed system 3070 and percussion System 3100 is each in their corresponding initial positions and end effector 3000 is therein unused with being properly attached to Cartridge, then end effector 3000 be ready for it is ready.

As known, it when executing anastomosis using circular stapler, can be sutured with general surgical procedures stitching unstrument Intestines, the stitching unstrument are mounted with multiple rows of nail in target phase (that is, sample) two sides of intestines.Usually target phase is cut while suture. After removing target sample, anvil block 3320 is inserted into the portions of proximal of intestines by surgeon, that is, the nearside of suture.This can lead to Cross and anvil body 3322 be inserted into the entrance that is cut in nearside intestines point to complete, or can per anum place anvil block 3320, Pass through distal end that anvil block 3320 is placed on to end effector 3000 and passes through 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 into 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 axis 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 is moved towards the storehouse 3306 being supported in the housing member 3302 of stapler head 3300, to be closed between the two Gap, and thus connect the proximal end of distal side intestines point and the distal end of nearside intestines point in the gap between the two It closes.Clinician continues to activate the first drive system 20, until realizing the desired amount of tissue compression.Once by the intestines point folder It holds between anvil assembly 3320 and stapler head 3300, then firing trigger 92, which will just may be actuated, in clinician to transmit Bracket 62 moves to its second activation point, so that the actuating of motor 80 will lead to the rotation of the second drive shaft 42.Once transmission Bracket 62 is moved 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 drives circular staple actuator assembly 3304 and circular knife member 3308.Such movement is driven for cutting the intestines of clamping Dynamic surgical staples pass through two clamping ends of intestines, thus engage the part of intestines and form tubular passageway.Meanwhile it being followed closely simultaneously in driving When shaping nail, circular knife 3308 can be driven to pass through intestinal tissue end, thus the end that cutting is 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 ', and upper except difference unless discussed below It is identical to state surgical end-effector 3000.Surgical end-effector 3000 ' is identical as the component in surgical end-effector 3000 Those of component will with similar elements number indicate.Surgical end-effector 3000 ' can be operated similarly but be different from surgery end Those of corresponding component in portion's actuator 3000 component will with same parts number plus " ' " indicate.It such as can from Figure 46-49 See, surgical end-effector 3000 ' include driving be detached from component (being typically expressed as 3090), the driving be detached from component advantageously by It is constructed to be permeable to allow the clinician to the distal part of driving system and the portions of proximal of driving system is detached from.

In described embodiment, driving is detached from component 3090 and closed system 3070 ' is combined to use, so that if the closure The distal part of system is surprisingly blocked or is not available otherwise, then clinician can drive the distal side of closed system Rapidly machinery separates dynamic pastern point with nearside driving pastern point.More specifically and refer to Figure 47,3040 He of tension band component Trocar tip 3042 (2, Figure 43 and Figure 45 referring to fig. 4) is also referred to as " the distal drive system part " of closed system 3070 ' 3092, and be closed axis 3080 and be closed " 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 as it can be seen that it includes distal coupler component 3095, the distal side that a form of driving, which is detached from component 3090, 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 combination of mixture, solder, welding etc. or such attachment configuration is attached to tension band component 3040.Distal coupler component 3095 size is set to be slidably received in the proximal coupler component 3085 ' for being attached to 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, which is configured to and 3098 axis of proximal aperture in proximal coupler component 3085 ' To registration.Referring to fig. 48.It further includes driving connector pin 3099 that driving, which is detached from component 3090, and the size of the driving connector pin is set Determine at receiving in axially aligned hole 3096,3098, so that distal coupler component 3095 is remained coupled to nearside connection Device component 3085 '.In other words, driving connector pin 3099 is used for distal drive system part 3092 mechanically and releasedly It is attached to nearside driving pastern point 3094.Drive connector pin 3099 transverse to the connection axis CA-CA of closure axis axis CSA Extend.In order to provide gap to be axially moved relative to percussion nut 3110, in percussion nut to driving connector pin 3099 Axial slots 3111 are equipped in 3110.Such as from Figure 46 as it can be seen that end effector shell part 3014 ' is narrow equipped with axially extending gap Slot 3016, to be conducive to that connector pin 3099 is driven axially to advance in the activating of closed system 3070 '.Such construct makes Clinician can be in any time during the use of end effector 3000 ' only by connector pin 3099 will be driven horizontal To removing out or pull-out-hole 3096,3098 allows distal coupler component 3095 and the proximal coupler component 3085 ' to be detached from, from And distal drive system part 3092 is rapidly separated with nearside driving pastern point 3094.

Although the closed system 3070 ' that driving disengaging component 3090 has been combined end effector 3000 ' is described, It is the use of trigger system 3100 that driving disengaging component may also be combined with end effector 3000 ' in alternative arrangement.In other structures In making, driving is detached from component 3090 and can be connected with closed system, and the second driving disengaging component can be with trigger system phase Connection.Therefore, one or two distal drive system corresponding with them of pastern point can be driven partially selectively mechanical nearside It separates.In addition, such driving, which is detached 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 ', and upper except difference unless discussed below It is identical to state surgical end-effector 2000.Surgical end-effector 2000 ' is identical as the component in surgical end-effector 2000 Those of component will with similar elements number indicate.Surgical end-effector 2000 ' can be operated similarly but be different from surgery end Those of corresponding component in portion's actuator 2000 component will with same parts number plus " ' " indicate.It such as can from Figure 51-53 See, surgical end-effector 2000 ' can be equipped with indicator and construct to provide the cock about closed system and trigger system Visually indicate.

More specifically and referring to Figure 51 and Figure 52, closed system 2070 includes closed system state component, 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 extends from the closure nut.Closed system state component 2090 further include closing indicator window 2094 or opening in end effector shell 2010, so that closing indicator component 2092 position can check closing indicator component 2092 by closing indicator window 2094 to assess by clinician. Similarly, trigger system 2100 ' may include trigger system state component, be typically expressed as 2130.In one form, example Such as, trigger system state component 2130 includes firing indicator component 2132, which is attached to percussion nut 2110 ' or otherwise from the percussion nut extend.Trigger system state component 2130 further includes 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 protrusion indicator In the case of can not see.Color coding on the outside of axis construction and/or on indicator may further be used to provide for clinician pair The confirmation (for example, indicator then indicates to be closed completely in green) that the end effector has been closed completely or has fired.For example, closure Indicating element 2092 can have closure mark 2093 on it, which can be looked by closing indicator window 2094 It sees.In addition, shell 2010 can have the first closure label 2095 and second closure mark adjacent with closing indicator window 2094 Note 2096 is to assess the position of closing indicator 2092.For example, the first closure label 2095 may include having the first color (example Such as, orange, red etc.) first, and second closure label may include with different from the first color the second color The item or section of (for example, green).When the closure label 2093 on closing indicator component 2092 is aligned in the first closure label When on the nearest side end (position is indicated by the element number 2097 in Figure 50) on item 2095, clinician can be observed to close Collaboration 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 is closed completely.When closure mark 2093 alignment When the second closure label 2096 (it indicated 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 on it, which 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 Label 2135 and second fires label 2136 to assess the position of firing indicator 2132.For example, the first percussion label 2135 can To include the first percussion item with the first percussion color (for example, orange, red etc.), and the second percussion label may include The second percussion item or section with the second percussion color (for example, green) for being 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 indicate) 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 (it is compiled percussion mark 2133 the second percussion of alignment label 2136 by the element in Figure 50 Numbers 2138 indicate) 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 be may be provided in end effector shell 2010 ', so that when closing When collaboration 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 How many indicator 2092,2132 can be viewed by window 2094,2134 come each of assessment system 2070,2100 ' by examining Be 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 determining the machine performance of these systems is provided, is examined as the primary to the state shown on surgery instrument handle portion or shell It looks into or secondary checks.When end effector 2000 ' and surgical instruments shank or shell are detached 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 ", and upper except difference unless discussed below It is identical to state surgical end-effector 2000 '.Surgical end-effector 2000 " and surgical end-effector 2000 ' and/or surgery end Those of the identical component of component in portion's actuator 2000 will be numbered with similar elements and be indicated.Surgical end-effector 2000 " can It similarly operates but different from that of surgical end-effector 2000 ' and/or the corresponding component in surgical end-effector 2000 A little components will be numbered with same parts and add " " " it indicates.Such as from Figure 54-60 as it can be seen that surgical end-effector 2000 " includes driving It is detached from component (being typically expressed as 2200), which is detached from component and is advantageously configured to enable to clinician that can make to drive The distal part of dynamic system and the portions of proximal of driving system are detached from.

In described embodiment, the closed system 2070 " that driving is detached from 2200 junction end actuator 2000 " of component makes With so that if the distal part of the closed system is surprisingly blocked or is not available otherwise, clinician can be with By the distal drive system part of closed system, rapidly machinery is separated with nearside driving pastern point.More specifically and with reference to figure 56, closure beam assembly 2072 is also referred to as " the distal drive system part " 2202 of closed system 2070 ", and is closed 2080 He of axis Closure nut assembly 2084 " is for example referred to alternatively as " nearside drives pastern point " 2204 of closed system 2070 ".It such as can from Figure 59 See, although closure nut assembly 2084 " and above-mentioned closure nut assembly 2084,2084 ' is substantially the same, it is with two portions Divide and provides.More specifically, closure nut assembly 2084 " include with the top threaded portion 2210 that is threadedly engaged of closure axis 2080 with And the low portion 2214 that support percussion nut 2110 is moved axially therein in a manner of discussed above.It is closed nut assembly 2084 " low portion 2214 is attached directly to closure beam assembly 2072 and including closing indicator component 2092 ", the closure Indicating element is worked in a manner of identical with closing indicator 2092 discussed herein above.

In at least one form, it includes driving connector pin 2220, the driving connector pin that driving, which is detached from component 2200, For the low portion 2214 for being closed nut assembly 2084 " to be attached to upper part 2210.Such as from Figure 59 it is seen, for example, close The upper part 2210 for closing nut assembly 2084 " includes the first dovetail slot section 2212, which is configured to It can be used in being aligned with the second dovetail slot section 2216 in the low portion 2214 of closure nut assembly 2084 ".When the first swallow When tail slot segments 2212 and the second dovetail slot section 2216 are aligned like that as shown in figure 59, they form hole 2215, driving connection The cylindrical portion 2222 of device pin 2220 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, driving connector pin 2220 is used for 2202 machine of distal drive system part of closed system 2070 " Tool and be releasably attached to nearside driving pastern points 2204.Drive connector pin 2220 transverse to closure axis axis CSA Connection axis CA-CA extend.Referring to Figure 56.In order to driving connector pin 2220 provide gap with closure nut assembly 2084 " are moved axially together, and the shell segments 2014 " of end effector shell 2010 " are equipped with axially extending gap slit 2224.This Class construction allows the clinician to any time during the use of end effector 2000 " only by will drive connection Device pin 2220 laterally removes out or pulls out the hole 2215 formed by dovetail slot section 2212,2216, by distal drive system part 2202 rapidly separate with nearside driving pastern point 2204.Once driving connector pin 2220 to remove from hole 2215, closed group The low portion 2214 of part 2084 " can be moved relative to upper part 2212 so that tissue can from storehouse module 2060 with It is discharged between anvil assembly 2140.

Figure 54-56 is depicted in using the preceding end effector 2000 for being in " opening " position ".Such as from those attached drawings as it can be seen that For example, storehouse module 2060 has been installed and ready.Figure 57 and Figure 58 describes the end effector 2000 for being in its closed state. That is, closure beam 2080 has been rotated into the driving closure nut assembly 2084 on distal direction " DD " ".Due to being closed nut assembly 2084 " low portion 2214 is by driving connector pin 2220 to be attached to upper part 2210, therefore, is closed beam assembly 2072 (since it is attached to low portion 2214) also moves toward the far side to its closed position, thus by target tissue held in storehouse module Between 2260 and anvil assembly 2140.In addition it as above discusses, the saddle type slider button 2162 on shell 2010 " moves toward the far 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.If being above discussed in detail, when closure nut assembly 2084 " moves toward the far side, nut 2110 is fired Also it moves toward the far side, the portions of proximal 2106 of beating shaft 2102 is extracted out the elongated passageway in concave pod connector 57 ' by this.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 drives pastern point 2202 (closure beam assemblies 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 to be closed beam assembly 2072, low portion 2014, percussion nut 2110 and percussion bar assembly 2112 and the retaining pin court of nut assembly 2084 " are closed Proximal movement.This type games will be so that tissue can discharge between storehouse module 2060 and anvil assembly 2140.

Figure 61 be include handle portions 7002 and shaft portion 7004 modular motor driving surgical instruments 7000 box Figure.Modular motor driving surgical instruments 7000 represents modularization surgical instrument system (it is typically expressed as 2), in a kind of form In, which includes motor driving surgical instruments 10, which drives surgical instruments in combination with a variety of outer Section's end effector end effector 1000,2000 and 3000 for example shown in FIG. 1 uses.In above-detailed module It is such in order to succinct and present disclosure is explicitly described in terms of the various function and operations for changing motor driving surgical instruments 10 Details will not repeat in be described below associated with Figure 61-64.On the contrary, being described below for Figure 61-64 will primarily focus on In terms of modular motor drives the electrical system of surgical instruments 7000 and the function and operation of subsystem, these can be all or part of Applied in above-mentioned modular motor driving surgical instruments.

Therefore, turning now to Figure 61, it includes handle portions 7002 and shaft portion that modular motor, which drives surgical instruments 7000, 7004.Handle portions 7002 and shaft portion 7004 include the respective electric subsystem by communicating and electricity interface 7010 electrically connects 7006,7008.The component of the electrical subsystem 7006 of handle portions 7002 is supported by aforementioned 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 subsystem 7006 of handle portions 7002 be electrically coupled to various electrical components 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 components 7016, these Electrical component 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, 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 instrument, axis, And/or in shank.

On the one hand, the electrical subsystem 7006 of handle portions 7002 be configured to receive from solenoid 7032, It clip position switch 7034, firing position switch 7036, motor 7038, battery 7040, OLED interface board 7042 and opens 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, aforementioned motors 80,480 are applicable to the description of motor 7038, 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 axis processor 7030.The electrical subsystem of axis 7008 are configured to receive the signal of the various switches and sensor in the end effector portion for being located at instrument, should The state of clamping jaw and cutting element in the signal designation end effector.As shown in Figure 61, the electrical subsystem of axis 7008 are configured to receive from fixture opening state switch 7050, fixture closed state switch 7052, percussion starting shape State switch 7054 and percussion terminate the signal of status switch 7056, the signal designation clamping element and cutting element state.

On the one hand, shank processor 7024 can be for suitable for medical treatment and surgical instruments application and leading to including motion control Use microcontroller.In one case, shank processor 7024 can provide for Texas Instruments TM4C123BH6ZRB microcontroller.Shank processor 7024 may include 32 with system timer (SysTick)Cortex^TM- M480-MHz processor core, integrated nested vector interrupt controller (NVIC), calling out with Clock gating It wakes up interrupt control unit (WIC), is memory protection unit (MPU), the single-precision floating point unit (FPU) for meeting IEEE754, embedded Track macro and trace port, system control block (SCB) and Thumb-2 instruction set etc..Shank processor 7024 may include On-chip memory, the 256KB single cycle flash memory of such as up to 40MHz.It can provide and prefetch buffer come when improving higher than 40MHz Performance.Other memory includes 32KB single cycle SRAM, is loaded with TivaWare for the C groupware^TMInside ROM, 2KB EEPROM etc., such as using CAN protocol version 2 .0 part A/B and with two controls of the up to bit rate of 1Mbps 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 interface.In addition, (I2C) module provides standard between six integrated circuits (100Kbps) and quickly (400Kbps) transmission and support to send and receive data as such as master device or from device.

On the one hand, shank processor 7024 further includes ARMThe configurable μ dma controller in the channel 32-, It provides a kind of from Cortex^TM- M4 processor unloads the mode of data transfer task, to more effectively using processor and can be used Bus bandwidth.For example, simulation supports that function includes having 24 analog input channels and 1,000,000 samples/second sampling rate two A 12 analog-digital converters (ADC), three analog comparators, 16 digital comparators and on piece pressure regulator.

On the one hand, shank processor 7024 further includes advanced motion control function, such as eight pulsewidth modulation (PWM) hairs There is 16 digit counters, two PWM comparators, PWM signal generator, dead zone to occur for raw device block, each PWM generator block Device and interruption/ADC trigger selector.Eight PWM failure input terminals are provided for facilitating the shutdown of low latency.There is provided two Orthogonal encoder interface (QEI) module, the QEI module have for track using built-in timer capture encoder position with The position integrator of speed.

On the one hand, two supervision timers for meeting ARM FiRM with six 32 general purpose timers (at most 12 16 Position general purpose timer) it provides together.For example, provide 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, be at most capable of providing 120 it is general Input/output (GPIO), they have the pin multichannel of PLC technology and high flexible to GPIO interruption and plate configuration Multiplexing.Shank processor 7024 further includes the sleep block that there is the low battery power of real-time clock to support.Multiple clocks are provided Source is used for micro controller system clock, and multiple clock sources include accurate oscillator (PIOSC), master oscillator (MOSC), use In the 32.768-kHz external oscillator and 30-kHz internal oscillator of sleep block.

On the one hand, 7020 part of accelerometer 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 insertion semiconductor chip combines.In an example, for example, adding based on MEMS Speed meter 7020 may include 83 number of axle word accelerometers of ultra low power, provided by such as STMicroelectronics LIS331DLM。

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

On the one hand, accelerometer 7020 may include selftest ability, and to allow user to check, sensor is finally being answered Operation in.Accelerometer 7020 can be configured to by inertia wake-up/freely falling body event and by instrument 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 Mosfet driver, A3930 motor controller/driver provided by such as Allegro.For example, 3 phase brushless DC motors control Device/driver 7022 can be used together with N channel external power MOSFET, to drive BLDC motor 7038.In one case, Motor controller/driver 7022 is in combination with circuit needed for effective three-phase motor drive system.In one case, motor control Device/driver 7022 processed includes charge pump regulator, to provide sufficiently (> 10V) gate driving to the cell voltage for being down to 7V, and Motor controller/driver 7022 is operated under the cell voltage for being down to 5.5V with the gate driving of reduction.The electricity Lotus pump in power loss can by from compared with the multiplication of voltage pattern switching under low suppling voltage under the nominal operating voltage of 14V Reverse mode to minimize.On the one hand, the above battery power supply needed for N channel MOSFET is provided using boottrap capacitor Voltage.The internal charge pump of flash driving allows DC (100% duty ratio) to operate.

Internal fixed-frequency PWM current control circuit adjusts maximum load current.Peak load electricity restriction value can by pair The selection of input reference voltage and external sense resistor is configured.The external RC timing net that PWM frequency can be selected by user Network setting.In order to increase flexibility, speed and moment of torsion control can be provided with PWM input, to allow internal current control electricity Maximum current limit value is arranged in road.

The efficiency of motor controller/driver 7022 can be enhanced by using synchronous rectification.By integrating cross-over control Protect power MOSFET not breakdown with idle time.Idle time can be arranged 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 include for N channel MOSFET 3 phase gate driving of high current, synchronize it is whole Stream, mutual conductance protection, for 100%PWM charge pump and pushed up charge pump, integrated rectification decoder logic, supplied in 5.5V to 50V Operation, diagnosis output in piezoelectric voltage range, provide+5V Hall sensor power, and have low current sleep pattern.

On the one hand, modular motor driving surgical instruments 7000 equipped with brushless DC electric motor 7038 (BLDC motor, BL motor), 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 motor B0610H4314 can be hot pressing.BLDC motor 7038 is by DC power supply via integrated Inverter/Switching Power Supply power supply syncmotor, the syncmotor generate AC electric signal in drive motor such as previous paragraph Motor controller/the driver 7022 just described.In this context, AC is exchanged and is not meant that sinusoidal waveform, but nothing The bidirectional current of waveform limitation.Additional sensor and electronic device control inverter output amplitude and waveform are (so that it is total to control DC Line utilization rate/efficiency percentage) and frequency (that is, spinner velocity).

The rotor portion of BLDC motor 7038 is permanent magnet synchronous motor, but in other respects, and BLDC motor 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 the motor for being specifically designed to operate under the mode that motor is stopped using the rotor in the Angle Position limited again and again.

On the one hand, BLDC motor controller/driver 7022 must guided rotor rotation.Therefore, BLDC motor control Device/driver 7022 needs some for determining the device of the orientations/locations (for relative stator coil) of rotor.In a kind of feelings Under condition, the rotor portion of BLDC motor 7038 is configured with hall effect sensor or rotary encoder directly to measure rotor position It sets.In other cases, the counter electromotive force (EMF) in 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 controller/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 used comparator determine when it is defeated Phase should shift to an earlier date out, and more advanced controller manages acceleration, control speed and fine tuning efficiency using microcontroller.

The actuator for generating linear movement is known as linear motor.The advantages of linear motor is that they can not need to pass Defeated system such as ball and driving screw, rack-and-pinion, cam, rotation motor will generate in the case where required gear or band Linear movement.Known transmission system leads to lower responsiveness and reduced accuracy.This directly drives BLDC motor 7038 It may include the slotted stator with magnetic tooth and motion actuator, which has permanent magnet and coil windings.In order to obtain Linear movement is obtained, BLDC motor controller/driver 7022 motivates the coil windings in the actuator, to cause magnetic field mutual Effect, leads to linear movement.

On the one hand, BLDC motor 7038 is in the packaging part suitable for modular motor driving surgical instruments 7000 The combined Portescap BO610 brushless DC motor of the following terms: durability, efficiency, torque and speed is provided.It is such BLDC motor 7038 provides suitable torque density, speed, position control and longer life.Slotless BLDC motor 7038 uses With cylinder made of winding technique identical with iron-free DC motor without iron coil.Having slot BLDC motor 7038 is also hot pressing 's.Having slot BLDC motor 7038 may include the stator by having the stacking steel laminates for the winding being placed in slit to constitute, this is narrow Slot is axially cutting out along inner periphery.Brushless DC has the offer high torque density of slot BLDC motor 7038 and heat dissipation and height to add Speed.The three phase arrangement of BLDC motor 7038 include star-like connection, hall effect sensor, 4.5-24V supply voltage.BLDC The shell of motor 7038 can be made of 303SS material, and axis can be made of 17-4ph material.

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

On the one hand, pressure regulator 7026 replaces common PNP transmission transistor using PMOS transfer element.Since PMOS is transmitted Element shows as low values of resistors, and lower dropout voltage (being usually 415mV under the load current of 50A) and load current are at just Than.It in output load current entire scope (is stable under 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 was provided TPS71533 LDO pressure regulator.Such LDO pressure regulator 7026 provides following benefit: high input voltage, low dropout voltage, low operation Power and microencapsulated.Pressure regulator 7026 can operate on the input range of 2.5V to 24V, be for any capacitor Stable (>=0.47 μ F).LDO voltage and low quiescent current permission 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 It can quickly be used to power for the continuous operation battery charge integrated circuit of handle portions 7002 out, 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 (it is poly- being abbreviated as Li-, Li-Pol, LiPo, LIP, PLI or LiP) is rechargeable (battery) battery.LIPO electricity Pond 7040 may include several identical batteries in parallel to increase capacity discharge current, and usually with the shape of series connection " grouping " 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 converter 7058 (Figure 63-A) is provided, which is directed to what the application such as Texas Instruments with high power density was provided TPS6217X series optimizes.The higher switching frequency of usually 2.25MHz can be used to allow using small inductor device, and It provides by utilizing DCS-Control^TMTopological and realization fast transient response and high output voltage accuracy.

For the extensive operation input voltage range of 3V to 17V, synchronous step-down DC-DC converter 7058 (Figure 63-A) is very Modular motor suitable for powering from Li ion or other batteries and 12V middle power rail drives 7000 system of surgical instruments System.On the one hand, under the output voltage between 0.9V and 6V (under 100% duty cycle mode), synchronous step-down DC-DC conversion Device 7058 is supported to be up to 0.5A continuous output current.

By configuring enabling and the good pin of open-drain power supply, it is also possible to carry out electric power sequencing (power sequencing).In energy-saving mode, synchronous step-down DC-DC converter 7058 (Figure 63-A) shows the about 17 μ A's from VIN Quiescent current.If loading smaller and maintaining the greater efficiency on entire loading range, enter section automatically and seamlessly Power mode.In shutdown mode, synchronous step-down DC-DC converter 7058 is closed, and shuts down current drain less than 2 μ A.

On the one hand, OLED interface 7042 is the interface 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 Layer is located between two electrodes, and at this position, at least one of these usual electrodes are transparent.OLED display 7014 It may include the OLED from two major families: based on those of small molecule and using those of polymer.To flow from Son is added to OLED and forms light-emitting electrochemical cell or LEC, the LEC with slightly different operation mode.OLED display 7014 can be used 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 biggish display sizes.One In the case of kind, OLED display 7014 works in the case where no backlight.Therefore, it can show deeper black level and compare liquid Crystal display (LCD) is thinner brighter, so that it be made to be preferably suited for driving the shank of surgical instruments 7000 in modular motor It is used on part 7002.

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

Axis processor 7030 includes 16 RISC Architectures of at most 24MHz clock, and in the extensive power supply of 2V to 3.6V It operates in voltage range, and is optimized for ultra low-power mode.Axis processor 7030 further includes that intelligent digital periphery is set The nonvolatile memory of standby, ultra low power ferroelectric RAM and at most 16KB.The embedded microcontroller provides ultra low power and writes Enter, that is, the no write de-lay circulation of 16KB in 125ns/ word, 1ms, and including built-in Error Correction of Coding and correction (ECC) and deposit It stores up protection location (MPU).

In the electrical of the handle portions 7002 and shaft portion 7004 that modular motor driving surgical instruments 7000 has been described In the case where system, subsystem and component, in terms of the function that the control system will now be described.Therefore, in operation, handle portions 7002 electrical subsystem 7006 is configured to receive turning on the switch on the shell for being supported on handle portions 7002 7044, 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 cause the closure of clamping limb.Once being closed fixture, the fixture closed form in the end effector State switch 7052 just sends signal to axis processor 7030, which passes through communication and electricity interface 7010 for 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.In response, shank processor 7024 is activated bracket is transmitted to its second activation point, so that motor 7038 Actuating will lead to the rotation of the second drive shaft, as above in association with described in detail by 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 axis processor 7030 Signal, position sends back shank processor 7024 by communication and electricity interface 7010 by axis processor 7030.

Actuating first switch 7048 sends the signal to shank processor 7038 again, in response, the shank processor The second drive system and the trigger system in the end effector are activated, to slide towards distal side driving tissue cutting element and wedge shape Part component passes through surgery nail bin.Once tissue cutting element and wedge slider assembly have been driven to them in surgery nail bin The farthest position, percussion end switches 7056 just to axis processor 7030 send signal, the axis processor pass 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, The shank processor operates motor 7038 rotate in the opposite direction, so that trigger system is back to its initial position.

Actuating turns on the switch 7044 and sends signal to shank processor 7024 again, which operates motor 7038 To open fixture.Once opening fixture, the fixture opening state switch 7050 in the end effector is just to axis processor 7030 send signal, which is sent to shank processor 7024 for chucking position.Clamp position switch 7034 and percussion Position switch 7036 provides the signal of the corresponding position of instruction clamping limb and cutting element to shank processor 7024.

Figure 62 is the load current demand for describing the various operations for completing total time and various assembly axis that stroke is spent Table 7060.First row 7062 lists round, waveform and TLC device/axis from left side.These device/axis are via following three A different operation is compared: closure is opened and is fired, as shown in secondary series 7064.Third column 7066 describe first row Total time (in seconds) needed for the device listed in 7063/axis completes a stroke.4th column 7068 are listed for first row The device listed in 7062/axis completes the operation in secondary series 7064 to realize complete stroke (as indicated by third column 7066) Load current demand (with ampere meter).If pointed out in chart, be closed and open clamping limb the time it takes about with first row The each the time it takes in device/axis listed in 7062 is identical.Percussion is operated, circular apparatus/axis requirement The maximum load current of 15.69A, and TLC device/axis requires the minimal amount of load current of 0.69A.

Figure 63-A is the detail view for the electrical system that modular motor drives in the handle portions 7002 of surgical instruments 7000. As shown in Figure 63-A, pressure regulator 7026 and DC-DC converter 7058 provide operation 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 input is supplied to DC-DC converter 7058.

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

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

User's switch 7070 is the representative instance of aforementioned " rocker arm trigger " 110, 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 may include pressure switch, the pressure switch by by user's switch 7070 be pivoted into and its Contact is to activate.The actuating of first motor switch 7044 will lead to the actuating of motor 7038, so that driving gear is in the first rotation It is rotated on direction.Second motor switch 7046 is also coupled to shank processor 7024 and is mounted to be selected by user's switch 7070 Contact to property.The actuating of second motor switch 7046 will lead to the actuating of motor 7038, so that driving 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 bracket Axial movement, to promote cutting element.

7074 input terminal of joint test action group (JTAG) is also attached to shank processor 7024.7074 input terminal of JTAG It is 1149.1 standard test access port of IEEE and boundary-scan architecture that port design is debugged for integrated circuit (IC).Shank Processor 7024 implements JTAG 7074 to execute debugging operations, as single step execution and breakpoint execute.

UART 7076 is attached to shank processor 7024.UART 7076 makes data mistake between form in parallel and serial It crosses.UART 7076 usually combines communication standard such as EIA, RS-232, RS-422 or RS-485 to use.Common tags instruction can Configuration data format and transmission speed.Electric signal transmission level and method (such as differential signal transmission etc.) are by UART Driving circuit outside 7076 is handled.UART 7076 can be for 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 electrical subsystem of the handle portions 7002 of modular motor driving surgical instruments 7000 will be now provided in conjunction with Figure 63-B The description of remaining function aspect and operating aspect of system 7006.As shown, shank processor 7024 provides signal to drive spiral shell Spool 7032.Axle module 7078 provides position signal 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. Shank processor 7024 is enabled to receive use by the location information that axle module 7078 and gear position module 7080 provide When switch 7070 signal in family is 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 It enables, mosfet driver 7084 drives 3 phase BLDC motors 7038 (Figure 61).As previously mentioned, BLDC motor controller 7022 is necessary Guided rotor rotation.Therefore, BLDC motor controller/driver 7022 determines orientations/locations of the rotor relative to stator coil. Therefore, the rotor portion of BLDC motor 7038 is configured to hall effect sensor 7028 directly to measure rotor-position. BLDC motor controller 7022 includes 3 bidirectional outputs (that is, frequency modulation three-phase exports), 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 7084, the motor control system of the motor hall effect sensor 7028 of combination gear position module 7080 and/or axle module 7078 System can operate to make gear synchronous, so that in the shaft portion of the convex connector in handle portions and surgical instruments described herein Concave connector smoothly couple.In one case, although for example, can provide some tolerances to realize readily displacement or key Control, but motor control system is configured to the position of tracking gear, will be forbidden in position with ensuring that gear does not stop at Between shift or installation two rotation keying positions.In another case, motor can be configured to installing or moving It is slowly indexed during position, to solve any slightly to lose synchronous situation.The example in conjunction with described in Fig. 6 drives in instrument at two Between when shifting rather than only when installing new end effector, these problems can also be encountered.This situation can be by adopting With in conjunction with Figure 61, Figure 63-A, Figure 63-B and the gear of motor control system described in Figure 64 carry out it is appropriate synchronize solve.At other In the case of, it is possible to provide encoder tracks the rotation of gear/gear wheel shaft.

Figure 64 is the block diagram that modular motor drives the shank of surgical instruments and the electrical system of shaft portion.Such as Figure 64 institute Show, shank processor 7024, which receives to come from, turns on the 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 axle module 7078 from clamping original 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 is provided to shank processor 7024 Three axis orientation input, to determine whether the various parameters such as orientation of instrument 7000 and instrument 7000 have been laid down.Pressure regulator 7026 provide the power source through adjusting for the system.Current sensing module 7094 is provided to sense the electric current drawn from power source.

Figure 65 shows the mechanical switch kinetic control system 7095 to eliminate the microprocessor control to motor function.? In the system described in conjunction with Figure 61-64, microprocessor such as shank processor 7024 is used to control the function of motor 7038.Shank Processor 7024 executes control algolithm based on the various states for the switch disposed in entire instrument 7000.This is needed using shank Processor 7024 and associated identification function to provide control to different end effectors.

However, as shown in Figure 65, alternate technologies can be used to control motor 7038, this in end effector axis by putting Movement related switch 7096A, 7096B, 7096C are set, 7096D eliminates the needs to shank processor 7024.Then, it switchs 7096A-D is configured to open and close the specific of motor 7038 based on the position of positioning specific end effector component Function keeps the direction of motor 7038 reversed.In one case, the switch disposed completely that instruction cutting element can be used comes The function of switching motor 7038, so that direction is reversed and recalls cutting element.In another case, switch 7096A-D can be with It is configured to detection pressure or power, so that will organizationally ON/OFF signal be fed back by being simply closed anvil block downwards It is supplied to closure motor 7038, to stop closing motion.

In all cases, surgical instruments may include shank, the electric motor being located in the shank, attach to handle The axis in portion and the end effector extended from axis, wherein electric motor is configured to excite the end at end effector Portion's actuator function.In some cases, surgical instruments may include control system, which includes one or more pass Sensor and microprocessor, the receivable input signal from sensor of the microprocessor, monitoring surgical instruments operation, and root Electric motor is operated according to sensor input signal, with actuation end actuator function.In at least one such situation, this is outer The shank of section's instrument can be used together with more than one axis.For example, handle can be assembled to for linear-seam sympodium or circular seams sympodium Portion.Shank may include at least one sensor, the sensor be configured to detection be assembled to its axis type and to Microprocessor transmits the information.Depending on being assembled to the type of the axis of the shank, microprocessor may be in response to sensor input Signal operates electric motor in different ways.For example, if electric motor is configured to the closure of operation end actuator System then microprocessor rotates electric motor in a first direction with the anvil block of closed circle stapler shaft, and makes electricity Dynamic motor is rotated on second or opposite direction to be closed the anvil block of linear stapler shaft.Other control system is contemplated, In do not use microprocessor in the case where can to electric motor realize same operation control.In at least one such situation, The axis and/or shank of surgical instruments may include switch, which can operate surgical instruments in different ways, this depends on group It is filled to the type of the axis of the shank.

In all cases, surgical instrument system may include power supply, be configured to execute first end actuator First motor of function is configured to execute the second motor and on-off control system of the second end actuator function, The on-off control system be configured to for power supply to be selectively placed in response to on-off control system and the first motor and The connection of second motor.In all cases, such surgical instrument system may not include microprocessor.First motor may include by structure The closure motor that can be closed the closed system of the anvil block of end effector is caused, and the second motor may include being 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 It closes, closure trigger switch can be closed the closure power circuit that power supply is attached to closure motor in closure.Control system It may also include closing stroke end switch, which in the fully closed position and can open closure in anvil block It is opened when power circuit is to stop being closed motor and closure driving by closed system.On-off control system may also include percussion triggering Device switch, firing trigger switch can be a part that power supply is attached to the percussion power circuit of percussion motor.Various In the case of, the default conditions of the percussion power circuit can be for what is opened, this can prevent the operation before percussion power circuit closure from hitting Send out motor.Therefore, only closure percussion switch possibly can not be closed percussion power circuit and operate percussion motor.Fire power supply electricity Road may also include the second closing stroke end switch, the second closing stroke end switch anvil block in the fully closed position when It is closed by closed system.Percussion power circuit can be closed and operate and hit by closing percussion switch and the second closing stroke end switch Send out motor.Control system may also include firing schedule end switch, which reaches it in percussion driving and hit It is opened at the end of issuing journey by percussion driving.The openable percussion power circuit of the opening of firing schedule end switch and stop Fire motor.Control system may also include the second firing schedule end switch, which can be by hitting It sends out driving and is closed to be closed reversed percussion power circuit, this, which reversely fires power circuit, will be applied to the power supply for firing motor The pole reversal and in the opposite direction operation percussion motor simultaneously make percussion driving retraction.The reversed percussion power circuit of closure can It can also need firing trigger switch in closed state.When percussion, which drives, reaches its fully retracted position, can be closed Nearside percussion switch.The closure of nearside percussion switch can be closed reversed closed power circuit, which can be with By the pole reversal for being applied to the power supply of closure motor and operation in the opposite direction is closed motor and opens anvil block.Closure Reversed closed power circuit may also need closure trigger switch in closed state.Position is fully opened when anvil block reaches it When setting, which can open nearside closure switch, which can open reversed closed power circuit and stop Only it is closed 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 several 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 axis of shank, and shank is operated according to including the control system in shank.For example, shank may include micro- place Reason device and at least one storage unit, the storage unit can store and execute multiple operation sequences, and each operation sequence is by structure It causes that specific shaft assembly can be operated.Other embodiments are contemplated, wherein shank does not include control system；On the contrary, shaft assembly is each From may include themselves control system.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 may include electric motor, power supply such as battery and/or input It cable and is configured to operate the circuit of electric motor based on the control input from attached shaft assembly.Handle Portion may also include the actuator in conjunction with axis control system, which can control electric motor.In all cases, shank It may not include for example for controlling the additional control logic and/or microprocessor of electric motor.Other than shank actuator, attachment Control system to the shaft assembly of shank will include control logic required for operation electric motor.In all cases, axis group The control system of part may include microprocessor, and in the case of other, it may be really not so.In some cases, the first shaft assembly The first control system may include first microprocessor, and the second control system of the second shaft assembly may include second micro- Processor, etc..In all cases, shank may include that the first electric motor is such as closed motor and the second electric motor Motor is such as fired, wherein the control system of attached shaft assembly can operate closure motor and percussion motor.In some cases Under, shank may include closing actuator and percussion actuator.Other than closing actuator and percussion actuator, it is attached to shank The control system of shaft assembly will include control logic required for operation closure motor and percussion motor.In all cases, handle Portion may include axis joint portion, and each shaft assembly may include the shank joint portion for being configured to engagement axis joint portion.Axis Joint portion may include the electricity for being configured to engage when shaft assembly is assembled to shank with the electric connector at shank joint portion Connector.In at least one situation, each connector may include only one electric contact, which is combined together, so that There is only a control paths between shank and shaft assembly.In other cases, each connector may include only two electric contacts, The two electric contacts form pair of two cooperations when shaft assembly is attached to shank.In this case, in shank and shaft assembly Between can there is only two control paths.Other embodiments are contemplated, wherein there are more than two between shank and shaft assembly 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 driving campaign caused in the shank of surgical instruments. Referring to Figure 73 and Figure 74, surgical end-effector 8010 can be held for several surgical ends compatible with the shank 8000 of surgical instruments One of row device.It is described in the whole text in the disclosure and depicts various different surgical end-effectors in associated attached drawing 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 may include drive system, for example, the drive system can be configured to will to drive movement from The shank 8000 of surgical instruments is transferred to the component, 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 8004a can be configured to that the jaw group that driving movement is transferred to end effector 8010 (Figure 73) will be closed Part, and for example, one in drive system 8002a, 8004a can be configured to fire and movement is driven to be 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 wrap Drive rod 8006 is included, which can be configured to translation and/or linear shifting when the first drive system 8002a starts Position.Similarly, the second drive system 8004a may include drive rod 8008, which can be configured to second Translation and/or linear displacement when drive system 8004a starts.

In all cases, end effector assembly 8010 may include the first drive system 8002b, for example, this first Drive system can correspond to the first drive system 8002a of shank 8000, and end effector assembly 8010 may also include Two drive system 8004b, for example, second drive system can correspond to the second drive system 8004a of shank 8000.Various In the case of, the first drive system 8002b in end effector 8010 may include driving element 8012, and the driving element is for example The drive rod 8006 of the first drive system 8002a of shank 8000 can be operated and be releasably attached to, 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 may include driving element 8014, which can for example operate and be releasably attached to shank 8000 The drive rod 8008 of second drive system 8004a, 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 may include coupling configuration, the coupling configuration example It can such as be configured to for drive rod 8006 to be 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, which can be by the first of shank 8000 Drive system 8002a is attached to the first drive system 8002b of end effector 8010 and the second driving by shank 8000 System 8004a is attached to the second drive system 8004b of end effector 8010, so that drawing 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 of drive system 8002a in shank 8000,8004a and end effector Corresponding a pair of of drive system 8002b, 8004b in 8010, but reader should be appreciated that for example, disclosed herein various Coupling configuration can also be used in include single drive system or more than two drive system surgical end-effector and/or shank.

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 may include latch, the latch can be configured to hold and fix corresponding shank with Connection between end effector drive system.As being more fully described herein, for example, latch can be it is spring-loaded, And may be coupled to such as trigger, the trigger can be configured to operationally to overcome spring be biased to unlock, Open and/or discharge coupling configuration.In all cases, coupling configuration may include in surgical end-effector 8010 The independent and/or discrete coupling mechanism and/or connector of each drive system 8002b, 8004b.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 may include connector shell or frame 8102.For example, can be by connector shell 8102 It is located in the proximal attachment part of end effector.In addition, for example, connector shell 8102 may include bracket 8104, example Such as, which can be configured to move relative to connector shell 8102.For example, connector shell 8102 may include Channel 8103, the size and structure in the channel can be set to receive slidable and/or displaceable bracket 8104.For example, support Frame 8104 can be constrained by connector shell 8102, so that bracket 8104 is movably held in channel 8103 and is configured to It can move and/or slide in channel 8103.For example, channel 8103 can guide and/or constrain bracket 8014 relative to outer The movement of shell 8102.In some cases, such as bracket 8104 can have inclined surface, such as slope or wedge piece 8106, Such as the slope or wedge piece can also direct and/or are conducive to the movement of bracket 8104.

In all cases, coupling configuration 8100 may include trigger 8120, the slope of the trigger and bracket 8104 8106 are slidably engaged.For example, trigger 8120 may include inclined surface 8122, which is for example configured to When trigger 8120 moves between first or unactuated position (Figure 68) and second or actuated position (Figure 67 and Figure 69) It is slided along the slope of bracket 8,104 8106.In some cases, for example, coupling configuration 8100 may 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 may include a pair of guide rails 8110, this can limit for trigger 8120 guide rail Actuation path.

In all cases, for example, working as 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), bracket 8104 can be with Via the inclined surface 8122 of trigger 8120 and the slope 8106 of bracket 8104 downwards or in direction D in channel 8103₃ It is shifted on (Figure 67 and Figure 69).Thus, for example, the starting of trigger 8120 can be relative to connector shell 8102, trigger 8120 and/or coupling configuration 8100 various other components, component and/or system come make bracket 8104 shift.

In all cases, for example, working as 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), bracket 8104 can be via the nauropemeter of trigger 8120 Face 8122 and the slope of bracket 8,104 8106 are in channel 8103 upwards or in direction D₄It is shifted on (Figure 68).Thus, for example, The actuating of trigger 8120 can influence movement of the bracket 8104 relative to connector shell 8102.In some cases, for example, bullet Spring and/or other bias mechanisms can be configured to bracket relative to channel 8103 and/or connector shell 8102 8104 and/or trigger 8120 towards predetermined position bias.

Referring now to Figure 66, in all cases, slit 8112 can be defined in connector shell 8102 and/or end executes 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.Certain In the case of, for example, a pair of of slit 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.If being more fully described herein, drive member 8172 can join It the drive system that is connected in shank 8170 and/or is otherwise driven by the drive system in shank 8170.For example, each drive Dynamic component 8172 may be coupled to the linear actuators of the drive system in shank 8170 and/or otherwise linear activated by this Device driving, for example, the linear actuators can be configured to translate linear actuation motion and be transferred to end effector In correspondence drive system.

In all cases, be also configured to can be relative to the drive member pod of coupling configuration 8100 for bracket 8104 8130 movements 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 may include opening 8136, and the opening size and/or structure are set At the drive component for receiving shank 8170.For example, opening 8136 can be configured to receive and drive referring primarily to Figure 67 The distal part of lever 8172.In this case, for example, when drive rod 8172 is fixed in the opening 8136 in pod 8130 When, it is such as 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 may include inclined-plane 8176 and groove or pit 8174, for example, the ditch Slot or pit can be conducive to the engagement and/or locking of drive rod 8172 Yu 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 bracket 8104 can be with Relative to and/or around pod when being configured to slide in the channel 8103 in connector shell 8102 in bracket 8104 8130 movements and/or displacement.

Referring primarily to Figure 71, pod 8130 may include at least one flexible tabs 8132a, 8132b.Flexible tabs 8132a, 8132b can be inward towards 8136 biass that are open, and/or for example may include the tooth of inward bias.In certain situations Under, flexible tabs 8132a, 8132b may 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 can be by the tooth 8133 in open socket 8136, and can tab 8132 be bent or be deflected outward from opening 8136. When drive rod 8172 goes successively to the opening 8136 of pod 8130, the tooth 8136 of tab 8132a, 8132b are engageable or catch Groove 8174 in drive rod 8172.In this case, for example, the engagement of tooth 8136- groove 8174 can release drive rod 8172 It is maintained at putting in pod 8130.

In all cases, for example, pod 8130 may include groove 8134, which can be configured to receive Spring 8150.In other cases, for example, pod 8136 may include more than one groove 8134 and coupling configuration 8100 can To include more than one spring 8150.In addition, in some cases, pod 8130 may include more than one flexible tabs 8132a,8132b.For example, pod 8130 may include a pair of of lateral register tab 8132a, 8132b.First tab 8132a It such as 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 may include more than two Tab.

In all cases, coupling configuration 8100 may also include latch or casing 8140, and the latch or casing can be opposite It is movably positioned in pod 8130.For example, latch 8140 may include opening 8142 (Figure 72), the size and structure of the opening It can be configured at least part of at least partly about pod 8130.For example, latch 8140 can be positioned around pod 8130, And it such as can movably be positioned relative to the tab 8132a of pod 8130,8132b.In all cases, for example, spring 8150 can be positioned between a part of pod 8130 and a part of latch 8140, enable spring 8150 by latch 8140 Towards pod-latch position (Figure 68) bias.For example, latch 8140 can be biased into pod-latch position (Figure 68) by spring 8150 In, in the position, latch 8140 is oriented to surround and/or constrain tab 8132a, and 8132b's is deflected outward.

In all cases, for example, when latch 8140 is oriented to limit and/or prevent tab 8132a, 8132b to Extrinsic deflection, that is, when being in pod latch position, tab 8132a, 8132b are moved out and can be restricted far from opening 8136, 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, latch 8140 can overcome the bias of spring 8150, and can move to from pod latch position (Figure 68) Unlatched position (Figure 67 and Figure 69).Latch 8140 is displaceable when being in unlatched position to 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, latch 8140 may include convex block or protrusion 8144.In addition, referring primarily to Figure 70, connector Bracket 8104 in shell 8102 may include biasing member 8108.For example, biasing member 8108 may include slope or angulation Spend surface, the slope or angled surface can be for example configured to first or pod-latch position (Figure 67 and figure 69) the bias convex block 8144 between second or latch position (Figure 68), thus bias latch 8140.For example, working as trigger When 8120 movement causes bracket 8104 to shift relative to connector shell 8102 and pod 8130, as described herein, convex block 8144 can slide along the angled surface of biasing member 8108, so that flexible tabs 8132 of the latch 8140 relative to pod 8130 Movement.In this case, the starting of trigger 8120 can overcome the bias of spring 8150 and make latch 8140 from around holding Pod-latch position of the flexible tabs 8132 of nest 8130 bounces back to unlatched position.In this case, when latch 8140 returns When contracting, the deflection of flexible tabs 8132 and/or engagement drive rod 8172 are allowed.In addition, for example, when trigger does not activate, bullet Spring 8150 can relative to and/or surround flexible tabs 8132a, 8132b bias latch 8140, so that limitation and/or preventing tab 8132a, 8132b deflection are to limit and/or prevent the engagement with drive rod 8172.

In some cases, latch 8140 may include a pair of laterally opposed convex block 8144, this to convex block slideably Engage the laterally opposed biasing member 8108 of bracket 8104.In addition, in coupling configuration 8100 in shank 8170 and surgical end When coupling more than one drive system between actuator, for example, bracket 8104 may include multiple biasing members 8108 and/or more To biasing member 8108.For example, each pod 8130 may include the convex block 8144 of a pair of of lateral register, and such as bracket 8104 may include the biasing member 8108 for each convex block 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, bracket 8104 can be located in raised position, and latch 8140 relative to connector shell 8102 for position It can be positioned on pod-latch position.In such construct, for example, latch 8140 can prevent drive rod 8172 from entering pod It 8130 and/or is 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, bracket 8104 can be biased into raised position, and/or can will fastened with a bolt or latch Lock 8140 is biased into pod-latch position.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 be shifted bracket 8104 To more lower position, so as to which latch 8140 is displaced to 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 Distal side unactuated position is pushed back, bracket 8104 can be biased to return to raised position, and latch 8140 can be biased to return to pod- Latch position.Thus, for example, 8172 lockable of drive member is at engaging socket 8130, because latch 8140 can prevent flexibility Tab 8132a's, 8132b is deflected outward, and therefore drive member 8172 can be fixed in pod 8130.Therefore, existing Referring to Figure 69, in order to separate drive member 8172 with pod 8130, caused for example, trigger 8120 can move to nearside again Dynamic position, bracket 8104 can be displaced to more lower position by this, so as to which latch 8140 is displaced to unlatched position.Herein In class construction, that is, when pod 8130 is not latched, for example, drive member 8172 can be removed from pod 8130.

In all cases, surgical instruments may include the drive system for being attached to motor.In some cases, the motor Various surgical functions can be influenced with drive system.For example, the motor and drive system can influence surgical end-effector It opens and/or is closed, and can for example influence cutting and/or firing schedule.In some cases, the motor and drive system It can influence a variety of different surgical functions.For example, the opening and/or closure of surgical end-effector can independently of or be different from come From the cutting and/or percussion of the fastener of surgical end-effector.In this case, drive system may 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 may include drive system, which has multiple output shafts and be used for The clutch shifted between different output shafts.In some cases, which can correspond to different surgical functions.For example, First output shaft can correspond to end effector closing motion, and such as the second output shaft can correspond to end effector percussion Movement.In all cases, for example, drive system can engaged with the first output shaft and cut between engaging with the second output shaft It changes, so that surgical function is separated and different and/or independent.For example, end effector closing motion can independently of and It fires and moves different from end effector.For example, causing closing motion and causing individually percussion when completing closing motion Movement can be preferred.In addition, for example, controlling and/or driving using the single drive system that may be coupled to electric motor and is only Vertical closing motion and percussion movement can be preferred.In other cases, first output shaft and the second output shaft can Operatively couple, and for example various surgical functions and/or surgery movement can while and/or at least partly occur simultaneously.

Referring now to Figure 75-78, the shank 8600 for surgical instruments may 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 output driving system 8610 may be coupled to the first driving system in attached end effector System, and the second output driving system 8620 may be coupled to the second drive system in attached end effector.For example, the One output driving system 8610 can influence the first surgical function, such as clamping of end effector jaw, and such as second Output driving system 8620 can influence the second surgical function, the percussion that such as percussion 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 It overturns and/or otherwise modifies.

In all cases, drive system 8602 may include motor sub-assembly, which may include electric motor 8640 and motor drive shaft 8642.For example, driving gear 8644 can mount to motor drive shaft 8642 so that electric motor 8640 driving and/ Or influence the rotation of driving gear 8644.In all cases, the first output driving system 8610 may include the first drive shaft 8612 and first driven gear 8612.For example, the first driven gear 8614 can be installed 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 located in the first drive shaft 8612 by screw thread, 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 may include the second drive shaft 8622 and second Driven gear 8624.For example, the second driven gear 8624 can be installed 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 located 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 to drive gear 8644 to export in the engagement with the first output driving system 8610 and with second It is shifted between the engagement of drive system 8620.For certain situations, for example, displacement device assembly 8648 may include displacement tooth Wheel 8652, the shifted gear can be engaged with driving 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 It is engaged with driving gear 8644.

For example, shifted gear 8652 is movable at engagement and/or the first driven gear 8614 of disengaging and/or the second driven tooth At least one of wheel 8624.In all cases, shifted gear 8652 it is movable at the second output driving system 8620 Second driven gear 8624 is engaged.For example, as first position (Figure 78) in the position range, shifted gear 8652 can be detached from the second driven gear 8624, and for example as the second position (Figure 77) in the position range, Shifted gear 8652 can be engaged with the second driven gear 8624.For example, being connect in shifted gear 8652 and the second driven gear 8624 In the case where conjunction, power can be transferred to the second driven gear 8624 from driving gear 8644 by shifted gear 8652, so that motor 8640 can influence surgical function by the second output driving system 8620.In addition, for example, being detached from the in shifted gear 8652 In the case where 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 intermediate gear and/or transmission gear 8654.For example, passing Passing gear 8642 can be configured to driving force being transmitted to the first driven gear 8614 from shifted gear 8652.Various In the case of, transmission gear 8654 can be engaged with the first driving gear 8614, such as make the rotation quilt of transmission gear 8654 It is transmitted to such as the first driven gear 8614.In addition, in all cases, shifted gear 8652 is movable at engagement and/or de- From transmission gear 8654.For example, shifted gear 8652 can be with biography as first position (Figure 78) in the position range The engagement of gear 8654 is passed, and as the second position (Figure 77) in the position range, shifted gear 8652 can be detached from Such as transmission gear 8654.In the case where shifted gear 8652 is engaged with transmission gear 8654, shifted gear 8652 can be via Power is transmitted to the first driven gear 8614 from driving gear 8644 by transmission gear 8654.In such cases, for example, motor 8640 can influence surgical functions via such as the first output driving system 8610.In addition, being detached from transmitting tooth in shifted gear 8652 In the case where 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 relative to the second drive shaft 8622 without shadow 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 bracket or lining ring 8650, the bracket or lining ring can be at least partly around shifted gears 8652.Bracket 8650 can surround Shifted gear 8652 positions, for example, making the movement of bracket 8650 that shifted gear 8652 can be made to move.

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 bracket 8650 and/or shifted gear 8652 in position range.For example, clutch 8630 may include the trigger extended from shank 8600, and can engage with bracket 8650 and/or shifted gear 8652.Various In the case of, bracket 8650 may include pin 8656, which can extend in the hole 8638 (Figure 75) of clutch 8630 from bracket 8640. For example, clutch 8630 may include the arm 8632 and/or a pair of of arm 8632 for the pivotal point 8634 being connected on shank 8600.Clutch Device 8630 can pivot at such as pivotal point 8634, and the pivot of arm 8632 can be such that the pin 8656 of bracket 8560 moves.For example, The movement of bracket 8650 can be such that shifted gear 8652 shifts between first position (Figure 78) and the second position (Figure 77).

In all cases, the movement of bracket 8650 can be restrained, so that axial-movement is logical along longitudinal direction for shifted gear 8652 Cross its position range.In addition, the pivot stroke and/or motion range of clutch 8630 can be restrained and/or be 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 maintain shifted gear 8652 and/or be maintained in position range And/or it is aligned 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, and shifted gear 8652 is biased into one in first position or the second position At person.In some cases, shank 8600 may include be configured to for shifted gear 8652 to be maintained at its first position or The bi-stable state compliant mechanism of its second position.For shifted gear 8652 is between first position and the second position, bistable State compliant mechanism can for dynamic instability and for shifted gear 8652 to be placed in its first position or its second position.Separately Selection of land, shifted gear 8652 can be biased into middle position, wherein shifted gear 8652 can for example with the first output driving system System 8610 and the second output driving system 8620 simultaneously engage with.In addition to this or alternatively, shank 8600 may include lock and/or spine Shifted gear 8652 is maintained at such as one of first position or the second position place by pawl.

Surgical instruments may include the rotatable drive for being configured to closure driving and the percussion driving of operation surgical instruments Moving axis.Referring to Figure 79 to Figure 84, surgical instruments 10000 may include rotatable drive shaft 10020, closure driving 10030 and percussion Driving 10040.As described in more detail below, drive shaft 10020 may include being configured to operation closure driving 10030 The first screw thread 10024 and be configured to operation percussion driving 10040 the second screw thread 10026.In all cases, Instrument 10000 may include such as circular stapler.

Surgical instruments 10000 may include frame 10002 and the device for generating rotary motion.In some cases, it revolves Transhipment is dynamic to be generated by the hand-crank of such as manual actuation, and in all cases, rotary motion can be generated by electric motor. In either case, 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 frame 10002 is pivotably supported.In all cases, nearside Bearing portions 10011 and/or distal side bearing portions 10013 can be directly supported by frame 10002, and in some cases, nearside Bearing portions 10011 and/or distal side bearing portions 10013 may include the axis being located between input shaft 10010 and frame 10002 It holds.Input shaft 10010 may also include the gear 10012 for being installed to and/or being bonded to input shaft 10010, so that working 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 rotating to i.e. direction A ' (Figure 82), gear 10012 is also rotated 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 frame 10002.In all cases, proximal end 10021 And/or distal end 10023 can be directly supported by frame 10002, and in some cases, proximal end 10021 and/or distal side End 10023 may include the bearing being located between drive shaft 10020 and frame 10002.Gear 10022 can be mounted to and/ Or it is bonded to the proximal end 10021 of drive shaft 10020.Gear 10022 is engaged with gear 10012, so that working 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 is rotated along direction B '.

Referring again to Figure 79, being closed drive system 10030 may include engaging 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 the hole in the proximal end for being defined in enclosed member 10033.Closure pin 10032 may include being located in 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, closure pin 10032 can be moved as indicated by the D of direction towards distal side when drive shaft 10020 is rotated along direction B (Figure 79) Position or translation.Correspondingly, when drive shaft 10020 is rotated 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, be 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 cannot rotate relative to frame 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 certain 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 is rotated along direction B ', closure pin 10032 can proximally be put down It moves, until the portions of proximal of the first screw thread 10024 of arrival of closure pin 10032, as shown in Figure 82.Closure pin 10032 proximally When movement, closure pin 10032 can proximally pull enclosed member 10033 and anvil block.When closure pin 10032 reaches the first screw thread When 10024 portions of proximal, anvil block can be at fully closed position.

Further described above, the anvil block that closure driving 10030 can be operated to surgical instruments 10000 is opposite In cartridge movement to suitable position.In all cases, surgical instruments 10000 may include actuator, which can be along One direction operation can be grasped in a second direction with rotating drive shaft 10020 along direction A Rotating input shaft 10010 and along direction B Make to rotate drive shaft 10020 along direction A ' Rotating input shaft 10010 and along direction B '.In other cases, surgical instruments 10000 may include being configured to rotate drive shaft 10020 along direction A Rotating input shaft 10010 and along direction B in operation The first actuator, and be configured in operation along direction A ' Rotating input shaft 10010 and along direction B ' rotate drive Second actuator of moving axis 10020.In either case, the operator of surgical instruments 10000 can direction and remote as needed Anvil block from cartridge movement surgical instruments 10000, to form required gap between anvil block and nail bin.When to be in its complete for anvil block When full-application position, such required gap is can produce or can not generated.

Further described above, surgical instruments 10000 may include being configured to reach in closed system 10030 The fastener of drive pin 10032 is received and releasably held when being closed completely configuration to it.Referring primarily to Figure 81 and Figure 82, surgery Instrument 10000 may include fastener element stems 10073, which, which has, is defined in fastener hole 10077 therein.In drive pin 10032 When proximally promoting, 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 located in enclosed member 10033 and the circumference head 10037 around the extension of fastener pin 10032 Intermediate spring 10035 is towards 10073 bias of fastener element stems.When fastener pin 10032 is positioned relative to fastener hole 10077 towards distal side When, spring 10035 can be against 10073 bias drive pin 10032 of fastener element stems.When fastener pin 10032 passes through driving screw rod 10020 When rotation proximally moves 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 of drive pin 10032 contacts button Part bar 10073.It is worth noting that, the movement 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 subsequent rotation of drive shaft 10020 does not make drive pin 10032, enclosed member 10033 and can operate with it The anvil block movement of ground engagement, is re-engaged at least up to drive pin 10032 and the first screw thread 10024, it is as follows in further more It describes in detail.

As described above, closed system 10030 can be limited in the fastener hole 10077 of the entrance fastener element stems 10073 of drive pin 10032 Closing stroke terminal and anvil block fully closed position.In all cases, fastener element stems 10073 can not be relative to frame 10002 movement and fastener hole 10077 can limit fixed position.In other cases, fastener element stems 10073 can be relative to frame 10002 movements.In this case, the final closed position of anvil block will depend on the position of fastener hole 10077.Therefore, anvil block Gap between the nail bin of surgical instruments 10000 will depend on the position of fastener hole 10077.Referring generally to Figure 79, surgery device Tool 10000 may also include the gap setting system 10070 for being configured to make fastener element stems 10073 to move.Gap sets system 10070 may include rotatable knob 10072 and the driving gear 10071 that engages with rotatable knob 10072.Fastener element stems 10073 may include rack gear 10075 extending therefrom, which includes multiple teeth.Driving gear 10071 is engaged with rack gear 10075 Engagement, so that rack gear 10075 can drive fastener element stems 10073 towards distal side, and work as when knob 10072 is rotated in a first direction When knob 10072 rotates in the second direction opposite to the first direction, rack gear 10075 can proximally drive fastener element stems 10073.When When fastener element stems 10073 move toward the far side, fastener hole 10077 be can be oriented so that when closure driving 10030 is closed completely in it When coincidence is set, larger gap may be present between anvil block and nail bin.When fastener element stems 10073 proximally move, fastener hole 10077 can It is positioned such that small gap may be present between anvil block and nail bin when closure driving 10030 is in its fully closed position. In all cases, fastener hole 10077 can be positioned in position range, which can accommodate the anvil of surgical instruments 10000 The distance between seat and nail bin range.

In all cases, setting system 10070 in gap may include being configured to releasedly consolidate knob 10072 It is scheduled on the knob lock of appropriate location.For example, frame 10002 may include lock protrusion 10004 extending therefrom, which can It is received in the one or more lockholes 10074 being defined in knob 10072.Lockhole 10074 can circumferentially path orientation.Often A lockhole 10074 can presetting between the predeterminated position of closure driving 10030 and the anvil block and nail bin of surgical instruments 10000 Clearance distance is corresponding.For example, closure driving 10030 can be kept when lock protrusion 10004 is located in the first lockhole 10074 In the first predeterminated position, and correspondingly, anvil block is positively retained at away from the first pre-determined distance of nail bin.In order to which knob 10072 is transported It moves to the second predeterminated position, knob 10072 can be lifted away from frame 10002, so that lock protrusion 10004 is no longer located in It in one lockhole 10074, rotates with drive rack 10075 and fastener element stems 10073, is then moved towards frame 10002, so that lock is prominent Portion 10004 enters in the second lockhole 10074 being defined in knob 10072 out.When lock protrusion 10004 is located in the second lockhole When in 10074, closure driving 10030 can be held in the second predeterminated position, and correspondingly, anvil block is positively retained at away from nail bin second At pre-determined distance, which is different from the first pre-determined distance.Position is preset in order to which knob 10072 is moved to third It sets, knob 10072 can be lifted away from frame 10002, so that lock protrusion 10004 is no longer located in the first lockhole or the second lock In hole 10074, rotates with drive rack 10075 and fastener element stems 10073, then moved towards frame 10002, so that lock protrusion 10004 enter in the third lockhole 10074 being defined in knob 10072.When lock protrusion 10004 is located in third lockhole When in 10074, closure driving 10030 can be held in third predeterminated position, and correspondingly, anvil block is positively retained at away from nail bin third At pre-determined distance, which is different from the first pre-determined distance and the second pre-determined distance.Gap sets system 10070 also It may include the biased element being configured to towards 10002 bias knob 10072 of frame.For example, gap sets system 10070 May include being located in shell 10002 and driving the spring 10076 among gear 10071, the spring be for example configured to by Lockhole 10074 is biased into be 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 may be 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 being configured to the position of instruction anvil block.Anvil Seat Position Indicator System 10050 may include the window 10058 being defined in frame 10002 and can be observed by window 10058 The pivotable member 10051 arrived.Pivotable member 10051 may include the pivot 10052 for being rotatably mounted to frame 10002, Drive end 10054 and display end 10056.What pivotable member 10051 can be in a fully open position in instruction anvil block Between first position (Figure 81) and the instruction anvil block second position (Figure 82) in the fully closed position, and first position with It is moved between position range between the second position, the position range indicates the position range of anvil block.Closed system 10030 can To be configured to the driving end 10054 of contact pivotable member 10051, so that pivotable member 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 member 10051 10054 and around pivot 10052 rotate pivotable member 10051.The rotation of pivotable member 10051 can be in window 10058 Interior kinematic displays end 10056, to indicate the position of anvil block.In order to be conducive to this observation, frame 10002 and/or window 10058 may include one or more lines of demarcation 10059, which can indicate the position of anvil block.For example, working as pivotable member When 10051 display end 10056 is aligned 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 aligned with distal side line of demarcation 10059 (Figure 82), operator can determine that anvil block is in Closed position.If operator can among the proximally positioned line of demarcation in display end 10056 and distal side line of demarcation 10059 It is assumed that anvil block is in the position between its open position and its closed 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 toward the far side to open anvil block When (Figure 84), pivotable member 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 member 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 instrument 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 driving 10030 arrived its fully closed position until.Outside Section's instrument 10000 may include for example being configured to surgical instruments in anvil block closed procedure mode and nail percussion operation mode Between the switch that switches over, such as switch 10060.Closure driving 10030 may also include the proximal end from enclosed member 10033 The switch pin 10031 that portion extends.According to the comparison of Figure 81 and Figure 82, reader be will be appreciated that, just proximally pushed away in closure pin 10032 When into closed anvil, switch pin 10031 is contacted with switch 10060.Switch 10060 can pivotly pacify around pivot 10062 It is attached to frame 10002 and may include one or more arms 10064 extending therefrom.It is closed completely when drive pin 10032 reaches it When coincidence is set, switch pin 10031 can contact arm 10064 and around 10062 rotary switch 10060 of pivot.Switch 10060 may be used also Including arm 10066 extending therefrom, which can be configured to hit when switch 10060 is rotated around pivot 10062 The percussion nut 10042 of hair driving 10040 is pushed to be operatively engaged with drive shaft 10020.More specifically, at least one In the case of, arm 10066 can be configured to shift push rod 10044 towards distal side, which can will then fire nut 10042 are pushed on the second screw thread 10026.At this point, drive pin 10032 and closed system 10030 can be de- with the first screw thread 10024 From this is because above-mentioned fastener hole 10077, percussion nut 10042 and trigger system 10040 can connect with the second screw thread 10026 It closes.

Further described above, percussion nut 10042 may include being defined in threaded hole 10041 therein, the spiral shell Pit can be threadably engaged with the second screw thread 10026.Further described above, when closure driving 10030 is being grasped When making, percussion nut 10042 can proximally be positioned relative to the second screw thread 10026 so that threaded hole 10041 not with the second screw thread 10026 are threadably engaged.In this case, percussion nut 10042 can be at idle state, and drive shaft 10020 rotates To operate closed system 10030.Further described above, when percussion nut 10042 is shifted towards distal side, threaded hole 10041 can become to be threadably engaged with the second screw thread 10026.Once percussion nut 10042 and the second screw thread 10026 pass through spiral shell Line engagement, then drive shaft 10020 will make to fire nut 10042 towards distal side displacement along the rotation of direction B ' (Figure 82).Fire nut 10042 may include one or more anti-rotational features, such as flange 10043, such as it can be slidably engaged with frame 10002 To prevent percussion nut 10042 from rotating together with drive shaft 10020.Percussion driving 10040, which may also include, is connected to percussion nut 10042 firing member, the firing member can be pushed by percussion nut 10042 towards distal side.Firing member can be adapted to Enough project from nail bin is followed closely.When firing the distal end of the second screw thread 10026 of arrival of nut 10042, percussion nut 10042 is variable It obtains and is detached from the second screw thread 10026 by screw thread, wherein drive shaft 10020 can no longer promote percussion along the additional rotation of direction B ' Nut 10042.

Referring primarily to Figure 82 and Figure 83, surgical instruments 10000 may also include the distal end for being located in 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 reversed actuator 10047 and shift reversed actuator 10047 towards distal side.Such as The biasing member of spring 10048 for example can be positioned on reversed actuator 10047 among frame 10002, which can be by structure Cause can to resist the distal movement of reversed actuator 10047.As shown in Figure 83, the distal movement of reversed actuator 10047 can Compressed spring 10048 and to percussion nut 10042 apply nearside biasing force.When drive shaft 10020 is rotated along direction B, apply The nearside biasing force for being added to percussion nut 10042 can will fire 10026 weight of threaded hole 10041 and the second screw thread of nut 10042 It newly engages, and fire nut 10042 can proximally move, as shown in Figure 84.The proximal movement of percussion nut 10042 can will be hit Hair component proximally moves.When present dynasty's proximal movement, percussion nut 10042 can be such that push rod 10044 shifts, 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 with second screw thread 10026 through screw thread disengaging, and drive shaft 10020 along direction B into The rotation of one step can no longer be such that percussion nut 10042 proximally shifts.At this point, percussion nut 10042 will restore its clear position.

Further described above, when switch 10060 is rotated back to its initial position, the arm of switch 10060 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 Movement can be such that drive pin 10032 shifts from the fastener hole 10077 being defined in fastener element stems 10073.Button is left in drive pin 10032 When 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 Sliding.Drive pin 10032 and the first screw thread 10024 can be re-engaged by moving downward for drive pin 10032.Drive shaft 10020 Drive pin 10032 and enclosed member 10033 will be made to shift towards distal side along further rotating for direction B, to open surgical instruments 10000 anvil block.At this point, surgical instruments 10000 will be reset in its subsequent use.In all cases, nail bin can It is replaced and/or reloads, and surgical instruments 10000 can reuse.

If reader is by the way that being understood above, driving screw rod 10020 can make the displacement of drive pin 10032 to operate closure driving 10030, and make to fire the displacement of nut 10042 to operate percussion driving 10040.Further described above, driving spiral shell Bar 10020 can make first length 10025 displacement of the drive pin 10032 along driving screw rod 10020.Similarly, screw rod 10020 is driven It can make the second length 10027 displacement for firing nut 10042 along driving screw rod 10020.First length 10025 can limit closed system The closing stroke of system 10030, and the second length 10027 can limit the firing schedule of trigger system 10040.First length 10025 is long than the second length 10027, but in some cases, the second length 10027 is long than the first length 10025.? In use, closure pin 10032 can be by percussion nut 10042.For example, when closure pin 10032 is proximally moved with closed anvil When, closure pin 10032 can be when firing nut 10042 and being in its clear position by percussion nut 10042.Similarly, when closing When dowel pin 10032 is moved toward the far side to open anvil block, closure pin 10032 can be by the percussion nut in its clear position 10042.For the ease of the relative motion, firing nut 10042 may include for example being defined in opening therein, such as slit 10046, when closure pin 10032 is moved relative to percussion nut 10042, closure pin 10032 may pass through the opening.It is various its In his embodiment, the such opening being defined in percussion nut 10042 may also allow for percussion nut 10042 to slip over closure pin 10032。

Further described above, the first length 10025 and the second length 10027 can be at least partly overlapped.This Outside, the first screw thread 10024 and the second screw thread 10026 can be at least partly overlapped.First screw thread 10024 and the second screw thread 10026 It can be limited on the same section of driving screw rod 10020.First screw thread 10024 and the second screw thread 10026 can be sufficiently dissimilar, and be made It obtains closure pin 10032 and does not follow the second screw thread 10026, and percussion nut 10042 is made not follow the first screw thread 10024.Example Such as, the first screw thread 10024 can have the first screw pitch, and the second screw thread 10026 can have second spiral shell different from the first screw pitch Away from.First screw pitch of the first screw thread 10024 can be constant or can not be constant.The first constant pitch the case where Under, the closure pin 10032 and anvil block being operatively engaged with the first screw thread 10024 will be transported with constant speed in entire closing stroke It is dynamic, to obtain the given rotation speed of drive shaft 10020.In the case where the first screw pitch is non-constant, closure pin 10032 and anvil block It will be moved during closing stroke with friction speed, to obtain the given rotation speed of drive shaft 10020.For example, the first screw thread The screw pitch of 10024 distal part can be greater than the screw 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 more slowly moved when close to its closed position, with obtain drive shaft 10020 to Determine rotation speed.Such arrangement will allow anvil block to rapidly move to suitably against the tissue being located among anvil block and nail bin Then position is more slowly moved when anvil block is engaged with tissue, thus a possibility that reducing excess compression tissue.Various other In the case of, the screw pitch of the distal part of the first screw thread 10024 is smaller than the screw pitch of the portions of proximal of the first screw thread 10024.It is in office In a kind of situation, screw pitch can change between the end of the first screw thread 10024.The variation can be linear and/or non-linear 's.

Further described above, the second screw 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 where the second constant pitch with the second screw thread 10026 and percussion Component will be moved in entire closing stroke with constant speed, to obtain the given rotation speed of drive shaft 10020.In the second spiral shell In the case where non-constant, firing nut 10042 and firing member will be moved during firing schedule with friction speed, to obtain The given rotation speed of drive shaft 10020.For example, the screw pitch of the distal part of the second screw thread 10026 is smaller than the second screw thread The screw pitch of 10026 portions of proximal.In this case, firing member will more slowly be moved in the terminal point of its firing schedule, To obtain the given rotation 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 a large amount of torque in the terminal point of firing schedule, the torque and nail shape The completion of process is related.In various other situations, the screw pitch of the distal part of the second screw thread 10026 can be greater than the second screw thread The screw pitch of 10026 portions of proximal.In either case, screw 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 axis 10504 and end effector 10505.It holds end Row device 10505 may include nail bin 10506 and movable anvil block 10508.Surgical instruments 10500 may include having and 10504 energy of anvil block The closure for the enclosed member being enough operatively engaged drives and with the percussion being configured to from the deployment nail of nail bin 10506 The percussion of component drives.Surgical instruments 10500 may include the device for generating rotary motion, such as hand-crank and/or electricity Dynamic motor.Rotary motion may pass to input shaft 10510.Surgical instruments 10500 may include transmission device 10502, the transmission Device is configured to for the rotation of input shaft 10510 to be selectively transferred to closure driving and percussion driving, it is as follows into One step is discussed in more detail.

Input shaft 10510 may include installation and/or the input gear 10512 for being bonded to it, the input gear and input shaft 10510 rotate together.Input shaft 10510 can be by the frame of surgical instruments 10500 in proximal end 10511 and distal end It is pivotably supported at 10519.Input gear 10512 can be with the intermediate gear of installing and/or be bonded to jackshaft 10520 10522 are engaged.Therefore, when input shaft 10510 and input gear 10512 are rotated along direction A (Figure 89), jackshaft 10520 and intermediate gear 10522 along direction B (Figure 89) rotate.Similar to the above, jackshaft 10520 can be by surgical instruments frame It is pivotably supported at proximal end 10521 and distal end 10529.Jackshaft 10520 may also include threaded portion 10524, which can be threadably engaged with shift unit block 10526.Referring primarily to Figure 87, shift unit block 10526 can be wrapped Include the one or more threaded 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 being defined in gear slot 10528 therein.It is defeated Entering axis 10510 may also include the sliding block gear 10516 for being slideably mounted to it, which is located in gear slot In 10528.When shift unit block 10526 is proximally moved by jackshaft 10520, as described above, shift unit block 10526 can incite somebody to action Sliding block gear 10516 is proximally pushed along the input shaft portion 10514 of bonding.Referring primarily to Figure 87, sliding block gear 10516 can be wrapped Include and be defined in hole 10517 therein, which includes one or more flat surfaces, the flat surfaces for example be bonded input shaft Correspondence flat surfaces alignment on part 10514.The flat surfaces of hole 10517 and bonding input shaft portion 10514 allow to slide Block gear 10516 is along 10510 longitudinal sliding motion of input shaft, and also cooperation is between sliding block gear 10516 and input shaft 10510 Conveying rotary motion.As described in more detail below, shift unit block 10526 can make sliding block gear 10516 slide through first Position range, second position range and inoperative position or invalid bit among first position range and second position range Range is set, sliding block gear 10516 is engaged with closure axis 10530 in the range of first position, the sliding block tooth in the range of the second position Wheel 10516 is engaged with beating shaft 10540, in inoperative position or inoperative position range sliding block gear 10516 not be closed axis The engagement of any one of 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 in non-firing position percussion driving 10548.Figure 86 shows transmission device 10502, shown in configuration and Figure 85 The configuration of end effector 10505 is consistent.More specifically, sliding block gear 10516 is in its invalid or clear position, and not with The beating shaft 10540 of the closure axis 10530 or percussion driving that are closed driving is operatively engaged.When sliding block gear 10516 is in When its clear position, sliding block gear 10516 be positioned in installation and/or be bonded to closure axis 10530 closure gear 10532 with It installs and/or is bonded among the percussion gear 10542 of beating shaft 10540.In addition, when sliding block gear 10516 is in its free time When position, sliding block gear 10516 is not engaged with closure gear 10532 or percussion gear 10542.As shown in Figure 88, in order to by anvil Seat 10508 moves to its open position, and/or separates anvil block 10508 with end effector 10505, and input shaft 10510 can edge Direction A rotation, as shown in Figure 89.As described above, input shaft 10510 can make jackshaft 10520 along direction B along the rotation of direction A It rotates and proximally moves shift unit block 10526.When shift unit block 10526 proximally moves, shift unit block 10526 can be incited somebody to action Sliding block gear 10516 is pushed to be operatively engaged with closure gear 10532.At this point, input shaft 10510 continues along direction A Rotation can be transmitted to closure axis 10530 via the sliding block gear 10516 and closure gear 10532 being engaged.When sliding block gear 10516 with closure gear 10532 be engaged when, input shaft 10510 will make output shaft 10530 along direction C along the rotation of direction A Rotation, as shown in Figure 89.Closure driving may also include with the closure nut 10536 for being defined in threaded hole 10537 therein, should Closure nut is threadably engaged with the threaded portion 10534 for being closed axis 10530.Being closed nut 10536 may include and surgery device One or more anti-rotational features that the frame of tool slidably engages, for example, the anti-rotational feature can prevent closure nut 10536 rotate together with closure axis 10530, so that the rotary motion of closure axis 10530 can be converted into the vertical of closure nut 10536 To movement.Closed system may also include the enclosed member 10538 extended from closure nut 10536, which can be with anvil block 10508 engagements.Nut 10536 and enclosed member are closed when being closed axis 10530 along direction C rotation referring again to Figure 89 10538 can promote towards distal side anvil block 10508 is moved to open position.

Further described above, Figure 89 shows the transmission device 10502 in closed configuration, in the configuration, Anvil block 10508 can be opened and closed.When sliding block gear 10516 and closure gear 10532 are engaged, input shaft 10510 Closure axis 10530 will be directly driven.Simultaneously as being engaged between input gear 10512 and intermediate gear 10522, defeated Jackshaft 10520 will be directly driven by entering axis 10510.In addition, when sliding block gear 10516 and closure gear 10532 are engaged, Sliding block gear 10516 is not engaged with percussion gear 10542, therefore, defeated when transmission device 10502 is in closed configuration Beating shaft 10540 will not be driven by entering axis 10510.

Further described above, once anvil block 10508 has been moved to open position and/or and enclosed member 10538 separation, tissue can be located among anvil block 10508 and nail bin 10506.Then, referring to Figure 90 and Figure 91, anvil block 10508 can be by making input shaft 10510 move to its closed position and (i.e. direction A ') rotates in opposite direction, this will make to be closed Axis 10530 rotates in opposite direction (i.e. direction C '), proximally to move closure nut 10536, enclosed member 10538 and anvil Seat 10508.When input shaft 10510 along direction A ' rotate when, input shaft 10510 will also in opposite direction (i.e. direction B ') rotation in Between axis 10520.When jackshaft 10520 is rotated 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 push, until sliding block gear 10516 not It is engaged again with closure gear 10532 and sliding block gear 10516 has returned to its clear position.Jackshaft 10520 is along direction The additional rotation of B ' will cause shift unit block 10526 by sliding block gear 10516 towards distal side shift, until sliding block gear 10516 with Percussion gear 10542 is engaged.At this point, input shaft 10510 can directly drive beating shaft 10540 referring to Figure 92 and Figure 93.So Afterwards, when input shaft 10510 is rotated along direction A ', input shaft 10510 can rotate beating shaft 10540 along direction D '.Trigger system It may also include the percussion nut 10546 with threaded hole 10547, the threaded portion 10544 of the percussion nut and beating shaft 10540 It is threadably engaged.When beating shaft 10410 is rotated along direction A ', beating shaft 10540 can promote percussion nut towards distal side 10546.Firing 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 together with beating shaft 10540, and makes beating shaft 10540 Rotary motion can be converted into the longitudinal movement of percussion nut 10546.Percussion driving may also include from the percussion extension of nut 10546 Firing member 10548, the firing member are promoted towards distal side to project and follow closely from nail bin 10506.It goes in the entire percussion of trigger system Cheng Zhong, 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 is achievable.At this point, firing member 10548 can be at its complete firing position.

Further described above, Figure 93 shows the transmission device 10502 in percussion configuration, in the configuration, Firing member 10548 can be pushed into or bounce back.When sliding block gear 10516 and percussion gear 10542 are engaged, input shaft 10510 will directly drive beating shaft 10540.Simultaneously as engaging between input gear 10512 and intermediate gear 10522 connects It closes, input shaft 10510 will directly drive jackshaft 10520.In addition, being connect when sliding block gear 10516 is engaged with percussion gear 10542 When conjunction, sliding block gear 10516 is not engaged with closure gear 10532, therefore, when transmission device 10502 is in percussion configuration When, input shaft 10510 will not drive closure axis 10530.

In order to make firing member 10548 bounce back, input shaft 10510 can be rotated along direction A along direction B rotating intermediate shaft 10520, shift shift unit block 10526 proximally, and be re-engaged sliding block gear 10516 with percussion gear 10542.This When, input shaft 10510 rotates beating shaft 10540 along the direction opposite with direction D ' along the rotation that continues of direction A, and makes to fire Nut 10546 proximally shifts, and firing member 10548 is made to bounce 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 no longer with percussion gear 10542 be engaged and sliding block gear 10516 reach its clear position.At this point, lasting rotation of the input shaft 10510 along direction A Turn will to continue to make shift unit block 10526 and sliding block gear 10516 proximally shift and by sliding block gear 10516 be closed gear 10532 are re-engaged to reopen anvil block 10508.

Figure 94 to Figure 98 shows the surgical instruments 11010 for being configured to suture and/or cut 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 limits second part axis 11050.Second part axis 11050 limits angle with longitudinal axis 11030 together 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, which has the opening for being configured to removedly receive nail bin 11080.Nail bin 11080 may include It is removedly stored in multiple nails in the nail cavity of at least two stringers arrangement, a stringer is used on the either side in channel It can advance in the channels in the knife of transecting patient tissue, as described in greater detail below.It, can be vertical by three at least one situation Capable nail cavity is arranged on first side in knife channel, and the nail cavity of three stringers may be arranged in the second side in knife channel.Jaw 11090 may include anvil block, which can rotate to position that is opposite with nail bin 11080 and aligning, so that being defined in anvil Anvil block pit in seat 11090 can receive the nail projected from nail bin 11080 and make its forming.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 embodiments, In include nail bin 11080 jaw can be rotated 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, which is configured to grasp Make the closed system for moving anvil block 11090 between its open position and closed position, which is configured to The trigger system that operation projects nail 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 index finger of the hand of the support shank 11015 of operator.

Further described above, during use, anvil block 11090 can be moved toward and away from nail bin 11080.? In various situations, close push button 11065 may include two-way switch.When close push button 11065 is pressed along 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 When 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 the closure motor 11110 of movement anvil block 11090.It may include extending therefrom rotatable for being closed motor 11110 It is closed axis 11130, the first closure gear 11140 is attachable to the closure axis.It is closed the rotatable closure axis 11130 of motor 11110, And it is closed axis 11130 rotatable first and is closed gear 11140.First closure gear 11140 can be engaged with idle gear 11150 to be connect It closes, which can then be engaged with closure driving screw driving gear 11160.It is attached to be closed driving screw driving gear 11160 It is connected to closure driving screw 11170.When the first closure gear 11140 is rotated by closure axis 11130, the first closure gear 11140 rotatable idle gears 11150, the rotatable closure driving screw of idle gear 11150 drives gear 11160, and is closed guide screw Bar drives the rotatable closure driving screw 11170 of gear 11160.

Referring primarily to Figure 97, it is closed axis 11130, first and is closed gear 11140, idle gear 11150 and closure driving screw drive Moving gear 11160 can be pivotably supported by the motor block 11125 being supported in handle portions 11120.It is closed driving screw 11170 It may include the first end being 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) that can have threaded hole 11176, the spiral shell of the threaded hole and closure driving screw 11170 Line part is threadably engaged.Closure blocks 11175 can it is restrained and cannot with closure driving screw 11170 rotate together so that working as When being closed the rotation of driving screw 11170, closure driving screw 11170 can be such that closure blocks 11175 shift proximally or towards distal side, this depends on In the direction that closure driving screw 11170 rotates.For example, being closed guide screw if closure driving screw 11170 is rotated in a first direction 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 be closed The form for closing channel 11180 is installed to latch member, external translation of the latch member along 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 11120 protrusion of part.When observed from the end, close passage 11180 may include channel substantially " u "-shaped and may include opposite Side wall 11182.Each side wall 11182 may include being defined in cam slot 11190 therein.It is as follows further to retouch in more detail It states, cam slot 11190 can be configured to engagement anvil block 11090 and move anvil block relative to nail bin 11080 11090。

Further described above, close passage 11180 cooperates 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 being defined in wherein Elongated slot 11195, and close passage 11180 may include the pin extended inwardly into elongated slot 11195.Close passage Pin and elongated slot 11195 can constrain the movement of close passage 11180, so that close passage 11180 is relative to warehouse channel 11070 Path shift along longitudinal direction.The translational motion of close passage 11180 can be such that anvil block 11090 rotates.Anvil block 11090 can be closed via distal side Dowel pin 11210 is connected to close passage 11180, which extends through the anvil block cam being defined in anvil block 11090 Hole 11211 and the cam slot 11190 being defined in close passage 11180.Each cam slot 11190 may include first end Portion or distal end 11191 and the second end or proximal end 11192.Each cam slot 11190 may also include the first driving Surface or nearside driving surface 11193 and the second driving surface or distal side driving surface 11194.When closed system is in its opening 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.Work as close passage 11180 towards distal side promote with towards nail bin 11080 move anvil block 11090 when, the first driving surface 11193 can contact distal side closure Pin 11210 and distal side closure pin 11210 is pushed down on towards nail bin 11080.When closed system be in its closed configuration and When anvil block 11090 is in its closed position opposite with nail bin 11080, close passage 11180 can be at its second position or complete In fully urged position, and distal side closure pin 11210 can be at the second end or proximal end 11192 of cam slot 11190.

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 bending part and at least linear segment.In at least one situation, 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 It is substantially perpendicular to the vertical surface of the longitudinal axis 11030 of instrument 11010 less.Such flat surfaces can be used as pawl, the spine Pawl will need the power of primary quantity so that closure pin 11210 is displaced in the arcuate section of cam slot 11190.In certain 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 be parallel to or at least substantially parallel to longitudinal axis 11030 horizontal surface.Flat table Face 11196 can provide larger mechanical dominance between close passage 11180 and anvil block 11090.In all cases, work as closure pin 11210 be in slit 11190 distal end 11191 when, the first driving surface 11193 can to closure pin 11210 apply very Small mechanical dominance；However, when the proximally facing end 11192 of closure pin 11210 slides through cam slot 11190, by One driving surface 11193 can increase to the mechanical dominance that closure pin 11210 applies.When closure pin 11210 enters proximal end When in 11192, the mechanical dominance applied by the first driving surface 11193 can be maximum, and be greater 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 to closure pin 11210 compared with gadget advantage, distal end 11191 Closure pin 11210 can be made relative to 11080 rapid traverse of storehouse.It is promoted in close passage 11180 towards distal side and is applied to closure When the mechanical dominance of pin 11210 increases, as described above, the first driving surface 11193 can move anvil block 11090 more slowly to obtain The given speed of close passage 11180.

As shown in Figure 96, warehouse channel 11070, which may also include, is defined in distal side therein closure slit 11215, can be by It is constructed to be permeable to receive distal side closure pin 11210 when anvil block 11090 is close to its closed position.Distal side is closed slit 11215 Substantially vertical, and may include the open end at the top of warehouse channel 11070 and the closure at its opposed end End.Slit 11215 is wide than end is closed at it at its open end.In all cases, when anvil block 11090 reaches When its closed position, the closure end of the accessible closure slit 11215 of closure pin 11210.In this case, it is closed slit 11215 closure end can stop the movement of anvil block 11090.In some cases, when anvil block 11090 is in its closed position When, anvil block 11090 can contact nail bin 11080.In at least one situation, anvil block 11090 can be rotated around pivot pin 11200, Until the distal end 11091 of anvil block 11090 contacts the distal end 11081 of nail bin 11080.As shown in Figure 98, anvil block is moved 11090 distal side closure pin 11210 is positioned relative to pivot pin 11220 towards distal side.Therefore, anvil block is applied to by closure driving 11090 closing force applies relative to pivot towards distal side, which is rotationally attached to warehouse channel 11070 for anvil block 11090. Similarly, it is applied to the opening force of anvil block 11090 by closure driving to apply relative to pivot towards distal side, the pivot is by anvil block 11090 are rotationally attached to warehouse channel 11070.

As described above, shank 11015 may include close push button 11065, which is configured to operation surgery The closed system of instrument 11010.The movement 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 be closed, this causes power flow direction to be closed motor 11110.This In the case of, switch 11285 can be closed power circuit, which can provide power supply to closure motor 11110.In certain 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 been 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 is closed 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 so that the operator of surgical instruments 11010 needs Close push button 11065 is maintained under pressing state, is closed completely configuration until closure driving has reached it.In close push button In the case that 11065 are released, microprocessor can stop being closed motor 11110.Alternatively, complete if reaching its in closure driving Close push button 11065 is discharged before complete closure configuration, then microprocessor can make the direction for being closed motor 11110 reversed.It is being closed Driving reaches it and is closed completely after configuration, and microprocessor can stop being closed motor 11110.In all cases, it is as follows more It describes in detail, surgical instruments 11010 may include being configured to when detection closed system reaches it and be closed completely configuration Closed sensor 11300 (Figure 96 and Figure 98).Closed sensor 11300 can be communicated with microprocessor signals, work as microprocessor From closed sensor 11300 receive anvil block 11090 be closed signal when, the microprocessor can by power source from closure motor 11110 disconnect.In all cases, it after closed system has been placed into its closed configuration, but is operated in trigger system Before, re-pressing close push button 11065 can cause microprocessor to keep the direction for being closed motor 11110 reversed and reopen Anvil block 11090.In some cases, microprocessor can reopen anvil block 11090 to its fully open position, and at other In the case of, microprocessor can reopen anvil block 11090 to partial open position.

Once the trigger system of the adequate closure of anvil block 11090, surgical instruments 11010 can be operated.Referring primarily to Figure 95 and Figure 97, trigger system may include percussion 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 firing motor 11120 can be along being parallel to or at least base The second longitudinal direction motor axis that the first motor axis is parallel in sheet extends.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 fires motor 11120 and can be positioned in second side of longitudinal axis 11030.In this case, first longitudinal direction Motor axis can the first side of axis 11030 along longitudinal direction extend, and second longitudinal direction motor axis can axis 11030 along longitudinal direction Second side extends.In all cases, first longitudinal direction motor axis can extend across the center of closure axis 11130.With phase above Seemingly, percussion motor 11120 may include rotatable beating shaft 11230 extending therefrom.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 is engaged with the percussion driving screw driving gear 11250 for being installed to percussion driving screw 11260.Work as beating shaft 11230 by motor 11120 rotate when, beating shaft 11230 rotatable first fire gear 11240, first percussion gear 11240 Rotatable percussion driving screw drives gear 11250, and fires the driving screw driving rotatable percussion driving screw of gear 11250 11260.Referring primarily to Figure 97, beating shaft 11230, first fire gear 11240, percussion driving screw driving 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 motor block 11125 and the first barrier plate 11126.First barrier plate 11126 may be mounted to motor It on block 11125 and also can 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 11126.It is similar to the above, the first closure gear 11140, idle gear 11150 and closure guide screw Bar driving gear 11160 can be positioned among the first barrier plate 11126 and the second barrier plate 11127.In all cases, first Barrier plate 11126 and/or the second barrier plate 11127 can be pivotably supported closure axis 11130, first be closed gear 11140, Idle gear 11150, closure driving screw driving gear 11160 and/or closure driving screw 11170.

Said motor and gear arrangement can help to save the space in the shank 11015 of surgical instruments 11010.Institute as above It states, and referring primarily to Figure 97, is closed motor 11110 and percussion motor 11120 is located on motor block 11125.It is closed motor 11110 be located at percussion motor 11120 side on and slightly proximally.From a motor, proximally another motor of bias can The space for being used for two gear trains is generated, one of gear train is behind another gear train.E.g., including the first closure tooth It includes the first percussion that the closure gear train of wheel 11140, closure idle gear 11150 and closure driving screw driving gear 11160, which is located at, The percussion gear train nearside of gear 11240 and percussion driving screw driving gear 11250.Extend motor drive shaft proximally far from jaw (while the main body of motor extends towards distal side towards jaw) can generate space in shank 11015, and by making motor 11110 With 11120 main body beside the other component 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, Being closed gear train and percussion gear train may include any appropriate number of gear.Third gear is closed to idle gear 11150 to add Being added to closure gear train allows closure driving screw 11170 to offset downward relative to percussion driving screw 11260, so that individual guide screw Bar can be rotated around not coaxial line.In addition, third gear eliminates the axis for using larger diameter gear offset driving screw Demand so that the volume of the overall diameter in space needed for gear train and shank 11015 can reduce.

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

Further described above, percussion driving screw 11260 may include for example by the rotatable twelve Earthly Branches of motor block 11125 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 driving may also include percussion block 11265, which may include and percussion driving screw 11260 The threaded hole 11266 that threaded portion is threadably engaged.Fire block 11265 can it is restrained and cannot with percussion driving screw 11260 It rotates together, so that the rotation of percussion driving screw 11260 can make to fire block 11265 proximally or be translated to the far side, this is depended on Fire the direction that driving screw 11260 is rotated by percussion motor 11120.For example, when percussion driving screw 11260 is revolved along first direction When turning, percussion driving screw 11260 can make to fire block 11265 towards distal side displacement, and work as percussion driving screw 11260 in a second direction When rotation, percussion driving screw 11260 can be such that percussion block 11265 proximally shifts.As described in greater detail below, block is fired 11265 can promote towards distal side to dispose the nail being removedly stored in nail bin 11080 and/or incision capture in nail bin 11080 With the tissue between 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 piece 11280, which is attached to pushing block 11270 simultaneously And extend from pushing block 11270 towards distal side.Firing wedge piece 11280 can respectively include at least one CAM table at its 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 piece 11280 cutter blocks 11281 being arranged in a manner of it can slide.In all cases, the initial distal movement for firing block 11265 can To be not transferred to cutter block 11281；However, pushing block 11270 for example can contact cutter block firing block 11265 towards when the propulsion of distal side 11281 and cutter block 11281 is pushed towards distal side and is installed to its knife 11282.In other cases, cutter block 11281 is mountable Onto percussion wedge piece 11280 so that cutter block 11281 and knife 11282 in the entire motion process of percussion wedge piece 11280 with Percussion wedge piece 11280 moves together.Fire block 11265, pushing block 11270, percussion wedge piece 11280, cutter block 11281 and knife 11282 can form pushing block and knife assembly.Under any circumstance, firing wedge piece 11280 and knife 11282 can move toward the far side with same 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 piece 11280 can be positioned 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, 11065 contact closure switch 11285 of close push button 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 be closed power circuit, which can provide electrical power to percussion motor 11120.At certain In a little situations, percussion switch 11290 can be communicated with the microprocessor signals of surgical instruments 11010, and work as percussion switch 11290 When being closed, power source can be operably connected to percussion motor 11120 by microprocessor.It 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 promotes 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 fire component retraction.In all cases, firing button 11055 can wrap Two-way switch is included, which is configured to when firing button 11055 is pushed along first direction in its first direction Upper operation fires motor 11120, and operates percussion in its second direction when firing button 11055 pushes in a second direction Motor 11120.

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

Some embodiments are contemplated, wherein even if closed system is in part closed configuration and anvil block 11090 is in portion Divide closed position, the trigger system of surgical instruments 11010 can still operate.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 It touches anvil block 11090 and anvil block 11090 is moved into its fully closed position.For example, knife 11282 may include being configured to The cam member of anvil block 11090 is engaged when knife 11282 is promoted towards distal side, which can move to it for anvil block 11090 Fully closed position.Knife 11282 may also include the second cam member for being configured to engagement 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 at least one situation, 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 the sensing for being configured to detection trigger system and its firing schedule when being completed Device.In at least one situation, surgical instruments 11010 may include sensor, such as encoder, such as can be adapted to The rotation of enough detection percussion driving screws 11260 simultaneously counts it.Sensors with auxiliary electrode can be with the micro process of surgical instruments 11010 Device signal communication.Microprocessor can be configured to count the rotation of percussion 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 be 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 may extend into cable in shank 11015.Power source may include at least one being contained 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, which can be independently of the rest part of shank 11015.Such unit It 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 will be outer The state of section's instrument sends user to, and during the different operating states of surgical instruments 11010, LED 11100 can be different Colour light emitting.For example, working as, surgical instruments 11010 is powered and 11080 no-fix of unspent nail bin is in warehouse channel 11070 When, the light of capable of emitting first color of LED 11100.Surgical instruments 11010 may include one or more sensors, the sensor Can be configured to detection nail bin 11080 whether there is in warehouse channel 11070 and nail whether penetrated from nail bin 11080 Out.When surgical instruments 11010 is powered and unspent nail bin 11080 is positioned in warehouse channel 11070, LED The light of 11100 capable of emitting second colors.When instrument 11010 is powered, unspent nail bin 11080 is loaded onto warehouse channel In 11070, and when anvil block 11090 is in the close position, the light of the capable of emitting third color of LED 11010.Such third color It can indicate that surgical instruments 11010 is ready to project from nail bin 11080 to follow closely.LED 11100 can be issued after percussion process starts The light of 4th color.LED can issue 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 can be used one A 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 to 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 becomes 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 that nail bin 11080 to be placed in warehouse channel 11070.Then user can will follow closely Storehouse 11080 is located on the side of tissue to be stapled and crosscutting, and anvil block 11090 is located on the opposite side of tissue. By pinning close push button 11065 with its thumb, user can be closed surgical instruments 11010.It is released before closing stroke completion Anvil block 11090 can be reopened and user is allowed to relocate surgical instruments as needed by putting close push button 11065 11010.User, which can enjoy, is able to 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 feeling 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.At this point, LED 11100 capable of emitting The light of three colors has loaded, has been closed and has been ready to the surgical instruments 11010 of percussion to show.Then user's pressable percussion is pressed Button 11055, the firing button contact percussion switch 11290 and percussion switch 11290 are caused to make to fire the energization of motor 11120. Make to fire motor 11120 and be powered that beating shaft 11230 can be made to rotate, which then rotates the first percussion gear 11240 and hit It sends out driving screw and drives gear 11250.Fire the driving screw driving rotation percussion driving screw 11260 of gear 11250.Fire driving screw 11260 be threadedly engaged is defined in the internal screw thread fired in block 11265 and resists its applied force to move toward the far side percussion block 11265.Percussion block 11265 moves toward the far side pushing block 11270, to carry percussion wedge piece 11280 towards distal side.Percussion wedge shape It is convex that cam face 11305 at the distal end of part 11280 carries out the nail being stored in nail bin 11080 towards anvil block 11090 Wheel movement, and anvil block 11090 can make nail forming carry out fastening tissue.Pushing block 11270 engages cutter block 11281 to push knife towards distal side Block 11281 and knife 11282, thus 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 piece 11280 and knife 11282 return.Surgical instruments 11010 may include button And/or switch, microprocessor retraction percussion component is indicated automatically, even if firing schedule is not yet completed.In some cases, it hits 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 make to be closed the energization of motor 11110.Being closed motor 11110 can edge Inverse direction operates so that close passage 11180 proximally bounces back, to reopen the anvil block 11090 of surgical instruments 11010. The light of 4th color of the process in the storehouse and completion of the capable of emitting instruction percussion of LED 11100.

Surgery suturing appliance 12010 is shown in Figure 99 into Figure 106.Instrument 12010 may include shank 12015, closure driving It is driven with percussion, closure driving includes the closure for being configured to compress tissue between nail bin 12080 and anvil block 12090 Latch 12050, percussion driving are configured to project from nail bin 12080 and follow closely and cut tissue.Figure 99 show in open, The instrument 12010 of unlatched state.When instrument 12010 is in its opening, unlatched state, anvil block 12090 pivots away from nail Storehouse 12080.In all cases, anvil block 12090 can be pivoted through wide angle relative to nail bin 12080, so that 12090 He of anvil block Nail bin 12080 can be easy to be located on the opposite side of tissue.Figure 100 shows the instrument 12010 in closure, unlatched state. When instrument 12010 is in its closure, unlatched state, anvil block 12090 rotates to and nail bin 12080 towards nail bin 12080 In opposite closed position.In all cases, the closed position of anvil block 12090, which may depend on, is located in anvil block 12090 and nail The thickness of tissue among storehouse 12080.For example, when the tissue being located among anvil block 12090 and nail bin 12080 is thicker with work as It is compared when organizing relatively thin, the reachable closed position further away from nail bin 12080 of anvil block 12090.Figure 101 shows to be in and close It closes, the instrument 12010 of latch mode.When instrument 12010 is in its closure, latch mode, closure latch 12050 is rotated to It engages anvil block 12090 and positions anvil block 12090 relative to nail bin 12080.At this point, as follows be further more fully described, The percussion driving of surgical instruments 12010 can be activated from 12080 percussion nail of nail bin and to cut tissue.

Referring primarily to Figure 106, surgical instruments 12010 may include the frame 12020 extended from shank 12015.Frame 12020 It may include being defined in frame passage 12022 therein, can be configured to receive and/or support warehouse channel 12070.Storehouse Channel 12070 may include proximal end and distal end.The proximal end of warehouse channel 12070 can be connected to frame 12020.Storehouse is logical The distal end in road 12070 can be configured to removedly receive nail bin 12080 wherein.Frame passage 12022 can Including the pivot hole 12207 being defined in its opposite side.Pivot pin 12205 may be supported in pivot hole 12207 and can lead to Extend between the side in road 12022.Being closed latch 12050 may include the latch frame 12051 with latch bar 12052.Latch Bar 12052 can be rotatably attached to frame 12020 via pivot pin 12205, which, which can extend across, is defined in latch Pivot hole 12206 in bar 12052.In all cases, pivot hole 12206,12207 and pivot pin 12205 can limit fixation Axis 12208, closure latch 12050 can be rotated around the fixed axis.Closure latch 12050, which may also include, is installed to latch bar 12052 latch housing 12057.When the user of surgical instruments 12010 moves latch housing 12057, latch housing 12057 Latch bar 12052 can be made to move.The operation of closure latch 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 being aligned or can be aligned, wherein when anvil block 12090 is in its closed position, nail Chamber limit is in nail bin 12080.The proximal end of anvil block 12090 can be as pivotally connected to frame 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 frame 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 be rotated around the fixed axis.In some cases, pivot hole 12201, 12202 and/or 12203 can longitudinal elongation, such as make pivot pin 12200 can be in pivot hole 12201,12202 and/or 12203 Interior sliding.In this case, anvil block 12090 can be rotated around axis relative to warehouse channel 12070, in addition, logical relative to storehouse Road 12070 translates.Anvil block 12090 may also include the anvil block shell 12097 for being installed to it.As the user of surgical instruments 12010 When moving anvil block shell 12097, anvil block shell 12097 can be such that anvil block 12090 moves, so that anvil block 12090 can be in open position It is rotated between (Figure 99) and closed position (Figure 100).

Further described above, anvil block 12090 may also include latch pin 12210.Anvil block 12090 may include latch Pin hole 12211, and anvil block shell 12097 may include latch-pin aperture 12212, and which is configured to receive and prop up Support latch pin 12210.When anvil block 12090 has been moved in its closed position or the position adjacent with its closed position, latch 12050 engageable latch pins 12210 and towards nail bin 12080 pull anvil block 12090.In all cases, latch 12050 Latch bar 12052 can respectively include the latch arms 12053 for being configured to engagement latch pin 12210.Latch 12050 can be not Rotated between latch position (Figure 100) and latch position (Figure 101), in unlatched position, latch arms 12053 not with latch pin 12210 engagements.When latch 12050 moves between its unlatched position and its latch position, the engageable door bolt of latch arms 12053 Lock pin 12210 and make anvil block 12090 towards nail bin 12080 move.Each latch arms 12053 may include being configured to connect Touch the cam face of latch pin 12210.Cam face can be configured to that latch pin is pushed and guided towards nail bin 12080 12210.When latch 12050 reaches its latch position, latch pin 12210, which can be trapped in, to be defined in latch bar 12052 Latch slit 12054 in.Latch slit 12054 can be limited at least partly by latch arms 12053.Latch slit 12054 Opposite side may include promoted surface, which can be configured in latch 12050 in its latch position and its Latch pin 12210 is engaged when rotating between unlatched position to open instrument 12010 and promotes anvil block 12090 far from nail bin 12080, it is as follows to be further more fully described.

As described above, anvil block 12090 can be moved towards nail bin 12080.In all cases, when the distal side of anvil block 12090 When end contacts the distal end of nail bin 12080, the movement of anvil block 12090 towards nail bin 12080 can stop.In certain situations Under, when latch pin 12210 contacts warehouse channel 12070, the movement of anvil block 12090 can stop.Warehouse channel 12070 may include limiting In slit 12215 therein, which is configured to receive latch pin 12210.Each slit 12215 may include facing upward Open end and it is other include closure end, latch pin 12210 can enter slit 12215 by the open end.Each In the case of kind, when anvil block 12090 reaches its closed position, latch pin 12210 can contact the closure end of slit 12215.? In some cases, if thick tissue is located between anvil block 12090 and nail bin 12080, latch pin 12210 may not contact narrow The closure end of slot 12215.In at least one situation, anvil block 12090 may also include latch 12095.Latch 12095 can It is installed on anvil block 12090 and is supported by anvil block 12090 via pin hole 12096 therein is defined in.Latch 12095 can be with It is configured to contact warehouse channel 12070 and stops the movement of anvil block 12090 towards nail bin 12080.It is similar to the above, storehouse Channel 12070, which may also include, is defined in retaining slot 12075 therein, which can be configured to receive stop Pin 12095.Each retaining slot 12075 may include open end and other closure end upwardly, latch 12095 Retaining slot 12275 can be entered by the open end.In all cases, when anvil block 12090 reaches its closed position, only Dynamic pin 12095 can contact the closure end of retaining slot 12075.In some cases, if thick tissue is located in anvil block 12090 Between nail bin 12080, then latch 12095 may not contact the closure end of retaining slot 12075.

As described above, warehouse channel 12070 can be installed to frame 12020.In all cases, warehouse channel 12070 can be with Rigidity and it is fixedly secured to frame 12020.In this case, warehouse channel 12070 is possible can not be relative to frame 12020 And/or shank 12015 moves.In some cases, warehouse channel 12070 can be pivotally coupled to frame 12020.At least In a kind of such situation, warehouse channel 12070 may include being defined in pivot hole 12202 therein, which can be configured to Pivot pin 12200 can be connect.In this case, anvil block 12090 and warehouse channel 12070 can surround pivot relative to frame 12020 Pivot pin 12200 rotates.When latch 12050 is engaged with latch pin 12210, latch 12050 can be by anvil block 12090 and warehouse channel 12070 are held in place.

In some cases, further described above, instrument 12010 may include being configured to detection anvil block Whether 12090 be in the one or more sensors of its closed position.In at least one situation, instrument 12010 may include fixed Pressure sensor of the position among frame 12020 and warehouse channel 12070.Pressure sensor may be mounted to such as frame passage 12022 or warehouse channel 12070 bottom.When pressure sensor is installed to the bottom of warehouse channel 12070, pressure sensor can be Warehouse channel 12070 contacts frame passage 12022 when moving towards frame passage 12022.If warehouse channel 12070 can be relative to frame Frame channel 12022 rotates, then warehouse channel 12070 can be moved towards frame passage 12022, as described above.In addition to 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 It is 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 closed position and/or when anvil block 12090 passes through When latch 12050 is moved towards warehouse channel 12070, compressive load is produced between anvil block 12090 and warehouse channel 12070A.Work as anvil When seat 12090 is pushed towards warehouse channel 12070 and/or when latch 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 being defined in wherein Slit or groove 12209, can be configured to receive pivot pin 12205.Under any circumstance, pressure sensor can To be configured to detect the pressure or power that apply to warehouse channel 12070.Pressure sensor can be micro- with surgical instruments 12010 Processor signal communication.When pressure or power detected by the pressure sensor are more than threshold value, microprocessor allows instrument 12010 trigger system is operated.Before pressure or power are more than threshold value, when user attempts operation trigger system, micro- place Reason device can alert the user of surgical instruments 12010, and anvil block 12090 is possible not closed or may non-adequate closure.In addition to such Replacement except warning or as such warning, it is micro- if pressure detected by pressure sensor or power are less than threshold value Processor can prevent the trigger system of instrument 12010 from being operated.

In some cases, further described above, instrument 12010 may include being configured to detection latch Whether 12050 be in the one or more sensors of its latch position.In at least one situation, instrument 12010 may include fixed Sensor 12025 of the position among frame 12020 and warehouse channel 12070.Sensor 12025 may be mounted to such as frame passage 12022 or warehouse channel 12070 bottom.When sensor 12025 is installed to the bottom of warehouse channel 12070, latch 12050 can be Contact sensor 12025 when moving to its latch position from its unlatched position.Sensor 12025 can be with surgical instruments 12010 Microprocessor signals communication.When sensor 12025 detects that latch 12050 is in its latch position, microprocessor can be permitted Perhaps the trigger system of instrument 12010 is operated.It is sensed before latch 12050 is in its latch position in sensor 12025, 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 other than such warning or as such warning, if latch is not detected 12050 are in its latch position, then microprocessor can prevent the trigger system of instrument 12010 from being operated.In all cases, it passes Sensor 12025 may include such as proximity sensor.In some cases, sensor 12025 may include such as Hall effect sensing Device.In at least one such situation, latch 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 such as bracket 12026.

Referring primarily to Figure 105, the trigger system of surgical instruments 12010 may include being configured to rotation beating shaft 12230 percussion motor 12120.Percussion motor 12120 may be mounted to the motor frame 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, which includes: installation The driving screw gear 12250 of driving screw 12260 is installed to the first percussion gear 12240 of closure axis 12230 and two,.The One percussion gear 12240 can be engaged with driving screw gear 12250, so that when the first percussion gear 12240 is by beating shaft When 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, this One end is rotatably installed in the hole being defined in motor block 12125, which, which is pivotally supported at, is installed to In bearing on the bearing portions 12264 of shank 12015.Driving screw 12260 may additionally include first end 12261 and second end The threaded portion 12262 extended between portion 12263.Trigger system may also include logical with the threaded portion 12262 of driving screw 12260 Cross the percussion nut 12265 being threadedly engaged.Percussion nut 12265 can be restrained and cannot 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 be fired Nut 12265, and correspondingly, when driving screw 12260 by percussion motor 12120 in a second direction or opposite direction rotation When, driving screw 12260 can proximally bounce back and fire nut 12265.

Further described above, percussion nut 12265 may be mounted to percussion block 12270, the percussion block can with hit Fat nut 12265 translates together.In all cases, percussion nut 12265 and percussion block 12270 may be integrally formed.With it is above Similar, trigger system may also include trigger shaft 12280 extending therefrom, 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 that is translated to the far side.When percussion component is promoted by driving screw 12260 towards distal side When, trigger shaft 12280 can enter in nail bin 12080 and project nail from it.Trigger system may also include cutter block 12281 and installation To cutter block 12281 and knife bar extending therefrom 12282.Block 12270 is being fired towards when the propulsion of distal side, trigger shaft 12280 is engageable Cutter block 12281 and cutter block 12281 and knife bar 12282 are promoted towards distal side.In all cases, percussion block 12270 can fire It moves during the initial part of stroke relative to cutter block 12281, is then moved together during the last part of firing schedule.? In at least one such situation, trigger shaft 12280 can be slid through the slit being defined in cutter block 12281, until from trigger shaft The 12280 one or more raised surface contact cutter blocks 12281 extended 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 the cutter block that can be moved simultaneously with percussion block 12270 and trigger shaft 12280 12281 and knife bar 12282.In either case, when knife bar 12282 is promoted towards distal side, the cutting edge of knife bar 12282 12283 can cut into the tissue captured 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 the United States Patent (USP) 4,633,874 of LOADING CARTRIDGE " 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 be closed can operate 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 percussion motor 12120 power can 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 pushing along first direction, which can operate percussion motor 12120 along first direction, and ought push in a second direction When, which can in a second direction or opposite direction operation fires 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, which 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 latch 12050 has been closed.In any situation Under, firing button 12055 can be pushed along its first direction to promote trigger shaft 12280 and knife 12282 towards distal side, and can be along it Second direction pushes so that trigger shaft 12280 and knife 12282 proximally bounce back.In some cases, surgical instruments 12010 can wrap It includes the firing button for being configured to operate percussion motor 12120 along its first direction and switch and is 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, Latch 12050 can move to its unlatched position from its latch position, so that latch arms 12053 and latch pin 12210 are detached from.So Afterwards, anvil block 12090 is pivotably far from nail bin 12080, so that surgical instruments 12010 returns to opening, unlatched state.With it is above Similar, surgical instruments 12010 may include that the one or more for the state for being for example configured to instruction surgical instruments 12010 refers to Show device, such as LED 12100.LED 12100 can be communicated with the microprocessor signals of surgical instruments 12010, and can be such as It is operated in the mode similar in conjunction with described in LED 11100.LED 12100 can be held in place by such as bracket 12101.

In all cases, instrument 12010 may include percussion locking system, if anvil block 12090 is not in closed 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, instrument 12010 may include the biasing member 12400 for being for example installed to warehouse channel 12070, which can be by knife 12282 are biased into and engage with the lock part of shank 12015.When anvil block 12090 rotates to its closed position, anvil block 12090 The biasing force of biasing member 12400 can be overcome and push down on knife 12282 far from lock part.At this point, knife 12282 can be towards remote Side promotes.Similarly, instrument 12010 may include biasing member, which can be biased into trigger shaft 12280 and shank 12015 lock part engagement, wherein anvil block 12090 can make trigger shaft when anvil block 12090 moves to its closed position 12280 are detached 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 latch 12050 can be by Its another manual operating.In at least one embodiment, as a part for being closed latch 12050, user can be along one The general direction of hand moves its another hand, this can reduce the accidental and accidental movement of surgical instruments 12010.Surgical instruments 12010 can be by any suitable power supply power supply.For example, cable can extend in shank 12015 from external power supply.In certain 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 components are removed and other component is illustrated in cross-section.Instrument 13010 may include that shank 13015, first causes It moves device 13020, the second actuator 13030, shaft assembly 13040 and is executed 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 It is operated shown and described in the United States Patent (USP) 5,704,534 of ASSEMBLY FOR SURGICAL INSTRUMENTS ".It announces In the U.S. of entitled " the ARTICULATION ASSEMBLY FOR SURGICAL INSTRUMENTS " on January 6th, 1998 The disclosure of patent 5,704,534 is incorporated by herein.Electricity input cable 13018 can connect instrument 13010 It is connected to external power supply.In at least one situation, external power supply may include such as generator, such as by Ethicon Energy, The GEN11 generator of Cincinnati, OH manufacture.In all cases, external power supply may include AC to D/C adapter.Certain In the case of, instrument 13010 can such as be published in the entitled " MOTOR- on July 3rd, 2012 by such as internal battery powers Battery shown and described in the United States Patent (USP) 8,210,411 of DRIVEN SURGICAL CUTTING INSTRUMENT ".It announces In the United States Patent (USP) 8 of entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " on July 3rd, 2012, 210,411 disclosure is incorporated by herein.

In all cases, referring primarily to Figure 107, the anvil block 13050 of end effector 13012 can open position (such as Shown in Figure 107) and closed position between move, in the closed position, anvil block 13050 and 13055 adjacent positioned of nail bin or and its Contact, it is as follows to be further more fully described.In at least one such situation, nail bin 13055 can not be relative to anvil Seat 13050 pivots.In some cases, although being not shown, nail bin 13055 can be pivoted relative to anvil block 13050.At least one In the such situation of kind, anvil block 13050 can not be pivoted relative to nail bin 13055.Under any circumstance, instrument 13010 makes User can manipulate end effector 13012, so that tissue T to be located 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 instrument 13010 closed system.Closed system can be such that anvil block 13050 moves relative to nail bin 13055.For example, the first actuator 13020 It can be pulled towards the pistol grip portion 13016 of shank 13015 with closed anvil 13050, it is as follows further to retouch in more detail It states.

Closure driving may include the closure motor 13105 (Figure 110) for being configured to movement anvil block 13050.It is closed horse Up to 13105 shank 13015 can be installed to via such as motor support 13101.By the first actuator 13020 from its open position (Figure 108), which is expressed to its closed position (Figure 109), can make to be closed the energization of motor 13105.Referring primarily to Figure 110, it is closed motor 13105 may include the rotatable output shaft being operatively engaged with closure driving screw 13110.When closure motor 13105 makes to export When axis is rotated in a first direction, closure driving screw 13110 can be rotated in a first direction by output shaft.It is closed 13110 energy of driving screw It is enough pivotally supported in shank 13015 and may include threaded portion.Closure driving may also include and closure driving screw The closure nut that 13110 threaded portion is threadably engaged.Be closed nut can it is restrained and cannot with closure driving screw 13110 It rotates together, so that the translatable closure nut of rotary motion of closure driving screw 13110.Being closed nut can be with closed yoke 13120 It engages or is integrally formed therewith.When being closed motor 13015 along the rotation of its first direction, closure driving screw 13110 can be towards distal side Promote closed yoke 13120.In all cases, closed yoke 13120 can be slidably supported at shank by guide rail 13122 In 13015, which extends to the path that axis limits along longitudinal direction from the shank 13015 that constraint closed yoke 13120 moves.It is such Axis can be parallel with the longitudinal axis limited by shaft assembly 13040, substantially parallel, conllinear or be substantially collinear.Closure driving It may also include the closed tube 13125 extended from closed yoke 13120 towards distal side.Closed tube 13125 can also be the one of shaft assembly 13040 Part, and can be relative to the framework translation of shaft assembly 13040.When closed yoke 13120 is by being closed driving screw 13110 towards distal side When propulsion, 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 closed tube 13125 can be by anvil block 13050 from its when closed tube 13125 is promoted towards distal side Open position is pushed towards its closed position.It is published in entitled " the ARTICULATION ASSEMBLY on January 6th, 1998 The United States Patent (USP) 5,704,534 of FOR SURGICAL INSTRUMENTS " discloses a kind of closed system of manual actuation.

In at least one form, instrument 13010 may include the closed system switch being located in shank 13015, when the When one actuator 13020 is moved from its open position (Figure 108) towards its closed position (Figure 109), closed system switch can It is closed.In some cases, when the first actuator 13020 is in its closed position (Figure 109), closed system switch can quilt Closure.In either case, when closed system closes the switch, closed system power circuit can be closed with to closure motor 13105 provide electrical power, rotate to make to be closed motor 13105 along its first direction, as described above.In some cases, outside Section's instrument 13010 may include microprocessor, and similar to the above, and closed system switch can be communicated with microprocessor signals.When Closed system switch to microprocessor send instruction the first actuator 13020 be closed signal when, microprocessor allow to Closure motor 13105 provides power to operate closure motor 13105 along its first direction and make anvil block 13050 towards its closure Position movement.In all cases, as long as the first actuator 13020 at least partly activates and closed system switch is in and closes Conjunction state, closure motor 13105 can be such that anvil block 13050 moves towards its closed position.The first actuator is discharged in user 13020 and first actuator 13020 be back to its unactuated position in the case where, closed system switch can be opened and mention 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 is moved towards its closed 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 located in its fully closed position.

In at least one form, the movement of the first actuator 13020 can be proportional to the movement of anvil block 13050.First Actuator 13020 moves across the first movement when can move between its open position (Figure 108) and its closed position (Figure 109) Range or actuator motion range.Anvil block 13050 moves when can move between its open position (Figure 107) and its closed position Across the second motion range or anvil block motion range.Actuator motion range can correspond to anvil block motion range.For example, it causes Dynamic device motion range can be equal to anvil block motion range.For example, actuator motion range may include about 30 degree, and anvil block moves model Enclose 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 closed position, anvil block 13050 can direction Its closed position rotates 10 degree；When the first actuator 13020 rotates 20 degree towards its closed position, anvil block 13050 can direction Its closed position rotates 20 degree, etc..In the case where anvil block 13050 is blocked in operative site and can not see, first Direct proportion movement between actuator 13020 and anvil block 13050 can give user's anvil block 13050 of instrument 13010 relative to The feeling 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 Movement.For example, anvil block 13050 can be towards nail bin when the first actuator 13020 moves 10 degree towards pistol grip 13016 13055 10 degree of movements, and when the first actuator 13020 moves 10 degree far from pistol grip 13016, anvil block 13050 can 10 degree are moved far from nail bin 13055.Although the movement of the first actuator 13020 and the movement of anvil block 13050 can be according to 1:1 ratios It is directly proportional, but other ratios are also possible.For example, the movement of the first actuator 13020 and the movement 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 motion range of the first actuator 13020 can To be twice of motion range of anvil block 13050.In another case, the movement of the first actuator 13020 and anvil block 13050 Movement can be directly proportional according to 1:2 ratio.In this case, when the first actuator 13020 is relative to pistol grip 13016 At 1 degree of movement, anvil block 13050 will move 2 degree relative to nail bin 13055.In addition, in this case, the first actuator 13020 Motion range can be anvil block 13050 motion range half.In all cases, the movement of the first actuator 13020 It can be with the movement of anvil block 13050 linearly.In other cases, the movement of the first actuator 13020 can be with anvil block 13050 Movement it is in non-linear proportion.Regardless of ratio used, such embodiment can become 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, the closed system of instrument 13010 may include that can detect referring to Figure 108 to Figure 110 The sliding potentiometer 13090 of the movement 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, which includes surrounding pivot Multiple gear teeth of 13021 circumferentially extendings.It is right when the first actuator 13020 is proximally rotated towards pistol grip 13016 It is described further above, gear parts 13070 can be rotated towards distal side.Correspondingly, when the first actuator 13020 is revolved towards distal side When turning far from pistol grip 13016, gear parts 13070 can proximally rotate.Closed system may also include slidably twelve Earthly Branches Support the closed yoke rack gear 13080 in shank 13015.Closed yoke rack gear 13080 may include along the longitudinal direction that its bottom surface extends Tooth array, gear parts 13070 of the bottom surface towards the first actuator 13020.The gear parts of first actuator 13020 13070 can be engaged with the tooth array being limited on closed yoke rack gear 13080, so that when the first actuator 13020 surrounds pivot When axis 13021 rotates, the first actuator 13020 can be such that closed yoke rack gear 13080 shifts proximally or towards distal side, this depends on the The direction of one actuator 13020 rotation.For example, when the first actuator 13020 is rotated towards pistol grip 13016, first Actuator 13020 can be such that closed yoke rack gear 13080 shifts towards distal side.Correspondingly, when the first actuator 13020 is held far from pistol type When 13016 rotation, the first actuator 13020 can be such that closed yoke rack gear 13080 proximally shifts.Shank 13015 may include limit Due to guide groove therein, which can be configured to slidingly support closed yoke rack gear 13080 and constrain closure Yoke rack gear 13080 moves to the path limited along longitudinal axis.The longitudinal axis can be flat with the longitudinal axis of shaft assembly 13040 It is capable, substantially parallel, conllinear or be substantially collinear.

Closed yoke rack gear 13080 may include detectable element 13081 mounted thereto.Detectable element 13081 can wrap Include such as magnetic element, such as permanent magnet.When closure rack gear 13080 translates in shank 13015, element 13081 can detect It can be configured to translate in the longitudinal slit 13091 being defined in sliding potentiometer 13090.Slide potentiometer 13090 can be configured to the position detected detectable element 13081 in longitudinal slit 13091 and pass the position It send 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 be can be positioned at the proximal end of longitudinal slit 13091 and potentiometer 13090 can incite somebody to action Signal is transmitted to microprocessor, which 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 When 13016 rotation, can detect element 13081 can be slided in longitudinal slit 13091 towards distal side.Potentiometer 13090 can be to micro- place Manage one or more signals of the position of device transmitting the first actuator 13020 of instruction.It is micro- in response to such one or more signals Processor can operate closure motor 13105 so that anvil block 13055 is moved to position corresponding with the position of the first actuator 13020 It sets.When the first actuator 13020 is in its closed 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, which can be to for position Microprocessor indicates that the first actuator 13020 is in its closed position.Using the information, microprocessor can be such that anvil block 13050 transports Move its closed position.

When the first actuator 13020 is pulled so that it is substantially adjacent with the pistol grip 13016 of shank 13015 When, as described above, closed yoke rack gear 13080 moves to its farthest position.When closed yoke rack gear 13080 is in its farthest side position When setting, the engageable closed yoke rack gear 13080 of release button 13140 is closed so that closed yoke rack gear 13080 to be releasably held in Therefore anvil block 13050 is releasably held in its closed position by its farthest 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 gear 13080 is in When its nearest side position, lock arm 13142 can be positioned on above the top surface of closed yoke rack gear 13080 and/or determine against it Position.In such position, closed yoke rack gear 13080 can be slided relative to lock arm 13142.In some cases, lock arm 13142 can be against the top surface bias of closed yoke rack gear 13080.It is more fully described as discussed further below, instrument 13010 It may also include and be configured to for 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 among firing button 13140, can surround pivot Rotatably bias is closed release button 13140 and by lock arm 13142 against the top of closed yoke rack gear 13080 to axis 13141 The positioning of portion surface.In all cases, lock 13290 may include proximal projections 13296, and being closed release button 13140 can Including distal projections 13146, the two protruding portions can be configured in lock 13290 release spring 13150 with closure It puts and keeps and snap to appropriate location between button 13140.As shown in Figure 109, when the first actuator 13020 rotates to its actuating When position, closed yoke rack gear 13080 can be at its farthest 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 gear 13080.In addition, when the first actuator 13020 move to Figure 109 and When its closed position shown in Figure 110 or actuated position, lock 13290 proximally can be pushed and be made by the first actuator 13020 Lock 13290 is rotated around pivot 13214.In at least one situation, the first actuator 13020 may include actuating extending therefrom Device protruding portion 13025, the actuator projection are configured to engage the distal projections 13295 extended from lock 13290.Lock 13290 this type games can lock 13290 and closure release button 13140 between compressed spring 13150 and increase be applied to It is closed the biasing force of release button 13140.Once lock arm 13142 is engaged with recess 13082, closed yoke rack gear 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.Instrument 13010 may include return spring 13210, which includes being connected to The first end of pivot 13214 and the second end for being connected to the spring mount 13034 extended from the second actuator 13030. Second actuator 13030 can be rotatably mounted to shank 13015 around pivot 13021, and return spring 13210 can be to the Two actuators 13030 are biased power so that the second actuator 13030 is rotated around pivot 13021.Lock 13290 can stop second Actuator 13030 surrounds the rotation of pivot 13021.More specifically, being biased into and closed yoke for return push-button 13140 will to be closed The spring 13150 that rack gear 13080 engages can also be used to lock 13290 towards distal side promotion, so that the lock arm 13292 of lock 13290 It is positioned in behind the shoulder 13032 being limited on the second actuator 13030, which can limit the second actuator 13030 It rotates 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, which 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 13020 direction of the first actuator 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 is at least partly rotated 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 activating the first actuator 13020, 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 push lock 13295.Such proximal movement of lock 13295 can make lock 13295 from being limited to the second actuator 13030 On shoulder 13032 behind shift.

Once the first actuator 13020 has moved and has been locked to its fully actuated position (Figure 109) and anvil block 13050 Its closed position is moved to, is located among anvil block 13050 and nail bin 13055 as described above, instrument 13010 can be used to suture Tissue.When user, which is woven in the positioning between anvil block 13050 and nail bin 13055 to group, to be unsatisfied with, user can be by pressing It presses off and closes release button 13140 to the unlock of anvil block 13050.When pressing is closed release button 13140, it is closed release button 13140 lock arm 13142, which can be pivoted up, leaves recess 13082, this allows closed yoke rack gear 13080 proximally to move. In addition, return spring 13210 can by the first actuator 13120 and the second actuator 13130 back to shown in Figure 109 its do not cause Dynamic position, and due to being engaged between gear parts 13070 and closed yoke rack gear 13080, return spring 13210 can make Closed yoke rack gear 13080 returns to its proximal position.This type games of closed yoke rack gear 13080 can be by sliding potentiometer 13090 It detects, which can return to it to the microprocessor of instrument 13010 the first actuator 13020 of transmitting and not activate Position and anvil block 13050 should return to the signal of its open position.In response to this, microprocessor can indicating closing motor 13105 rotate along its second direction proximally to drive the closure nut of closed system and return closed tube 13125 proximally Contracting, this will make anvil block 13050 back to its open position.Then, user can by activate again the first actuator 13020 come It relocates anvil block 13050 and nail bin 13055 and re-closes anvil block 13050.In all cases, instrument 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.

Once then making further described above, user is satisfied to the positioning of anvil block 13050 and nail bin 13055 Second actuator 13030 can be pulled to closed position or actuated position by user, so that it is close to the first actuator 13020.The The actuating pressable of two actuators 13030 or the percussion switch 13180 in closure shank 13015.In all cases, percussion is opened Closing 13180 can be supported by motor mount 13102, which may be configured as that closure motor can be supported 13105 and/or percussion motor 13100.The closure of percussion switch 13180 can operate percussion motor 13100.In some cases, Percussion switch 13180 can be communicated 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 sufficiently 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 at least one situation, percussion switch 13180 be may be arranged so that 13180 until the second actuator 13030 It arrived its fully closed position, percussion switch is just closed.Referring primarily to Figure 110, the rotation of the second actuator 13030 can be at it It is stopped in its fully closed position when being contacted with the first actuator 13020.In at least one such situation, the first actuator 13020 may include being configured to receive when the second actuator 13030 reaches its closed position from the second actuator 13030 The stop recess 13023 of the stop lug 13033 of extension.

Percussion motor 13100 may include be operatively engaged with the percussion driving screw 13190 of trigger system it is rotatable defeated Shaft.When fire motor 13100 be operable to output it axis 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 be such that percussion driving screw 13190 rotates in a second direction.Trigger system may also include percussion nut, the percussion spiral shell Female threaded portion with percussion driving screw 13190 is threadably engaged.Fire nut can it is restrained and cannot with percussion driving screw 13190 rotate together, so that the rotation of percussion driving screw 13190 can make to fire nut proximally or be translated to the far side, 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 percussion nut 13220, which can shift together with percussion nut.Trigger system may also include knife bar 13200 and from 13220 court of beating shaft The nail deployment percussion band that distal side extends.When firing motor 13020 along the rotation of its first direction, percussion driving screw 13190 can make It fires nut, beating shaft 13220, knife bar 13200 and percussion band to shift towards distal side, will follow closely from nail bin 13055 and project and cut Enter to be located in the tissue among anvil block 13050 and nail bin 13055.Once knife 13200 and percussion are with the terminal for reaching its traveling, micro- Processor can rotate percussion motor 13100 along its second direction or opposite direction so as to knife 13200 and bring back to its initial bit It sets.In all cases, instrument 13010 may include the end of the traveling sensor communicated with microprocessor signals, which passes Sensor can send the signal that percussion driving arrived the terminal of its firing schedule and firing schedule should bounce back to microprocessor.Row It can be positioned in such as anvil block 13050 and/or nail bin 13055 into such end of sensor.In some cases, operationally The encoder for being connected to percussion motor 13100 can determine that percussion motor 13100 has rotated enough revolutions to make 13200 He of knife It fires with the terminal for reaching its traveling and sends the signal that trigger system should bounce back to microprocessor.

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

Instrument 13010 may also include for example one or more indicators, and such as LED 13300 can be adapted to The mode of operation of enough indicator instruments 13010.In all cases, LED 13300 can be for example with side similar with LED 11100 Formula operation.Instrument 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, It is had been discussed in 704,534.

In the modular concept of instrument 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, axis 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.Instrument 14010 may include actuator or shank 14020, axis Part 14030, tubulose storehouse shell 14040 and anvil block 14050.Instrument 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 that can operate closed system Rotating closed knob 14075, it is as follows to be further more fully described.Instrument 14010 may also include trigger system, the percussion system System is configured to project the nail being removedly stored in storehouse shell 14040.Actuator 14020, which may also include to operate, to be hit The percussion startup trigger 14070 of hair system, it is as follows to be further more fully described.Shaft portion 14030, storehouse shell 14040 It can be with entitled " the SURGICAL ANASTOMOSIS STAPLING that is published on March 8th, 1994 with anvil block 14050 Similar mode shown and described in the United States Patent (USP) 5,292,053 of INSTRUMENT " operates.It is published on March 8th, 1994 Entitled " SURGICAL ANASTOMOSIS STAPLING INSTRUMENT " United States Patent (USP) 5,292,053 disclosure in Appearance is incorporated by herein.

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

Actuator 14020 may include such as electric motor, and such as (Figure 113 to Figure 115), can be via biography for motor 14090 Send the operation closure driving of device 14000 and percussion driving.Motor 14090 may be supported on the actuator housings of actuator 14020 In 14080.Referring primarily to Figure 113, actuator housings 14080 may include two half-unit, i.e. actuator housings right side 14080a With actuator housings left side 14080b.Actuator housings half portion 14080a and 14080b can be kept together by screw rod, but It is that any suitable fastening and/or adhesive bonding method can also be used to assemble actuator housings 14080.Motor 14090 may be supported on It between actuator housings half portion 14080a and 14080b and may include the rotatable shaft 14100 extended from it towards distal side.At certain In a little situations, actuator 14020 may include the motor support 14101 being located in shell 14080, and the motor support is by structure It causes the shell that can support motor 14100 and constrains motor case relative to the rotation of actuator housings 14080.In various situations Under, rotatable shaft 14100 may include the expander part 14110 for being attached to it.Axis 14100 and expander part 14110 can be with It is rotationally coupled, so that they are rotated together.

Further described above, referring primarily to Figure 116, expander part 14110 may include cylindrical 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.As follows to be further more fully described, sliding block 14115 is a part of transmission device 14000 and can be in proximal position It is deviated between (Figure 114) and distal position (Figure 115), in proximal position, sliding block 14115 passes the rotary motion of motor 14090 It is delivered to closed system, in distal position, the rotary motion of motor 14090 is transmitted 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 deviating, and sliding block 14115 can be relative to expander It slides part 14110.The slider bore 14114 being defined in sliding block 14115 can limit periphery, the periphery matching or at least substantially The periphery for matching the distal end 14113 of expander part 14110, so that expander part 14110 and sliding block 14115 can It is rotatingly coupled to together and two, sliding blocks 14115 can be translated relative to expander part 14110.In at least one situation Under, slider bore 14114 include matching expander part 14110 cylinder-shaped body 14111 cylindrical part 14116 and Flat 14117 with the flat 14120 in the distal end 14113 for being defined in sliding block 14115.

Further described above, sliding block 14115 may include the structure of tubulose or generally tubular.Sliding block 14115 can Including distal end 14118 and the multiple periphery splines 14130 extended around the outer surface of distal end 14118, the periphery Spline can be operatively engaged with percussion driving, as shown in Figure 115.Sliding block 14115, which may also include, is defined in slider bore 14114 Distal end in multiple inner circumferential splines 14140, the inner circumferential spline can with closure driving be operatively engaged, such as Figure 114 It is shown.Sliding block 14115 can be a part of slide block assembly 14150.Referring primarily to Figure 116, slide block assembly 14150 may also include Portion's bearing of journals 14160, the lower part bearing of journals 14170, slider button 14060 and sliding block spring 14180.Upper journal bearing 14160 and the lower part bearing of journals 14170 combination to form the bearing of journals, can an loosely support slipper 14115 makes enough Sliding block 14115 can rotate in the bearing of journals and two, shift sliding block 14115 proximally and towards distal side.Referring primarily to figure 116, sliding block 14115 may include distal lip 14121 and proximal flange 14122 extending therefrom, and the two can define therebetween Groove 14123, the groove are configured to closely receive the bearing of journals.When present dynasty distal side pushes slider button 14060, axis Journal bearing can be against distal lip 14121 to push sliding block 14115 towards distal side.Correspondingly, when slider button 14060 proximally When promotion, the bearing of journals can be against proximal flange 14122 proximally to push sliding block 14115.

Slide block assembly 14150 may include the lock for being configured to for sliding block 14115 being 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 it is longitudinal narrow The first end of slot or at proximal end first recess in and be limited at the second end or distal end of longitudinal slit Second recess in, the longitudinal slit is limited in actuator housings 14080.When flange 14181 is engaged with nearside recess, Slide block assembly 14150 can be maintained in its proximal position by flange 14181, which makes sliding block 14115 and closure driving It is operatively engaged with motor 14090.When flange 14181 is engaged with distal side recess, flange 14181 can be by slide block assembly 14150 are maintained in its distal position, which connect sliding block 14115 and percussion driving operationally with motor 14090 It closes.Upper journal bearing 14160 may include journal hole 14161, which is configured to slideably received within button 14060 axis 14061.Can in journal hole 14161 downward promoting button 14060 so that flange 14181 and actuator housings 14080 are detached from.Once flange 14181 is detached from actuator housings 14080, button 14060 can be defined in outside actuator Sliding 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 flange 14181 towards 14080 bias of actuator housings, and when surgical instruments 14010 When user's release button 14060, button 14060 can be biased into upwards and connect again with actuator housings 14080 by spring 14180 It closes.

Further described above, when slide block assembly 14150 is in its proximal position, sliding block 14115 and closure The closure nut 14190 of driving engages.Being closed nut 14190 includes elongated tubular construction, which includes limiting Closure nut external splines 14200 at its proximal end.When sliding block 14115 is in its proximal position, sliding block 14115 it is interior Spline 14140 and the external splines 14200 of closure nut 14190 are engaged, so that when sliding block 14115 is revolved by motor 14090 When turning, closure nut 14190 is rotated by sliding block 14115.Being closed nut 14190 can be (all for example, by one or more bearings Such as bushing 14220) it is pivotally supported in actuator housings 14080, the bearing is pivotably supported closure nut 14190 Distal end.Be closed nut bushing 14220 can by such as acetal resin (Delrin), nylon, copper, brass, bronze and/or Carbon composition.In some cases, closure nut bushing 14220 may include such as ball bearing or roller bearing.In various situations Under, closure nut bushing 14220 can be the integral part of actuator housings 14080.

Being closed nut 14190 may include being defined in longitudinal hole 14191 therein.Closed system may also include closed rod 14230, which can be positioned at least partially in longitudinal hole 14191.Closed rod 14230 may include the spiral shell limited on it Line 14231, the screw thread are threadably engaged with the closure nut thread 14210 being defined in longitudinal hole 14191.Closed rod 14230 can be restrained without rotating together with closure nut 14190 so that when closure nut 14190 by motor 14090 along the When one direction rotates, closed rod 14230 can proximally be translated by being closed nut 14190.As shown in Figure 115, closed rod 14230 It can proximally 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, closed rod 14230 can by be closed nut 14190 be translated to the far side.It is as follows Text will be described further in more details, and closed rod 14230 can be operatively engaged with anvil block 14050, so that working as closed rod 14230 When proximally pulling, anvil block 14050 can be moved towards storehouse shell 14040.Correspondingly, when closed rod 14230 is pushed towards distal side, The movable separate storehouse shell 14040 of anvil block 14050.In all cases, the closing stroke length of closed system can be in anvil block It is measured between 14050 open position and closed position.Closed rod 14230 can be grown at least as closing stroke length to accommodate 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, transmission device 14000 engage with closure driving, in the distal position, transmission device 14000 and Percussion driving engagement.In this way, transmission device 14000 can be used for be closed driving and percussion driving and motor 14090 Selectively couple.When the user of surgical instruments 14010 is satisfied with anvil block 14050 relative to the positioning of storehouse shell 14040, As shown in Figure 115, user can be such that button 14060 shifts towards distal side, so that sliding block 14115 is detached from closure driving and makes to slide Block 14115 is engaged with percussion driving.When sliding block 14115 is slided towards distal side, the internal spline 14140 and closure spiral shell of sliding block 14115 The external splines 14200 of mother 14190 is detached from, so that the subsequent rotation of sliding block 14115 is no longer transferred to closure nut 14190 and closure System.While sliding block and closed system are detached from, sliding block 14115 becomes to be engaged with trigger system.Alternatively, in sliding block 14115 towards when the displacement of distal side, and sliding block 14115 becomes to be detached from closed system, and due to the additional far sidesway of sliding block 14115 Position, sliding block 14115 becomes to be engaged with trigger system.In this case, transmission device 14000 may not will closure driving and Percussion driving is operatively engaged with motor 14090 simultaneously.Under any circumstance, trigger system may include percussion nut 14260, When sliding block 14115 moves toward the far side, which can be engaged by sliding block 14115.

Further described above, percussion nut 14260 may include being defined in hole therein referring primarily to Figure 116 14261, which can be configured to receive cunning wherein when sliding block 14115 is advanced in its distal position (Figure 115) The distal end 14118 of block 14115.Percussion nut bore 14261 may include the percussion nut spline limited around inner circumference 14270, which can intermesh with the periphery spline 14130 of sliding block 14115.When the periphery of sliding block 14115 flower Key 14130 with percussion nut 14260 percussion nut spline 14270 engage when, sliding block 14115 can with fire nut 14260 can Rotatably couple, so that the rotation of sliding block 14115 is passed to percussion nut 14260.Actuator 14020 may also include rotatable The percussion nut bushing 14275 of ground support percussion nut 14260.Percussion nut bushing 14275 may include such as needle bearing, gather The integral part of formaldehyde resin, nylon and/or other plastic bushings, metal bushing or actuator housings 14080.Fire nut 14260 may also include the internal screw thread 14272 being defined in the distal inner surface of percussion nut bore 14261.Trigger system can also wrap Include the firing tube 14280 being threadably engaged with the internal screw thread 14272 of percussion nut 14260.

In all cases, further described above, firing tube 14280 may include limiting on its outer surface Screw thread 14281, the screw thread are threadably engaged with internal screw thread 14272.Firing tube 14280 can it is restrained and cannot with percussion nut 14260 rotate together, so that firing nut 14260 when firing nut 14260 by motor 14090 and the rotation of sliding block 14115 Translatable firing tube 14280.For example, firing tube 14280 can pass through percussion when percussion nut 14260 is rotated in a first direction Nut 14260 towards distal side shift, and when fire nut 14260 in a second direction or opposite direction rotate when, firing tube 14280 It can proximally be shifted by firing nut 14260.At least part 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 is shifted towards distal side, firing tube 14280 can move toward the far side in hole 14261.It is as follows will more in detail Carefully describing, firing tube 14280 can be operably connected with firing member, when firing tube 14280 is promoted 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 closed rod 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 It is identical as the length of the threaded portion of closed rod 14230.In this case, the length of firing schedule can be with the length of closing stroke It spends identical.In some cases, the threaded portion of firing tube 14280 is longer than the threaded portion of closed rod 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 axis It dismantles part 14030.Figure 34 is the perspective view of surgery suturing appliance 14010, shows the actuator dismantled from shaft portion 14030 14020.Instrument 14010 may include one for being configured to releasably hold shaft portion 14030 actuator 14020 Or multiple locks or latch.For example, actuator 14020 can include latch 14025 on opposite sides thereof, which is configured to Shaft portion 14030 is releasably held into actuator 14020.Latch 14025 can be slided between the first location and the second location Dynamic, in the first position, which engages with shaft portion 14030, and in the second position, the latch and shaft portion 14030 are detached from. 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 is operationally fitted 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, closed system, which may also include, is attached to closed rod 14230 referring primarily to Figure 113 Distal end closed fastener 14240.In all cases, closed fastener 14240 can be locked to closed rod by screw rod 14230, so that closed fastener 14240 is translated to the far side, and correspondingly when closed rod 14230 is translated to the far side, when closing When conjunction bar 14230 proximally translates, which is proximally translated.Closed fastener 14240 may include one or Multiple lateral extensions, which may fitted in the groove in actuator housings 14080, so that closed fastener 14240 and closed rod 14230 be aligned.Lateral extension can also prevent closed rod 14230 and closed fastener 14240 in closed rod 14230 rotate when being driven by closure nut 14190, as described above.Closed fastener 14240 may include closing for actuator 14020 It closes driving output device and could attach to the closure driving input unit of shaft portion 14030.The closure of shaft portion 14030 drives Input unit may include the second fixing piece 14250, and when shaft portion 14030 is assembled into actuator 14020, which can It is attached to closed fastener 14240.When closed fastener 14240 is promoted by closed rod 14230 towards distal side, closed fastener 14240 can push the second fixing piece 14250 towards distal side；Correspondingly, when closed fastener 14240 passes through 14230 court of closed rod When proximal retraction, closed fastener 14240 can proximally pull the second fixing piece 14250.

The closure drive part of shaft portion 14030, which may also include, is installed to the second fixing piece 14250 and extending therefrom One or more tension bands 14252 and 14253.Tension band 14252 and 14253 can be fastened to the second fixing piece 14250, so that working as When second fixing piece 14250 is promoted by closed fastener 14240 towards distal side, the second fixing piece 14250 can be by tension band 14252,14253 push towards distal side, and correspondingly so that when the second fixing piece 14250 by closed fastener 14240 towards close When side bounces back, the second fixing piece 14250 can proximally pull tension band 14252,14253.In all cases, shaft portion 14030 can be curved, and at least one situation, it may include the bending axis that proximally shell installation part 14032 extends Shell 14031.In some cases, tension band 14252 and 14253 can be flexible, 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 is bounced back together.Trochar 14258 may include distal end, which 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 It rises and promotes and bounce back.With reference to above, United States Patent (USP) 5,292,503 is in more detail discussed this.

Further described above, trigger system, which may also include, is attached to firing tube 14280 referring primarily to Figure 113 Distal end percussion fixing piece 14290.In all cases, percussion fixing piece 14290 can be locked to firing tube by screw rod 14280, so that when firing tube 14280 is translated to the far side, percussion fixing piece 14290 is translated to the far side, and correspondingly, when hitting When hair pipe 14280 proximally translates, which is proximally translated.Percussion fixing piece 14290 may include one or Multiple lateral extensions, the lateral extension may fitted in the groove in actuator housings 14080, so that percussion fixing piece 14290 and firing tube 14280 be aligned.Lateral extension can also prevent firing tube 14280 and percussion fixing piece 14290 in firing tube 14280 rotate when being driven by percussion nut 14260, as described above.Firing fixing piece 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 of shaft portion 14030 drives Input unit may include the second fixing piece 14300, and when shaft portion 14030 is assembled into actuator 14020, which can It is attached to percussion fixing piece 14290.Firing fixing piece 14290 can be cooperated in a manner of tongue-slot with the second percussion fixing piece 14300. In assembling, when firing fixing piece 14290 by firing tube 14280 towards when the propulsion of distal side, percussion fixing piece 14290 can be by second Fixing piece 14300 is pushed towards distal side；Correspondingly, it when percussion fixing piece 14290 is proximally bounced back by firing tube 14280, hits Hair fixing piece 14290 can proximally pull the second fixing piece 14300.

Percussion driving may also include staple drivers 14310, which is connected to the second fixing piece 14300, so that nail Driver 14310 proximally and moves toward the far side together with the second fixing piece 14300.When staple drivers 14310 are solid by second When determining part 14300 and moving toward the far side, staple drivers 14310 can project nail from storehouse shell 14040.In all cases, second Fixing piece 14300 can be promoted knife 14320 towards distal side using staple drivers 14310, with incision capture outside anvil block 14050 and storehouse Tissue between shell 14040.When the second fixing piece 14300 is proximally bounced back by firing fixing piece 14290, the second fixing piece 14300 can make staple drivers 14310 and knife 14320 proximally bounce back.

Further described above, it should be noted that including closure nut 14190 and closed rod in closed system Include in 14230 part and trigger system percussion nut 14260 and the part of firing tube 14280 can for one heart with it is nested 's.Percussion nut 14260 and firing tube 14280 can be considered external agency, and be closed nut 14190 and closed rod 14230 visually For internal mechanism.Together with sliding block 14115, closure nut 14190, closed rod 14230, percussion nut 14260 and firing tube 14280 It may make up transmission device 14000.The concentric and nested arrangement mode of transmission device 14000, which can reduce, makes system be closed 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 being longer than the translation member of external agency.Closed rod 14230 can be such as about two inches, 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 or hit by internal mechanism or closure driving Send out the distance of driving.That is, load driving can be longer than the distance of percussion driving by percussion driving.

As described above, actuator 14020 and shaft portion 14030 are designed to convenient for assembling.Percussion fixing piece 14290 exists The end of the flange extended towards distal side includes semicircle antelabium.The semicircle antelabium is close the second percussion fixing piece 14300 It is assembled in semi-circular grooves at side end.Because the assembly surrounds semicircular surface, it is possible to fire fixing piece by making 14290 transversely or be orthogonal to part approximately longitudinally axis direction towards second fire fixing piece 14300 translation will hit Hair fixing piece 14290 is connect with the second percussion fixing piece 14300.The connection of closing assembly part also usually promotees in the same manner Into.For example, closed fastener 14240 may include the flange extended towards distal side.It is solid from closure at the distal end of the flange Determine the semicircle antelabium that the basic upper semicylindrical portion of part 14240 extends.Week in the portions of proximal of second fixing piece 14250 The semicircle antelabium is received to groove, closed fastener 14240 is attached to the second fixing piece 14250.Since closure is fixed The semicircle property of part 14240, closed fastener 14240 and the second fixing piece 14250 by transverse direction or can be orthogonal to part Approximately longitudinally the translation of axis carrys out assembly and disassembly, thus be conducive to shaft portion 14030 and actuator 14020 quick connection and It disconnects.

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.Be closed knob 14075 can along first direction or clockwise direction and Second direction rotates counterclockwise.When closure knob 14075 is rotated in a first direction, closure knob 14075 is accessible And it is closed first switch, and when closure knob 14075 rotates in a second direction, closure knob 14075 is accessible and is closed Second switch.When being closed first switch by closure knob 14075, motor 14090 can be energized and operate along first direction, And when being closed second switch by closure 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 by closed rod 14230 towards distal side drive so that anvil block 14050 moves far From storehouse shell 14040, and when motor 14090 is operated along its second direction, motor 14090 can be by closed rod 14230 towards close Side drives so that anvil block 14050 is moved towards storehouse shell 14040.Closure knob 14075 can be positioned on center or neutral position It sets, wherein both first switch and the second switches are not closed and motor 14090 is not responsive to closure knob 14075.Various In the case of, instrument 14010 may include for example, at least a spring, such as spring 14076, be 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, which forces firing trigger 14070 to reach far 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 the position of touching.When firing trigger 14070 is activated, firing trigger 14070 can be closed percussion switch 14305.When hitting When sending out the closure of switch 14305, motor 14090 can be operated along first direction to promote firing tube 14280 and staple drivers towards distal side 14310.When firing trigger 14070 is released, torsionspring 14071 can make firing trigger 14070 move back into it not Actuated position and disengaging and the contact of percussion switch 14305.At this point, percussion switch 14305 can be at opening state, and horse Firing trigger 14070 can be not responsive to up to 14090.In all cases, instrument 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 for stopping firing trigger 14070 to be activated Position and wherein firing trigger 14070 can be activated to be closed between the second position of percussion switch 14035 and rotate.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 certain situations Under, when trigger system arrived the terminal of its firing schedule, motor 14090 can be cut between second direction in a first direction It changes.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 instrument 14010 is provided below, but can also be used any suitable Method.In addition, being described above, actuator 14020 is capable of providing two outputs and shaft portion 14030 can receive two A input, thereby executing two clock functions.These functions have been described as closure function and percussion function, but the present invention is not limited to This.The function may include for example any suitable function, such as joint motions function.In all cases, it is activated to use 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 movements, as shown in Figure 112.User can be by shaft portion 14030 The open side of proximal end towards actuator 14020 distal part open side alignment and by assembling parts together.This Class component can connect closed fastener and percussion fixing piece as described above.Similarly, as described above, the latch on actuator 14020 14025 can clamp the protrusion 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 Set, so as to use attachment part surgical tool the first required function.As described above, button 14060 can be used for sliding block group Part 14150 is located in its first part.

Internal spline referring generally to Figure 114, when slide block assembly 14150 is in its first position, 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.It is closed as described above, closure knob 14075 can be rotated along its first direction with being closed 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 being closed the second closure It closes and moves anvil block 14050 towards storehouse shell 14040.In some cases, the closure of the first closure switch, which can be closed, makes horse The circuit to work up to 14090 along its first direction, and correspondingly, the closure of the second closure switch, which can be closed, makes motor 14090 Along the circuit of its second direction work.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 made, including 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 transmission device 14000, can also make Nut 14190 is closed to rotate.As described above, closure nut 14190 and the closure for proximally and towards distal side shifting anvil block 14050 Bar 14230 is threadedly engaged.Alternatively, some other functions can be performed in closed rod 14230.

As shown in Figure 114, when slide block assembly 14150 be in its first or when proximal position, motor 14090 may be in response to close It closes knob 14075 and is not responsive to firing trigger 14070.In at least one situation, when slide block assembly 14150 be in its When one position, the lower part bearing of journals 14170 of slide block assembly 14150 is accessible and is closed the first transmitting switch 14340.Various In the case of, the first transmitting switch 14340 can be connected to the microprocessor of surgical instruments 14010, which can be constructed At the input from percussion switch 14305 can be ignored when the first transmitting switch 14340 has been closed.In such cases, outside User's pressable firing trigger 14070 of section's instrument 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 lower part bearing of journals 14170 and the first transmitting switch 14340 are detached from, and the first transmitting switch 14340 will be returned to and be beaten Open state.When slide block assembly 14150 move to its second or distal position in when, the lower part 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, which, which can be configured to ignore when the second transmitting switch 14350 has been 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 to make slide block assembly 14150 move to its second position from its first position, as described above, user's pressable Slider button 14060 with slider button 14060 is discharged from its pawl and is made slide block assembly 14150 move toward the far side to its Two positions.In such cases, sliding block 14115 can be detached from closure nut 14160 and engage with percussion nut 14260.More Specifically, the internal spline 14140 on sliding block 14115 can become and be closed the disengaging of the external splines 14200 on nut 14190, in addition, The external splines 14130 of sliding block 14150 can become to engage with the internal spline 14270 for firing nut 14260.At this point, 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 rotate firing trigger 14070 fire trigger system counterclockwise towards actuator housings 14080.As described above, Firing trigger 14070 can contact percussion switch 14305, which can make motor 14090 be powered.Similar to transmission device 14000 the first configuration, motor 14090 can be such that rotatable shaft 14100, expander part 14110 and sliding block 14115 rotates；So And in the second configuration of transmission device 14000, sliding block 14115 makes to fire the rotation of nut 14260 to translate firing tube 14280.

In all cases, it can be powered by external power supply to instrument 14010.In some cases, available to be located in One or more battery in actuator 14020.Battery may be, for example, rechargeable lithium battery.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 latch 14025 is to dismantle actuator 14020 from shaft portion 14030.Then, actuator 14020 By cleaning, sterilizing and it can recycle or abandon.Similarly, shaft portion 14030 can by cleaning, sterilizing and recycle or lose It abandons.When shaft portion 14030 is reused, nail can be reloaded into storehouse shell 14040.In some cases, storehouse shell 14040 may include that can be used for reloading the replaceable storehouse of nail.In all cases, the various pieces of actuator 14020 may be used also It combines in it can be readily inserted into actuator housings 14080 and from the sealing compartmentation module that it is removed.For example, motor 14090, rotatable shaft 14100, expander part 14110, slide block assembly 14150, closure nut 14190, closed rod 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 component part of individual assembly module.For example, the electronic section of actuator 14020 is (all Such as motor 14090 and battery) it may include a module, and include the mechanical component of rotationally and/or translationally part may include second Module.In such cases, the method different from the second module can be used to sterilize the first module.Such situation can be conducive to Using for example radiating for the γ of the second module, this method may be not suitable for sterilizing to the first module.

Contemplate the various additions to actuator 14020.For example, closed system can be detected using micro process 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 Micro process determines the type of the shaft assembly for being attached to 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.Imagine actuator 14020 can to need for example, at least one, perhaps The surgical tool power supply of many types of two or more longitudinal 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 including the use of multiple motors, so that can increase can be used by actuator 14020 Function quantity.Certain modifications of actuator 14020 execute more than two function including the use of identical motor.For example, it is envisioned that The third place of slide block assembly 14150 drives third function by third nest mechanism in the position.To carrying out above into one Step description, in some cases, slide block assembly 14150 can have the third place, which is idle or neutral position, in the position It sets, is 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, solenoid can be used that sliding block 14115 is moved to another position from a position.Spring can be by sliding block 14115 are pre-loaded onto default location, and solenoid energization is made sliding block 14115 can be moved to second from default location It sets.

Surgery suturing appliance 15010 is shown in Figure 117 and Figure 118.Similar to above, instrument 15010 may include shank, quilt It is constructed to be permeable to transport anvil block 15090 between open position (Figure 117) and closed position (Figure 118) relative to nail bin 15080 Dynamic closed system, and further include being configured to follow closely that capture is disposed and cut from nail bin 15080 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 The various parts being included in out.It is same similar to above, the closed system of instrument 15010 may include closure motor 15110, Closure including being operably linked to closure motor 15110 drives the closure gear train of helical gear 15160, and can operate Ground is connected to the closure driving screw rod 15170 of closure driving helical gear 15160.In all cases, closure motor 15110 can It is supported by motor frame 15125, in addition, the motor frame can be pivotably supported closure driving helical gear 15160 and close Close driving driving screw 15170.Closed system, which may also include, to be configured to contact closure switch 15285 and makes closure switch The close push button 15065 of 15285 closures, the closure switch can make to be closed the work of motor 15110 in closure.To above carry out into The description of one step, in some cases, close push button 15065 can be configured to contact and be configured to make to be closed motor 15110 closure switch for working along first direction and being closed anvil block 15090, and be configured to make to be closed motor 15110 work in a second direction and make turning on the switch for the opening of anvil block 15090.

It is configured to engagement anvil block 15090 further described above, closed system may also include and incites somebody to action The storehouse 15180 that anvil block 15090 moves between its open position (Figure 117) and its closed 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.It storehouse 15180 can be restrained And cannot be rotated together with closure driving driving screw 15170, so that the rotation of closure driving driving screw 15170 can make storehouse 15180 It proximally and is translated to the far side, 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 Closed anvil 15090.Correspondingly, when closure motor 15110 rotates closure driving driving screw 15170 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 arranged 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 the one or more slits 15195 being defined in its opposite side, and the slit is configured to It can be slideably received within the one or more protruding portions 15185 to extend internally from storehouse 15080.In other cases, channel 15070 may include protruding portion 15185, and storehouse 15080 may include slit 15195.In either case, 15195 He of slit Protruding portion 15185 can be configured to constraint such as storehouse 15180 to the longitudinal or generally longitudinally movement in path.

Storehouse 15080 can be moved to from first or proximal position (Figure 117) second or distal position (Figure 118) with closed anvil 15090.Storehouse 15080 may include cross bar 15081, which is configured to when storehouse 15080 is moved relative to anvil block 15090 Contact anvil block 15090 simultaneously makes its movement.In all cases, anvil block 15090 can be pivotally coupled to storehouse around pivot 15200 Channel 15070, and storehouse cross bar 15081 can be such that anvil block 15090 rotates around pivot 15200.More specifically, storehouse cross bar 15181 It can be configured to top or the cam face 15092 of contact anvil block 15090, and when storehouse 15080 moves toward the far side It is slided on top surface 15092 so that anvil block 15090 is rotated towards the storehouse 15080 being located in warehouse channel 15070.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 be promoted towards distal side, until it reaches its farthest 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 position When, storehouse 15180 can contact stroke sensor and make its closure.In some cases, stroke sensor can be with surgery The microprocessor signals of instrument 15010 communicate.When stroke sensor is closed by storehouse 15180, microprocessor can be interrupted and be mentioned The electric power of supply closure motor 15110 and the propulsion for stopping storehouse 15180.

As described above, the cross bar 15181 in storehouse 15180 can make anvil block 15090 by pushing down on cam face 15092 Cam movement is carried out towards nail bin 15080.Anvil block 15090 may also include the latch pin 15210 extended from its side, work as anvil block 15090 towards when the rotation of nail bin 15080, which 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 closed position, latch pin 15210 can contact slit 15215 closure end.In some cases, anvil block 15090 can be in closed position, and latch pin 15210 can not be with The closure end of slit 15215 contacts.In some cases, closed system may include being configured to engagement latch pin 15210 and/or one or more latches 15190 for moving anvil block 15090 close to nail bin 15080.Latch 15190 can quilt Pivot pin 15191 is rotationally coupled to warehouse channel 15070, and can rotate around pivot axis to engage latch pin 15210. In some cases, the engageable latch pin 15210 of latch 15190 and the closure end positioning latch pin against slit 15215 15210.Each latch 15190 may include latch arms 15192, should when latch 15190 rotates in its closed 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 latch slit 15193, which can be configured to when latch 15190 moves 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 trapping and/ Or it is held in place.

Further described above, storehouse 15180 can be such that latch 15190 is not fastening with a bolt or latch when storehouse 15180 is promoted towards distal side It is moved between lock position (Figure 117) and latch position (Figure 118).Anvil block 15090 is not set to move to it completely in cross bar 15181 In the case where in closed position, latch 15190 can move to anvil block 15090 in its fully closed position.In all cases, Storehouse 15180 may include the distal camming surfaces 15182 limited on it, when storehouse 15180 is promoted towards distal side, the distal cam table The engageable latch 15190 in face.In at least one such situation, each cam face 15182 may include such as inclination or angulation Spend surface.It is rotated when being closed driving driving screw 15170 along its second direction, and be closed driving driving screw 15170 to make storehouse 15180 When proximally bouncing back, latch 15190 can return to its unactuated position.In all cases, instrument 15010 may also include for example One or more biasing springs 15195, the biasing spring can be configured in distal camming surfaces 15182 far from latch Latch 15190 is rotated proximally when 15190 retraction.Each latch 15190 may include defined therein is configured to Receive the hole 15194 of the first end of spring 15195.The second end of spring 15195 can be with the bullet that extends from warehouse channel 15070 Spring column 15079 engages.As described above, when storehouse 15180 makes latch 15190 rotate to its latch position from its unlatched position towards distal side When setting, spring 15195 can be extended resiliently, so that spring 15195 can be elastically returned to its initial shape when storehouse 15180 bounces back State, thus via such as hole 15194 to 15090 applied force of latch.Under any circumstance, when latch 15190 has returned to it not When latch position, anvil block 15090 can be moved 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 that anvil block 15090 nail bin 15080 can be pivoted away from. In at least one such situation, anvil block 15090 may include the second cam face 15093 limited on it, drive in closure When driving screw 15170 moves storehouse 15080 proximally, which 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 open 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 Face 15092 is angled to be extended.In all cases, when storehouse 15180 bounces back, 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 distances proximally to bounce back relative to the degree or amount of the opening of nail bin 15080 depending on cross bar 15181.For example, if horizontal Bar 15181 is in 15200 proximal retraction first distance of pivot, then cross bar 15181 can make anvil block 15090 be pivoted upwardly away from nail bin 15080 first degree, and if cross bar 15181 is greater than the second distance of first distance in 14200 proximal retraction of pivot, it is horizontal Bar 15181 can make anvil block 15090 be pivoted upwardly away from the second degree that nail bin 15080 is greater than the first degree.

Above-mentioned closed system allow surgical instruments user by anvil block 15090 between the open position and the closed position It pivots, without with manual operating anvil block 15090.Above-mentioned closed system also by the automatic latch of anvil block 15090 or can be locked in it and close During coincidence is set, without using individual actuator.If user is unsatisfied with when anvil block 15090 is in its closed position Group is woven in the positioning between anvil block 15090 and nail bin 15080, then user can reopen anvil block 15090, by anvil block 15090 It is relocated with nail bin 15080 relative to tissue, then closed anvil 15090 again.In the trigger system of actuating instrument 15010 Before, user can repeatedly open and close anvil block 15090 as needed.Trigger system may include being installed to motor frame 15125 percussion motor 15120, be operably linked to percussion motor 15120 percussion gear train (including percussion gear 15240, 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 driving may also include firing trigger 15055, which is configured to be closed percussion switch 15290 when firing trigger 15055 is pressed, thus Make to fire the work of motor 15120.When percussion motor 15120 works along first direction so as to fire driving driving screw 15260 along the When one direction rotates, percussion driving can dispose the nail being removedly stored in nail bin 15080 and cut capture in anvil block Tissue between 15090 and nail bin 15080.When percussion motor 15120 works in a second direction so as to fire driving driving screw 15260 along second or opposite direction rotate when, percussion driving can bounce back.Then, anvil block 15090 can be switched on again to remove anvil Tissue between seat 15090 and nail bin 15080.In some cases, percussion driving can be without retraction to open anvil block 15090. In such cases, percussion driving can not engage anvil block 15090 when it is promoted towards distal side.In at least one such situation, Percussion driving can enter to project nail from it in nail bin 15080, and blade can go between nail bin 15080 and anvil block 15090 Into to cut tissue.Percussion driving anvil block 15090 can not be locked in its closed position, but also contemplate percussion driving can will Anvil block 15090 is locked in the embodiment of its closed position.Such embodiment is promoted in I-beam towards distal side using such as I-beam When, engageable anvil block 15090 and nail bin 15080 and they are held in place relative to each other.

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

Previous surgical instruments is using being configured to move anvil block 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 Closed system between position relative to the motor driving of fixed cartridge movement.Other embodiments are 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 case 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 be it is individual and different when, the user of surgical instruments can assess anvil block and nail before operating trigger system Position of the storehouse relative to be stapled and incision tissue.

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 closed 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 range for end effector 1000.? In various situations, surgical instrument system may include shank and multiple end effectors that shank can be assembled, and medial end portions execute One or more of device can have different tissues thickness range.For example, first end actuator can have the first tissue thickness Range, and the second end actuator can have the minor microstructure thickness range different from the first tissue thickness range.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 Degree range and minor microstructure thickness range can be partly overlapped.Surgical instrument system can be used any suitable number of with difference The end effector of tissue thickness's range, wherein some in tissue thickness's range can at least partly be overlapped, and other groups Knitting thickness range can not be overlapped.

Further described above, in all cases, the nail bin of end effector, such as end effector 1000 Nail bin 1060, may be, for example, 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 is not moved at least substantially.Therefore, when anvil jaw 1040 moves in its closed position, Gu Set a distance or tissue space can be limited between anvil jaw 1040 and the platform surface of 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 tissue space provided by nail bin 1060.If Such embodiment is thought, wherein surgical instrument system includes shank, multiple end effectors that shank can be assembled, Yi Jike To alternatively insert multiple nail bins in end effector.Such embodiment allows user's selection can be with a certain range The end effector that is used together of tissue thickness, and select nail bin for being used together with end effector can be to can be by The range of the tissue thickness of end effector suture is adjusted or finely tunes.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 having The nail of first unshaped or non-firing height, and the second nail bin may include with from the first different the second unshaped of height or The nail of non-firing height.

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

The U.S. for being published in entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " on April nineteen ninety-five 4 is special Benefit 5,403,312；

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

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

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

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

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

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

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

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

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

It is filed on September 23rd, 2008 entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " 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 The U.S. Patent Application Serial Number 12/249 of APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM ", 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 The U.S. Patent Application Serial Number 12/ of WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY " 647,100 (being now United States Patent (USP) 8,220,688)；

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

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

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

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

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

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

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

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 previously mentioned, sensor can be configured to detect and collect data associated with surgical device.Processing Device is handled from the received sensing data of sensor.

Processor can be configured to execute operation logic.Processor can for multiple monokaryons as known in the art or Any of multi-core processor.Storage device may include permanent and interim (work) for being configured to storage operation logic The volatile and non-volatile storage medium of copy.

In various embodiments, operation logic can be configured to processing data associated with movement, institute as above It states.In various embodiments, operation logic can be configured to execute 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 Information is received from trustship computer and provides it feedback.In alternative embodiment, operation logic can be configured to Play the part of prior role receiving information and determining in feedback.In either case, either it is independently determined or rings Instruction of the Ying Yu from trustship computer, operation logic can be further constructed to that feedback can be controlled and provide 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 It applies, or is implemented with more advanced 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 execute.In other embodiments, operation logic can be implemented in hardware (such as gate array).

In various embodiments, communication interface can be configured to be conducive between peripheral equipment and computing system Communication.The communication may include by collected with position, the associated biometric data of posture and/or user's body part Exercise data be transmitted to trustship computer, and data associated with touch feedback are transmitted to periphery from master computer and are 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 universal serial bus (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 to form system on chip with operation logic (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 the engine just executed by processor.In general, software, program module, And/or engine includes being arranged to any software element for executing specific operation or realizing particular abstract data type.Software, journey Sequence module, and/or engine may include routines performing specific tasks or implementing specific abstract data types, programs, objects, 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 It is transmitted on calculation machine readable medium and/or by some form of computer-readable medium.In this regard, computer-readable Jie Matter can be any usable medium that can be used for storing information and can be accessed by calculating equipment.Some embodiments can also be distributed Formula calculates to be practiced in environment, and in the distributed computing environment, operation is long-range by the one or more being linked through a communication network Processing equipment executes.In a distributed computing environment, it includes that memory storage is set that software, program module, and/or engine, which can be located at, In local and remote computer storage media including standby.Can be used memory (such as random access memory (RAM) or other Dynamic storage device) store information and the instruction to be executed by processor.Memory can also be used to execute to by handling Temporary variable or other average informations are stored during the instruction that device executes.

Although some embodiments can be illustrated and described as includes that functional component, software, engine, and/or execution are 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 component, and/or Their combination is realized.Functional component, software, engine, and/or module can be by for example to by logical device (for example, processors) 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 storage medium.In other embodiments, functional component such as software, draw It holds up, and/or module can be realized by hardware element, which may include processor, microprocessor, circuit, circuit element (example Such as, transistor, resistor, capacitor, inductor etc.), integrated circuit, specific integrated circuit (ASIC), programmable logic device (PLD), digital signal processor (DSP), field programmable gate array (FPGA), logic gate, register, semiconductor equipment, core Piece, microchip, chipset, etc..

The example of software, engine, and/or module may include software component, program, application, computer program, using journey Sequence, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, Process, software joint portion, application program joint portion (API), instruction set, calculation code, computer code, code snippet, calculating Machine code snippet, word, value, symbol or any combination of them.Determine whether embodiment uses hardware element and/or software member Part can change to realize according to any amount of factor, all computation rates as desired of these factors, power level, thermal capacitance 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 being 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, procedure, data, driver, application programming interfaces (API) etc..Firmware be storable in controller 2016 and/or Controller 2022 may include such as bit mask read-only memory (ROM) or sudden strain of a muscle in the memory of nonvolatile memory (NVM) In fast memory.In various specific implementations, firmware, which is stored in the ROM, can protect flash memory.Nonvolatile memory It (NVM) 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 may include being arranged to It stores for executing the logics of the various operations of one or more embodiments, instruction and/or the computer-readable storage medium of data Matter.In various embodiments, for example, the article of manufacture may include disk, CD, flash memories or firmware, these products Include the computer program instructions for being suitable for being executed by general processor or application specific processor.However, embodiment is not limited to that.

In conjunction with presently disclosed embodiment describe various functional elements, logical block, module and circuit element function Can implement in the general environment of computer executable instructions, such as by processing unit execute software, control module, patrol Volume, and/or logic module.In general, software, control module, logic, and/or logic module are specific including being arranged to execute Any software element of operation.Software, control module, logic, and/or logic module may include executing particular task or implementing special Determine routine, programs, objects, component, the data structure etc. of abstract data type.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 The transmission of calculation machine readable medium.In this regard, computer-readable medium, which can be, can be used for storing information and can be visited by calculating equipment Any usable medium asked.Some embodiments can also be practiced in a distributed computing environment, in the distributed computing environment, Operation is executed by the one or more remote processing devices being linked through a communication network.In a distributed computing environment, software, control The local and remote computer that molding block, logic, and/or logic module can be located at including memory storage device, which stores, to be situated between In matter.

In addition, it should be understood that embodiment as described herein illustrates exemplary specific implementation, and functional element, patrol Collecting block, module and circuit element can implement with the consistent various other modes of the embodiment.In addition, by this class function Property the operation that executes of element, logical block, module and circuit element can combine and/or separate with the specific implementation for giving, and And it can be executed by greater number or lesser amount of component or module.Such as those skilled in the art institute upon reading this disclosure It will be apparent that each of separate embodiments described and illustrated herein have discrete parts and feature, without departing substantially from this public affairs Under the premise of the range opened, the component and feature can easily with the character separation of any aspect in other several aspects or Combination.It can logically possible sequence executes any the method by the sequence 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 A particular feature, structure, or characteristic is included at least one embodiment.The phrase occurred everywhere in the description " is implemented at one Example in " or " in one aspect " might not be all referring to identical embodiment.

Unless stated otherwise, it should be understood that term " processing ", " operation ", " calculating ", " determination " etc. are Refer to the movement and/or process of computer or computing system or similar computing electronics, the 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 combination, be designed to manipulate the object being expressed as in register and/or memory to execute function as described herein It the data of reason amount (for example, electronics) and/or converts thereof into and is similarly expressed as memory, register or other such letters Cease the other data of physical quantity in storage device, transmission device or display device.

It is worth noting that, expression " connection " and " connection " and their derivative words can be used to retouch for some embodiments It states.These terms are not intended to synonym for each other.For example, term " connection " and/or " connection " can be used to come for some embodiments Description, to indicate that two or more elements are in direct physical contact with each other or are in electrical contact.However, term " connection " can also refer to two A or more element does not contact not instead of directly each other, 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..

No matter should be appreciated that any patent incorporated herein by reference, publication or other public materials It is full text or part, the definition only provided in incorporated material and the disclosure, statement or other public materials do not conflict In the range of be incorporated herein.Similarly, and at the necessary level, the disclosure being expressly recited herein replaces with the side of reference Any conflict material that formula is incorporated herein.Be herein incorporated by reference but with existing definition as described herein, statement or other Conflicting any material of public material or part thereof will not generated only between the incorporated material and the existing public material It is incorporated herein under the degree of conflict.

Disclosed embodiment of this invention is applied to conventional endoscopy and open surgical instrument 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. In the case that any of the above-described or when two kinds, these embodiments can all be repaired, so as to using reusing afterwards at least once.It repairs Again may include any combination of following steps: then provision for disengagement is cleaned or is replaced specific component and then re-assemblied. In particular, can be with the embodiment of provision for disengagement, and optionally replace or remove device in any combination Any number of specific component or component.When cleaning and/or replacing particular elements, the embodiment of described device can be set in reparation The place of applying re-assemblies or is re-assemblied immediately before surgery by surgical team for then using.This field Technical staff will understand that device reparation can use multiple technologies and be dismantled, clean/replace 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 instrument, and cleaned as needed.Then, it can carry out disinfection to instrument.In a kind of disinfection technology In, which is placed in the container of closure and sealing, in such as plastics or TYVEK bag.Then container and instrument can be set In the radiation field that can penetrate the container, such as γ radiation, X-ray or high energy electron.Radiation can kill on instrument and in container Bacterium.Instrument after disinfection can be then stored in sterile chamber.Sealing container can keep instrument 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, ethylene oxide or steam.

It will be recognized by those skilled in the art, component part as described herein (for example, operation), device, object and it The discussion that is appended 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 specific example of elaboration and the discussion of accompanying are intended to represent their more generally classifications.In general, any specific example makes With being intended to represent its classification, and concrete composition part (for example, operation), device and object are not included in 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 It changes odd number into and/or pluralizes from odd number conversion, as long as being suitable for context and/or application.For clarity, various Singular/plural displacement is not stated clearly herein.

Theme as described herein elaborates to include the different components in other different components or portion different from other sometimes The different components of part connection.It should be appreciated that the framework described in this way is only example, and realization in fact can be implemented and obtain phase Many other frameworks of congenerous.On conceptual sense, any arrangement for obtaining the component of same functionality all has It imitates " associated ", thus the functionality needed for obtaining.Therefore, herein combined for acquisition particular functionality What two component can all be considered as " being connected " each other, thus the functionality needed for obtaining, regardless of structure or intermediate module how. Equally, any two component being so connected can also be considered as " being operatively connected " each other or " operatively coupling ", to obtain The functionality needed, and any two component that can be so connected can all be considered as " being operatively coupled " each other, to obtain Required functionality.The specific example 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 component and/or logic is interactive and/or logic interactive feature.

Expression " connection " and " connection " and their derivative words can be used to describe in some aspects.It should be appreciated that this A little terms are not intended to synonym for each other.For example, some aspects can use term " connection " to describe, with indicate two or More elements are in direct physical contact with each other or are in electrical contact.In another example, term " connection " can be used to come for some aspects Description, to indicate two or more element direct physical contacts or electrical contact.However, term " connection " can also refer to two or More elements do not contact not instead of directly each other, are fitted to each other or interact.

In some cases, one or more components are referred to alternatively as " being configured to " herein, " can be configured to Can ", " can operate/operationally ", " be suitble to/being suitable for ", " can ", " adapt to/be suitble to " etc..Those skilled in the art will It recognizes, unless context indicates otherwise, otherwise " is configured to " usually cover the component and/or inactivation of active state The component of state and/or the component of standby mode.

Although having shown and described the particular aspects of invention as described herein theme, to the technology of this field Personnel are evident that, are 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, broader aspect and therefore appended claims It include within its scope by all such changes and modification.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 " includes " should be interpreted that " including but not limited to ", and term " having " should be interpreted that " at least having " that term "comprising" is answered 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 expected, then such intention will be described clearly in the claims, and in the case where such narration is not present, There is no such intentions.For example, to help to understand, following appended claims may include to introductory phrase "at least one" and The use of " one or more " is to introduce claim narration.Pass through however, being not construed as implying to the use of such phrase It will include such any specific weights for introducing claim narration that indefinite article "one" or "an", which introduce claim narration, Benefit 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 "an" are (for example, "one" and/or "an" should usually 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, even if those skilled in the art should when clearly narration introduces the given number of claim narration It recognizes, the number that such narration generally should be construed as meaning at least to be described is not (for example, having the case where other modifiers Under, at least two narrations or two or more narrations are generally meant that the naked narration of " two narrations ").In addition, making 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 Field the skilled person will understand that the meaning of the convention (for example, " system at 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 at 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 in general, 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 attached drawing are interpreted as covering Including any of one of described term, the term or a possibility that the two terms.For example, phrase " A or B " is logical A possibility that often will be understood to comprise " A " or " B " or " A and B ".

For the attached claims, it will be appreciated by those skilled in the art that the operation wherein listed can usually appoint What sequence carries out.In addition, although centainly sequentially to list multiple operating processes, it is to be understood that, it can be different 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 the example of such substitution sequence may include 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 by many beneficial effects generated using concept as described herein.In order to illustrate and The purpose of description, there has been provided the above description of one or more embodiments.The explanation is not intended to as detailed or limit Surely precise forms disclosed in this invention are arrived.It can modify according to above-mentioned teaching content to the present invention 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, to allow the common of this field Technical staff can utilize multiple embodiments, and carry out various modifications in the case where being suitble to the concrete application imagined.With this The claims submitted together are intended to limit full scope.

Claims

1. a kind of surgical instruments, comprising:

Motor, the motor include motor output shaft；

First rotary drive system；

Second rotary drive system；

Transmission assembly, the transmission assembly and the motor output shaft be operatively engaged and can in the first activation point and It is selectively shifted between second activation point, in first activation point, the rotation of the motor output shaft is passed to First rotary drive system, in second activation point, the rotation of the motor output shaft is passed to described second Rotary drive system；With

Locked component, the locked component are supported by the transmission assembly and are configured to be in institute in the transmission assembly Mechanically prevent second rotary drive system from activating when stating the first activation point, the locked component is further configured to It can prevent first rotary drive system from activating when the transmission assembly is in second activation point.

2. surgical instruments according to claim 1, wherein the transmission assembly can be described by being operably linked to The solenoid of transmission assembly is axially displaced between first activation point and second activation point.

3. surgical instruments according to claim 1, wherein the transmission assembly includes:

Bracket is transmitted, the transmission bracket is operatively engaged with the motor output shaft, and the transmission bracket is supported for It is selectively axial between first activation point and second activation point to advance；

Connecting rod is transmitted, the transmission connecting rod is operably linked to the transmission bracket；With

Firing trigger, the firing trigger are connected to the transmission connecting rod, so that when the firing trigger is pressed, The transmission connecting rod makes the transmission bracket move to second activation point from first activation point.

4. surgical instruments according to claim 1, wherein first rotary drive system includes the first rotation drive shaft, It is described first rotation drive shaft include be non-rotatably supported in thereon first driving gear, and wherein it is described second rotation Drive system includes the second rotation drive shaft, and the second rotation drive shaft includes the second drive being non-rotatably supported in thereon Moving gear and be pivotally supported at thereon, with the idler drive gear that is engaged of the first driving gear, and its Described in transmission assembly include the transmission bracket for being pivotably supported bracket gear on it, the transmission bracket is supported for It axially advances between first activation point and second activation point, in first activation point, the bracket tooth Wheel is engaged with the motor gear on the idler drive gear and the motor output shaft, in second driving position It sets, the bracket gear is engaged with the motor gear and the second driving gear.

5. surgical instruments according to claim 4, wherein the locked component includes:

The first driving lock on the transmission bracket, the first driving lock are positioned at the transmission bracket and are in institute The second driving gear is engaged when stating the first activation point, locking to prevent the second driving gear rotation；With

The second driving lock on the transmission bracket, the second driving lock are positioned at the transmission bracket and are in institute The idler drive gear is engaged to locking when stating the second activation point, to prevent the idler drive gear from rotating.

6. surgical instruments according to claim 1, wherein first rotary drive system includes the first rotation drive shaft, The first rotation drive shaft has the first driving gear for being non-rotatably attached to it, and wherein second rotation is driven Dynamic system includes:

Second rotation drive shaft；

Planetary gear set, the planetary gear set include:

Non-rotatably it is attached to the pinion frame of the second rotation drive shaft；

The multiple planetary gears being pivotally supported on the pinion frame, each planetary gear with non-rotatably The sun gear for being attached to the motor output shaft is engaged, and wherein the second rotation driving further include:

The ring gear component being pivotally supported in the second rotation drive shaft, the ring gear component include and institute The internal ring gear and the outer annular gear being engaged with the first driving gear that planetary gear is engaged are stated, And wherein the locked component includes:

The first locking tab part on the transmission assembly, first locking tab part are configured in institute It states and engages the pinion frame to locking when transmission assembly is in first activation point, to prevent the pinion frame It rotates and prevents the second rotation drive shaft rotation, so that the rotation of the motor output gear leads to the planet tooth Wheel rotates relative to the pinion frame and rotary motion is transferred to the ring gear component and first sliding tooth Wheel；With

The second locking tab part on the transmission assembly, second locking tab part are configured in institute It states and engages the ring gear component to locking when transmission assembly is in second activation point, to prevent the ring gear Component rotation, so that the rotation of the motor output gear causes the planetary gear to rotate the pinion frame and will rotate Movement is transferred to the second rotation drive shaft.

7. surgical instruments according to claim 6, wherein the transmission assembly can be described by being operably linked to The solenoid of transmission assembly is axially displaced between first activation point and second activation point.

8. surgical instruments according to claim 1, wherein first rotary drive system is configured to operate Ground is connected to the first rotation servo system, and the first rotation servo system, which is operably supported, is attached to the surgery device In the surgical end-effector of tool, and wherein second rotary drive system is configured to be operably linked to institute State the second rotation servo system in surgical end-effector.

9. surgical instruments according to claim 4, wherein the first rotation driving axis limit first axle axis, and its Described in the second rotation driving axis limit be parallel to the second axis axis of the first axle axis.

10. a kind of surgical instruments, comprising:

Motor, the motor include motor output shaft；

First rotary drive system；

Second rotary drive system；

Transmission assembly, the transmission assembly and the motor output shaft be operatively engaged and can in the first activation point and It selectively shifts between second rotation activation point, is passed in the rotation of first activation point, the motor output shaft It is handed to first rotary drive system, in the second rotation activation point, the rotation of the motor output shaft is passed to Second rotary drive system；With

For mechanically preventing the second rotation driving system when the transmission assembly is in first activation point The device of system rotation, the described device for mechanically preventing are further configured to be in described in the transmission assembly Prevent first rotary drive system from rotating when the second rotation activation point.

11. a kind of surgical instruments, comprising:

Shell；

Motor, the motor are supported by the shell and including motor output shafts；

The first rotary drive system being operably supported by the shell；

The second rotary drive system being operably supported by the shell；With

The transmission assembly being movably supported in the shell, the transmission assembly operationally connect with the motor output shaft Merge and can selectively be shifted between the first activation point and the second rotation activation point, in first driving position It sets, the rotation of the motor output shaft is passed to first rotary drive system, in the second rotation activation point, institute The rotation for stating motor output shaft is passed to second rotary drive system.

12. surgical instruments according to claim 11, wherein the transmission assembly can in the shell, described It is axially moved between one activation point and the second rotation activation point.

13. surgical instruments according to claim 12, wherein the transmission assembly can be described by being operably linked to The solenoid of transmission assembly is axially displaced between first activation point and the second rotation activation point.

14. surgical instruments according to claim 11, wherein the transmission assembly can in the shell, described It is selectively pivoted between one activation point and the second rotation activation point.

15. surgical instruments according to claim 11, wherein first rotary drive system includes:

First rotation drive shaft, the first rotation drive shaft are supported by the shell and including being nonrotatably coupling to it On the first driving wheel, and wherein second rotary drive system includes:

Second rotation drive shaft, the second rotation drive shaft are supported by the shell and including being non-rotatably attached to it On the second driving wheel, and wherein the motor output shaft includes the first motor belt pulley being non-rotatably attached to thereon It is non-rotatably attached to the second motor belt pulley thereon, and the wherein surgical instruments further include:

First transmission belt, first transmission belt are engaged with first motor belt pulley and first driving wheel relaxation；With

Second transmission belt, second transmission belt are engaged with second motor belt pulley and second driving wheel relaxation, and And wherein the transmission assembly includes:

Support the idle pulley bracket of the first idle pulley and the second idle pulley, the idle pulley bracket can be in first activation point and described Selectively lateral movement between second rotation activation point, in first activation point, first driving wheel engages institute It states the first transmission belt to relax to eliminate from first transmission belt, so that the rotation of first motor belt pulley leads to institute The rotation for stating the first driving wheel and the first rotation drive shaft, in the second rotation activation point, the second driving wheel engagement Second transmission belt is relaxed with eliminating from second transmission belt, so that the rotation of second motor belt pulley causes The rotation of second driving wheel and the second rotation drive shaft.

16. surgical instruments according to claim 11, wherein first rotary drive system includes by the shell branch The first of support rotates drive shaft and the first driving wheel including being nonrotatably coupling to first rotary drive system, and And wherein second rotary drive system includes that second supported by the shell rotates drive shaft and including non-rotatable Ground is attached to the second driving wheel of second rotary drive system, and wherein the transmission assembly further includes transmission axle group Part, the transmission shaft assembly are movably supported on the motor output shaft axially to advance simultaneously on the motor output shaft Rotated together with the motor output shaft, the transmission shaft assembly be configured to for be pivotally supported at the biography The first motor belt pulley and the second motor belt pulley on defeated shaft assembly are selectively engaged, so that working as the transmission axle group When part is in first activation point, first motor belt pulley rotates and described together with the transmission shaft assembly Two motor belt pulley rotates freely on the transmission shaft assembly, and drives when the transmission shaft assembly is in second rotation When dynamic position, second motor belt pulley rotates together with the transmission shaft assembly and first motor belt pulley is in institute It states and is rotated freely on transmission shaft assembly, and the wherein transmission assembly further include:

First transmission belt, first transmission belt are engaged with first driving wheel and the first motor belt wheel drive；With

Second transmission belt, second transmission belt are engaged with second driving wheel and the second motor belt wheel drive.

17. surgical instruments according to claim 16, wherein the transmission assembly further includes transmission bracket, the transmission support Frame can be axially moved in the shell and be operably linked to the transmission shaft assembly, so that the transmission shaft assembly It is axially moved between first activation point and the second rotation activation point, while enabling the transmission shaft assembly It is rotated relative to the transmission bracket.

18. surgical instruments according to claim 17, wherein the transmission bracket can be described by being operably linked to The solenoid for transmitting bracket is axially displaced.

19. surgical instruments according to claim 11, wherein first rotary drive system is configured to grasp It is connected to the first rotation servo system with making, the first rotation servo system is operably supported surgical end-effector In, and wherein second rotary drive system is configured to be operably linked in the surgical end-effector Second rotation servo system.

20. surgical instruments according to claim 15, wherein the first rotation driving axis limit first axle axis, and Wherein the second rotation driving axis limit is parallel to the second axis axis of the first axle axis.