CN106413581A

CN106413581A - Modular powered surgical instrument with detachable shaft assemblies

Info

Publication number: CN106413581A
Application number: CN201580027607.1A
Authority: CN
Inventors: R·L·莱姆巴赫; M·D·奥弗迈耶; S·R·亚当斯
Original assignee: Ethicon Endo Surgery Inc
Current assignee: Ethicon Endo Surgery Inc
Priority date: 2014-03-26
Filing date: 2015-03-11
Publication date: 2017-02-15
Anticipated expiration: 2035-03-11
Also published as: BR112016021968A2; JP2017515528A; BR112016021968B1; JP6573905B2; CN106413581B

Abstract

An interchangeable shaft assembly for a surgical instrument that includes first and second drive systems. The interchangeable shaft assembly is configured for removable attachment to a housing of the surgical instrument. Various embodiments include a latch system that enables the interchangeable shaft assembly to be detached from the housing when the first drive system is unactuated but prevents the interchangeable shaft assembly from being detached from the housing when the first drive system is in an actuated position.

Description

The modularization with detachable shaft assembly powers up surgical instruments

Background technology

The present invention relates to surgical instruments, and in all cases, it is related to be designed to suture and cuts tissue Surgical stapling and cutting device and its nail bin.

Brief description

By combine accompanying drawing with reference to embodiment of the present invention following explanation, the features and advantages of the present invention and its obtain Take method will become more apparent, and be better understood invention itself, wherein：

Fig. 1 is the perspective view of surgical instruments, and this surgical instruments has and is operably linked to its interchangeable shaft assembly；

Fig. 2 is the interchangeable shaft assembly of Fig. 1 and the schematic diagram illustrating view of surgical instruments；

Fig. 3 is that another schematic diagram illustrating of some illustrating the interchangeable shaft assembly of Fig. 1 and Fig. 2 and surgical instruments regards Figure；

Fig. 4 is the schematic diagram illustrating view of a part for surgical instruments of Fig. 1 to Fig. 3；

Fig. 5 is the cross-sectional side view of a part for surgical instruments of Fig. 4, and wherein firing trigger is in fully actuated position Put；

Fig. 6 is another viewgraph of cross-section of a part for surgical instruments of Fig. 5, and wherein firing trigger is in and does not activate Position；

Fig. 7 is a form of schematic diagram illustrating view of interchangeable shaft assembly；

Fig. 8 is another schematic diagram illustrating view of some of interchangeable shaft assembly of Fig. 7；

Fig. 9 is another schematic diagram illustrating view of some of interchangeable shaft assembly of Fig. 7 and Fig. 8；

Figure 10 is the viewgraph of cross-section of a part for interchangeable shaft assembly of Fig. 7 to Fig. 9；

Figure 11 is the perspective view of a part for shaft assembly of Fig. 7 to Figure 10, wherein for clarity, has saved switching cylinder；

Figure 12 is another perspective view of the interchangeable shaft assembly part shown in Figure 11 being provided with switching cylinder thereon；

Figure 13 is of the interchangeable shaft assembly shown in Figure 11 of a part for the surgical instruments being operably linked to Fig. 1 The perspective view dividing, in figure illustrates that the closure trigger of surgical instruments is in unactuated position；

Figure 14 is the interchangeable shaft assembly of Figure 13 and the right side elevation view of surgical instruments；

Figure 15 is the interchangeable shaft assembly of Figure 13 and Figure 14 and the left side elevation view of surgical instruments；

Figure 16 is of the interchangeable shaft assembly shown in Figure 11 of a part for the surgical instruments being operably linked to Fig. 1 The perspective view dividing, in figure illustrates that the closure trigger of surgical instruments is in actuated position, and its firing trigger is in and does not cause Dynamic position；

Figure 17 is the interchangeable shaft assembly of Figure 16 and the right side elevation view of surgical instruments；

Figure 18 is the interchangeable shaft assembly of Figure 16 and Figure 17 and the left side elevation view of surgical instruments；

Figure 18 A is the right side of the interchangeable shaft assembly shown in Figure 11 of a part for the surgical instruments being operably linked to Fig. 1 Side front view, in figure illustrates that the closure trigger of surgical instruments is in actuated position, and its firing trigger is also at actuating Position；

Figure 19 is the perspective view of the part illustrating electric connector construction of interchangeable shaft assembly；

Figure 20 is the schematic diagram illustrating view of some of the interchangeable shaft assembly of Figure 19 and electric connector；

Figure 21 is the perspective view of circuit trace assembly；

Figure 22 is the plan of a part for circuit trace assembly of Figure 21；

Figure 23 is the perspective view of the part illustrating another electric connector construction of another interchangeable shaft assembly；

Figure 24 is the schematic diagram illustrating view of some of the interchangeable shaft assembly of Figure 23 and electric connector；

Figure 25 is the slip ring assembly decomposition view of the electric connector of Figure 23 and Figure 24；

Figure 26 is the perspective view of the part illustrating another electric connector construction of another interchangeable shaft assembly；

Figure 27 is the schematic diagram illustrating view of some of the interchangeable shaft assembly of Figure 26 and electric connector；

Figure 28 is the front perspective view of a part for the slip ring assembly of electric connector of Figure 26 and Figure 27；

Figure 29 is the schematic diagram illustrating view of the slip ring assembly part of Figure 28；

Figure 30 is the rear view of the slip ring assembly part of Figure 28 and Figure 29；

Figure 31 is the perspective view of the surgical instruments including (PCC) power, shank assembly and interchangeable shaft assembly；

Figure 32 is the perspective view of the surgical instruments of Figure 31, and wherein interchangeable shaft assembly is separated with shank assembly；

Figure 33 is the circuit diagram of the surgical instruments of Figure 31；

Figure 34 is the block diagram of the interchangeable shaft assembly being used together with the surgical instruments of Figure 31；

Figure 35 is the perspective view of the (PCC) power separating with shank assembly in the surgical instruments of Figure 31；

Figure 36 is the block diagram of the surgical instruments of Figure 31, there is shown between shank assembly and (PCC) power and shank group Interface between part and interchangeable shaft assembly；

Figure 37 is the power management module of the surgical instruments of Figure 31；

Figure 38 is the surgical instruments including (PCC) power and the interchangeable work package fitting together with this (PCC) power Perspective view；

Figure 39 is the block diagram of the surgical instruments of Figure 38, there is shown with connecing between interchangeable work package and (PCC) power Mouthful；

Figure 40 is the block diagram of the module of the surgical instruments illustrating Figure 38；

Figure 41 is the surgical instruments including (PCC) power and the interchangeable work package fitting together with this (PCC) power Perspective view；

Figure 42 is the circuit diagram of the exemplary power assembly of surgical instruments of Figure 41；

Figure 43 is the circuit diagram of the exemplary power assembly of surgical instruments of Figure 41；

Figure 44 is the circuit diagram of the exemplary interchangeable work package of surgical instruments of Figure 41；

Figure 45 is the circuit diagram of the exemplary interchangeable work package of surgical instruments of Figure 41；

Figure 46 is the block diagram of the example modules of the surgical instruments illustrating Figure 41；

The work package of the interchangeable work package of the surgical instruments by Figure 41 that Figure 47 A detects for voltage monitoring mechanism The diagram of the example communication signal that controller produces；

The work package of the interchangeable work package of the surgical instruments by Figure 41 that Figure 47 B detects for current monitoring mechanism The diagram of the example communication signal that controller produces；

Figure 47 C is the motor response of the interchangeable work package of Figure 41 in produced by the work package controller of Figure 47 A Signal of communication and the diagram of effective motor displacement that occurs；

Figure 48 is the perspective view of the surgical instruments including shank assembly and shaft assembly, and its Middle shaft assembly includes end execution Device；

Figure 49 is the perspective view of the shank assembly of surgical instruments of Figure 48；

Figure 50 is the exploded view of the shank assembly of surgical instruments of Figure 48；

Figure 51 is the schematic diagram of the emergent reponse system of surgical instruments of Figure 48；

Figure 52 is the block diagram of the module being used together with the emergent reponse system of Figure 51；

Figure 53 is the block diagram of the module being used together with the emergent reponse system of Figure 51；

Figure 54 shows an example of (PCC) power, and this (PCC) power includes being configured to generate making of battery pack Use cycling circuit with cycle count；

Figure 55 shows an example of the use cycling circuit including resistor-capacitor circuit timer；

Figure 56 shows an example of the use cycling circuit including timer and rechargeable battery；

Figure 57 shows the combination type sterilizing Charging being configured to sterilize for (PCC) power simultaneously and it is charged One example of system；

Figure 58 shows and is configured to as (PCC) power sterilization combination type sterilizing charging system that it is charged One example, this (PCC) power has integral part of battery charger wherein；

Figure 59 is The schematic diagram of system；

Figure 60 is to illustrate a kind of method of the speed for adjusting the percussion element according to the various embodiment of the disclosure Flow chart；

Figure 61 is to illustrate a kind of method of the speed for adjusting the percussion element according to the various embodiment of the disclosure Flow chart；

Figure 62 is the fragmentary, perspective view of end effector according to the various embodiment of the disclosure and fastener cartridge；

Figure 63 is the fragmentary, perspective view of end effector according to the various embodiment of the disclosure and fastener cartridge；

Figure 64 is the cross-sectional elevational view of end effector according to the various embodiment of the disclosure and fastener cartridge；

Figure 65 is the cross-sectional elevational view of end effector according to the various embodiment of the disclosure and fastener cartridge；

Figure 66 is end effector (plurality of part is removed) and the securing member according to the various embodiment of the disclosure The fragmentary, perspective view in storehouse；

Figure 67 is end effector (plurality of part is removed) and the securing member according to the various embodiment of the disclosure The fragmentary, perspective view in storehouse；

Figure 68 (A) is the schematic diagram illustrating the integrated circuit according to the various embodiment of the disclosure；

Figure 68 (B) is the schematic diagram illustrating the magnetic resistance circuit according to the various embodiment of the disclosure；And

Figure 68 (C) is the table of all size listing the magnetoresistive transducer according to the various embodiment of the disclosure.

Specific embodiment

Present applicant has the following patent application of on March 1st, 2013 submission, these patent applications each full text It is herein incorporated by reference：

- 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；

U.S. 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 all incorporated by reference in its entirety accordingly.

Present applicant also has the following patent application being filed on March 14th, 2013, and each of which Each it is hereby incorporated herein by full：

- 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 has following patent application, and these patent applications and the application submit on the same day, each entirely Literary composition is herein incorporated by reference：

Entitled " SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM " (attorney END7386USNP/130458 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " (generation Reason people file number END7387USNP/130459) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " STERILIZATION VERIFICATION CIRCUIT " (attorney END7388USNP/ 130460) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT " The U.S. Patent Application Serial Number of (attorney END7389USNP/130461) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT The U.S. Patent Application Serial of AND WAKE UP CONTROL " (attorney END7390USNP/130462) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL The U.S. Patent Application Serial of INSTRUMENTS " (attorney END7392USNP/130464) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " (attorney END7393USNP/130465 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR " The U.S. Patent Application Serial Number of (attorney END7394USNP/130466) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS " (attorney docket Number END7395USNP/130467) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS " (attorney Reel number END7396USNP/130468) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " MODULAR SURGICAL INSTRUMENT SYSTEM " (attorney END7397USNP/ 130469) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT " (agency People file number END7399USNP/130471) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE The U.S. Patent Application Serial of VOLTAGE PROTECTION " (attorney END7400USNP/130472) Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；

Entitled " SURGICAL STAPLING INSTRUMENT SYSTEM " (attorney END7401USNP/ 130473) U.S. Patent Application Serial Number _ _ _ _ _ _ _ _ _ _ _ _ _ _ _；And

Entitled " SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT " (attorney END7402USNP/130474 U.S. Patent Application Serial Number) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _.

Some exemplary will now be described, to understand the knot of apparatus as disclosed herein and method on the whole The principle of structure, function, manufacture and purposes.One or more examples of these embodiments are shown in the drawings.This area is general Lead to it will be appreciated by the skilled person that the apparatus and method specifically describing herein and being illustrated by drawings are nonrestrictive exemplary reality Apply scheme.The feature being illustrated in conjunction with an exemplary or being described can be entered with the feature of other embodiments Row combination.These modifications and modification are intended to be covered within the scope of the present invention.

" various embodiment ", " some embodiments " or " embodiment " that this specification refers in the whole text etc., meaning Taste and is included at least one embodiment with reference to specific features, structure or characteristic that this embodiment describes.Therefore, this theory The phrase " in various embodiments ", " in some embodiments " or " in one embodiment " that bright book occurs in the whole text Deng being not necessarily all referring to same embodiment.Additionally, in one or more embodiments, specific features, structure or characteristic Can combine in any suitable way.Therefore, in the case of unrestricted, illustrate in conjunction with an embodiment or describe is concrete Feature, structure or characteristic can whole or in part with the feature of other embodiments one or more, structure or property combination.This A little modifications and modification are intended to be covered within the scope of the present invention.

Terms used herein " nearside " and " distally " be the clinician of handle portions with respect to manipulation of surgical apparatus and Speech.Term " nearside " refers to the part near clinician, and term " distally " then refers to be located remotely from the position of clinician The part put.It is also understood that for the sake of succinct and clear, can combine herein accompanying drawing use spatial terminology such as " vertical ", " level ", "up" and "down".However, surgical instruments uses in many directions and position, and these terms non-limiting And/or absolute.

There is provided various exemplary means and method to execute laparoscopic type surgical operation and micro-wound surgical operation.However, this The those of ordinary skill in field will readily appreciate that, various method and apparatus disclosed herein can be used for many surgical operations and answer With in, including for example combining with open surgery.With continued reference to this specific embodiment, the ordinary skill in this area Personnel will be further understood that, various apparatuses disclosed herein can insert in vivo by any way, such as passes through natural cavity, leads to Cross the otch being formed in tissue or puncturing hole etc..The working portion of apparatus or end effector portion can be plugged directly into patient Internal or can be inserted by having the entrance device of service aisle, the end effector of surgical instruments and slender axles can pass through described Service aisle and advance.

Fig. 1 to Fig. 6 shows that recycling or not recycling motor drives surgery cuts and fastening instrument 10.Showing In the embodiment going out, apparatus 10 includes shell 12, and this shell includes being configured to being grasped by clinician, manipulate and causing Dynamic shank 14.Shell 12 is configured to be operably attached to interchangeable shaft assembly 200, and this interchangeable shaft assembly can be grasped Making ground connection has surgical end-effector 300, and this surgical end-effector is configured to execute one or more operation appoints Business or surgical operation.With continued reference to this specific embodiment it will be appreciated that various forms of interchangeable shaft assembly disclosed herein Various unique and novel construction can also effectively with robot control surgery system be used in combination.Therefore, term is " outward Shell " also can be covered the receiving of robot system or otherwise be operably supported shell or the class of at least one drive system Like part, at least one drive system described is configured to generate and apply to can be used for activate disclosed herein interchangeable Shaft assembly and its at least one control action of corresponding equivalent.Term " framework " can refer to of hand-held surgical apparatus Point.Term " framework " also can represent robot control a part for surgical instruments and/or robot system can be used for can grasp Make the part that ground controls surgical instruments.For example, interchangeable shaft assembly disclosed herein can be with entitled " SURGICAL The United States Patent (USP) of STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " System of various robot disclosed in patent application serial numbers 13/118,241 (now for U.S. Patent Application Publication US 2012/0298719) System, apparatus, part and method are used together.Entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " U.S. Patent Application Serial Number 13/118,241 (now for U.S. Patent Application Publication US 2012/0298719) it is incorporated by reference in its entirety herein.

The interchangeable shaft assembly 200 that shell 12 combination shown in Fig. 1 to Fig. 3 includes end effector 300 illustrates, described End effector includes surgery cuts and the fastener being configured to be operably supported surgery nail bin 304 therein. Shell 12 can be configured to use with reference to interchangeable shaft assembly, these interchangeable shaft assemblies include supporting different size and The end effector of the nail bin of type, and there is different shaft lengths, size and type etc..Additionally, shell 12 also can be effectively It is used together with other interchangeable shaft assemblies multiple, other interchangeable shaft assemblies described include being configured to by other actions Being applied to form of energy (such as, radio frequency (RF) energy, ultrasonic energy and/or action) can be in conjunction with the application of various surgeries with outward Those assemblies of the end effector configuration that section's operation uses.Additionally, end effector, shaft assembly, shank, surgical instruments and/ Or surgical instrument system can be using any suitably one or more securing members come fastening tissue.For example, including multiple removable The fastener cartridge of securing member that is stored therein can be removably inserted in the end effector of shaft assembly and/or be attached to The end effector of shaft assembly.

Fig. 1 shows that interchangeable shaft assembly 200 is operably linked to its surgical instruments 10.Fig. 2 and Fig. 3 illustrates can be mutual Change shaft assembly 200 and be attached to shell 12 or shank 14.Appreciable in Fig. 4, shank 14 may include a pair and can interconnect Shank shell section 16 and 18, this can interconnect by screw, snap in features structure, adhesive etc. to shank shell section.Illustrate In construction, shank shell section 16 and 18 cooperatively forms the pistol grip portion 19 that can be grasped and manipulated by clinician.As will be Discuss in further detail below, shank 14 is operably supported multiple drive system therein, these drive systems are constructed One-tenth can generate various control actions and be applied to these control actions and be operably attached to its interchangeable shaft assembly Corresponding part.

Referring now to Fig. 4, shank 14 may also include the framework 20 being operably supported multiple drive systems.For example, framework 20 can be operably supported " first " being generally denoted as 30 or closure drive system, be somebody's turn to do " first " or closure drive system can Operationally it is attached or coupled to its interchangeable shaft assembly 200 for being applied to closure and opening action.In at least one In form, closure drive system 30 may include the actuator of closure trigger 32 form being pivotally supported by framework 20.More Body ground, as shown in figure 4, closure trigger 32 is pivotally coupled to shell 14 via pin 33.This construction makes closure trigger 32 Can be manipulated by clinician so that when clinician grasps the pistol grip portion 19 of shank 14, closure trigger 32 can quilt It is pivoted to " actuating " position from initial or " actuating " position easily, and more specifically, is pivoted to compression or complete completely The full position activating.Closure trigger 32 can be biased to unactuated position by spring or other bias structure (not shown).Each In the form of kind, closure drive system 30 also includes the closure link assembly 34 being pivotally coupled to closure trigger 32.As Fig. 4 In appreciable, closure link assembly 34 may include the first closure being pivotally coupled to closure trigger 32 by pin 35 even Fitting 36 and the second closure connector 38.Second closure connector 38 is herein alternatively referred to as " attachment members ", and includes Laterally attachment pin 37.

Referring also to Fig. 4, can be observed, the first closure connector 36 can have latch wall or keyed end 39, this lock thereon Determine wall or keyed end is configured to coordinate with the closure release assembly 60 being pivotally coupled to framework 20.In at least one shape In formula, closure release assembly 60 may include release button assembly 62, this release button assembly have be formed on towards distally The lock pawl 64 of projection.Release button assembly 62 can be released spring (not shown) and pivot in the counterclockwise direction.Clinician will Closure trigger 32 from its unactuated position towards the pistol grip portion 19 of shank 14 press when, first closure connector 36 to On be switched to certain point, lock pawl 64 falls into this point, with first closure connector 36 on latch wall 39 remain engaged with, thus hindering Only closure trigger 32 returns to unactuated position.Referring to Figure 18.Therefore, closure release assembly 60 contributes to closure trigger 32 It is locked in fully actuated position.If closure trigger 32 is unlocked by clinician's expectation does not activate position to allow it to be biased to Put, only need pivoted closed release button assembly 62, so that lock pawl 64 is moved, thus close the latch wall on connector 36 with first 39 are disengaged.After lock pawl 64 has been moved and has been disengaged with the first closure connector 36, closure trigger 32 can pivot Turn and return to unactuated position.Other closure trigger locking arrangement and release arrangement may also be employed.

Apart from the above, Figure 13 to Figure 15 shows the closure trigger 32 being in unactuated position, this unactuated position With shaft assembly 200 open or non-clamping configuration is associated, shaft assembly 200 is in this and opens or during non-clamping configuration, and tissue can It is positioned between the jaw of shaft assembly.Figure 16 to Figure 18 shows the closure trigger 32 being in actuated position, this actuated position It is associated with the closure of shaft assembly 200 or clamp configuration, when shaft assembly 200 is in this closure or clamp configuration, tissue is clamped Between the jaw of shaft assembly.Reader be will appreciate that after compared Figure 14 with Figure 17, and closure trigger 32 does not activate from it To during its actuated position (Figure 17) motion, closure release button 62 is in primary importance (Figure 14) and second for position (Figure 14) Pivot between position (Figure 17).The rotation of closure release button 62 can be described as rotating up, but closure release button 62 is at least A part rotates towards circuit board 100.Referring to Fig. 4, close release button 62 and may include the arm 61 extending from it and be installed to arm 61 magnetic element 63 (such as permanent magnet).Closure release button 62 rotates to the process of its second place from its primary importance In, magnetic element 63 can move towards circuit board 100.Circuit board 100 may include and is configured to detect magnetic element 63 At least one sensor of motion.In at least one embodiment, for example, hall effect sensor 65 may be mounted to circuit board 100 lower surface.Hall effect sensor 65 is configured to detection to be caused by the motion of magnetic element 63, in Hall The changes of magnetic field that effect sensor 65 surrounding occurs.Hall effect sensor 65 can (such as) be entered with microcontroller 7004 (Figure 59) Row signal communication, this microcontroller can determine that closure release button 62 is in its primary importance, its second place, or/or The unactuated position of any position between person's primary importance and the second place, described primary importance and closure trigger 32 and end The configuration of opening of portion's actuator is associated, the described second place and the actuated position of closure trigger 32 and closing of end effector Close configuration to be associated.

In at least one form, shank 14 and framework 20 can be operatively supported at herein referred to as percussion and drive Another drive system of system 80, this drive system is configured to be applied to firing action and is attached to the interchangeable of its The corresponding part of shaft assembly.Percussion drive system 80 is herein also referred to as " the second drive system ".Percussion drive system 80 Can be using the electro-motor 82 in the pistol grip portion 19 of shank 14.In various forms, motor 82 can be for for example There is the DC brush drive motor of the maximum (top) speed of about 25,000RPM.In other arrangements, motor may include brushless horse Reach, wireless motor, syncmotor, stepper motor or any other suitable electro-motor.Motor 82 can be powered by power source 90, In one form, this power source may include removable power source group 92.Appreciable in Fig. 4, for example, power supply group 92 can Including nearside casing part 94, this nearside casing part is configured to be attached to distally casing part 96.Nearside casing part 94 and distally casing part 96 be configured to be operably supported multiple battery 98 therein.Battery 98 each may include (for example) lithium ion (" LI ") battery or other suitable batteries.Distally casing part 96 is configured to removably may be used It is operatively attached to equally be operably linked to the control circuit board component 100 of motor 82.Can use can be connected in series many Individual battery 98 is as the power source of surgical instruments 10.Additionally, power source 90 can be removable and/or rechargeable.

As summarized above in relation to other various forms, electro-motor 82 may include can be grasped with The gear deceleration device assembly 84 Make the rotatable shaft (not shown) of ground handing-over, this The gear deceleration device assembly engages joint with the sliding tooth 122 of a group or a tooth bar Be arranged on can be in the drive member 120 of lengthwise movement.In use, the polarity of voltage that power source 90 is provided can be along clockwise Direction operation electro-motor 82, wherein can be inverted by the polarity of voltage that battery is applied to electro-motor, so that along side counterclockwise To operation electro-motor 82.When electro-motor 82 rotates in one direction, drive member 120 will be along distal direction " DD " by axle Drive to ground.When motor 82 is driven along contrary direction of rotation, drive member 120 will be along proximal direction " PD " by axially Drive.Shank 14 may include switch, and the polarity that this switch is configured to make power source 90 be applied to electro-motor 82 is anti- Turn.As other forms as herein described, shank 14 may also include sensor, and this sensor is configured to detection and drives The direction that the position of component 120 and/or drive member 120 are being moved.

The actuating of motor 82 can be controlled by the firing trigger 130 being pivotally supported on shank 14.Firing trigger 130 can pivot between unactuated position and actuated position.Firing trigger 130 can be inclined by spring 132 or other biased configuration Put unactuated position so that when clinician discharges firing trigger 130, firing trigger can be by spring 132 or biasing structure Make and be pivoted to or otherwise return to unactuated position.In at least one form, firing trigger 130 can be positioned on closure " outside " of trigger 32, as discussed above.In at least one form, firing trigger safety switch 134 can be by pin 35 It is pivotally mounted to closure trigger 32.Safety switch 134 can be positioned between firing trigger 130 and closure trigger 32, And there is the pivotal arm 136 from its projection.Referring to Fig. 4.When closure trigger 32 is in unactuated position, safety switch 134 quilt It is contained in shank 14, now clinician possibly cannot touch this button easily, also cannot prevent this button to percussion Move between home that trigger 130 activates and the firing position that can be fired of firing trigger 130.Clinician presses During closure trigger 32, safety switch 134 and firing trigger 130 pivot downwards, subsequently can be manipulated by clinician.

As discussed above, shank 14 may include closure trigger 32 and firing trigger 130.Referring to Figure 14 to Figure 18 A, Firing trigger 130 can be pivotally mounted to closure trigger 32.Closure trigger 32 may include the arm 31 extending from it, And firing trigger 130 can be pivotally mounted to arm 31 around pivot pin 33.As outlined above, closure trigger 32 from To during its actuated position (Figure 17) motion, firing trigger 130 can decline downwards for its unactuated position (Figure 14).In peace After full button 134 has been moved to its firing position, referring primarily to Figure 18 A, pressable firing trigger 130, operate surgery device The motor of tool trigger system.In all cases, shank 14 may include tracking system (such as system 800), this tracking system quilt It is constructed to be permeable to determine the position of closure trigger 32 and/or the position of firing trigger 130.Referring especially to Figure 14, Tu17He Figure 18 A, tracking system 800 may include magnetic element (such as permanent magnet 802), and this magnetic element is installed to from firing trigger The arm 801 of 130 extensions.Tracking system 800 may include one or more sensors, the such as first hall effect sensor 803 He Second hall effect sensor 804, these sensors are configured to the position of tracking magnet 802.Reader is by Figure 14 Will appreciate that after comparing with Figure 17, closure trigger 32 during moving to its actuated position in its unactuated position, magnetic Body 802 can be in the primary importance of neighbouring first hall effect sensor 803 and the second of neighbouring second hall effect sensor 804 Move between position.Reader will be further known to after compare Figure 17 with Figure 18 A, and firing trigger 130 never fires position Put (Figure 17) to during firing position (Figure 18 A) motion, magnet 802 can be transported with respect to the second hall effect sensor 804 Dynamic.Sensor 803 and 804 can tracking magnet 802 motion, and can with circuit board 100 on microcontroller carry out signal lead to Letter.Microcontroller can be utilized the data from first sensor 803 and/or second sensor 804, determines magnet 802 along predetermined The position in adopted path, and can determine that closure trigger 32 is in its unactuated position, its actuated position based on this position, also It is the position between this two positions.Similarly, microcontroller can be utilized and is derived from first sensor 803 and/or second sensor 804 data, determines magnet 802 along the position in predefined path, and can determine that firing trigger 130 is place based on this position Position between its non-firing position, its complete firing position, or this two positions.

As described above, at least one form, the drive member 120 of lengthwise movement can have the tooth being formed on The tooth 122 of bar, for engaging with corresponding driving gear 86 engagement of The gear deceleration device assembly 84.At least one form also includes can " meeting an urgent need " assembly 140 activating manually, this assembly is configured to allow clinician to become situation about disabling in motor 82 Under manually retract can lengthwise movement drive member 120.Emergent assembly 140 may include lever or emergent shank assembly 142, should Lever or emergent shank assembly are configured to manually be pivoted the tooth 124 being and being similarly disposed in drive member 120 Ratchet engages.Therefore, clinician using emergent shank assembly 142 manually retraction drive member 120, and can make drive member 120 do ratcheting motion along proximal direction " PD ".U.S. Patent Application Publication US 2010/0089970 discloses emergent construction, with And also miscellaneous part, construction and the system that can be used together with various apparatuses disclosed herein.Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING The U.S. Patent Application Serial Number 12/249,117 (now for U.S. Patent Application Publication 2010/0089970) of SYSTEM " is complete accordingly Literary composition is herein incorporated by reference.

Turning now to Fig. 1 and Fig. 7, interchangeable shaft assembly 200 includes surgical end-effector 300, and this surgical end executes Device includes the elongated passageway 302 being configured to be operably supported nail bin 304 therein.End effector 300 also can wrap Include anvil block 306, this anvil block is pivotally supported with respect to elongated passageway 302.Interchangeable shaft assembly 200 may also include joint motions Joint 270 and articulation lock 350 (Fig. 8), this articulation lock is configured to releasedly by end effector 300 It is maintained at desired position with respect to axle axis SA-SA.About end effector 300, actuated articulation joints 270 and joint motions Lock 350 be construction and operation of details, on March 14th, 2013 submit to entitled " ARTICULATABLE SURGICAL Show in the U.S. Patent Application Serial Number 13/803,086 of INSTRUMENT COMPRISING AN ARTICULATION LOCK " Go out.It is filed in entitled " the ARTICULATABLE SURGICAL INSTRUMENT COMPRISING on March 14th, 2013 The entire disclosure of the U.S. Patent Application Serial Number 13/803,086 of AN ARTICULATION LOCK " is accordingly with the side of quoting Formula is expressly incorporated herein.Appreciable in Fig. 7 and Fig. 8, interchangeable shaft assembly 200 may also include by nozzle segment 202 and 203 The nearside shell of composition or nozzle 201.Interchangeable shaft assembly 200 may also include closure pipe 260, and this closure pipe can be used for closing And/or open the anvil block 306 of end effector 300.Referring now primarily to Fig. 8 and Fig. 9, shaft assembly 200 may include ridge 210, should Ridge is configured to be fixedly supported the axle frame part 212 of articulation lock 350.Referring to Fig. 8.Ridge 210 can be by structure Causing can：First, slidingly support firing member 220 therein；Second, slidingly support around ridge 210 extension Closure pipe 260.Ridge 210 is also configured to slidingly support proximal joint motion drive 230.Joint motions drive Device 230 has distal end 231, and this distal end is configured to be operatively engaged articulation lock 350.Joint motions Lock 350 is joined with articulation frame 352, and this articulation frame can be operatively engaged end effector frame and (not show Go out) on drive pin (not shown).As described above, about articulation lock 350 and articulation frame operation more thin Section is found in U.S. Patent Application Serial Number 13/803,086.In all cases, ridge 210 may include and is pivotally supported at bottom Proximal end 211 in seat 240.In a kind of construction, for example, the proximal end 211 of ridge 210 has the screw thread being formed on 214, it is threadedly attached to, will pass through, the ridge bearing 216 being configured to be supported in base 240.Referring to Fig. 7.This structure Make and be conducive to for ridge 210 being rotatably attached to base 240 so that ridge 210 can be with respect to base 240 selectively around axle Axis SA-SA rotates.

Referring primarily to Fig. 7, interchangeable shaft assembly 200 includes closing spindle moving part 250, and this closure spindle moving part is with can be the bottom of with respect to The mode of seat 240 axially-movables is slidably supported in this base.Appreciable in Fig. 3 and Fig. 7, close spindle moving part 250 hooks 252 including being configured to be attached to a pair of attachment pin 37 proximally projection, described attachment pin is attached to second and closes Close connector 38, such as will discuss in further detail below.The proximal end 261 of closure pipe 260 is connected to closure spindle moving part 250, so that the rotation of relatively closed spindle moving part.For example, U-shaped connector 263 is inserted in the proximal end 261 of closure pipe 260 Narrow annular slot 262 is so as to be retained in the vertical slit 253 of closure spindle moving part 250.Referring to Fig. 7.This construction contributes to closing Closing pipe 260 and be attached to closure spindle moving part 250, axially to advance together with closure spindle moving part, so that closure pipe 260 is enclosed simultaneously Rotate with respect to closure spindle moving part 250 around axle axis SA-SA.Closing spring 268 axle journal is connected on closure pipe 260, contributes to Along proximal direction " PD " biased closed pipe 260, in the case that shaft assembly is operably linked to shank 14, this closing spring can Contribute to for closure trigger being pivoted to unactuated position.

In at least one form, interchangeable shaft assembly 200 may also include actuated articulation joints 270.However, other can be mutual Change shaft assembly and may cannot be carried out joint motions.Appreciable in Fig. 7, for example, actuated articulation joints 270 include double pivots Axle closes thimble assembly 271.According to various forms, double pivot closure sleeve assembly 271 includes thering is the upper handle projecting towards distally The end effector closure thimble assembly 272 of pin 273 and lower tang 274.End effector closure thimble assembly 272 includes horseshoe Shape hole 275 and inserted sheet 276, for entitled " the ARTICULATABLE SURGICAL submitting to by March 14th, 2013 The U.S. Patent Application Serial Number 13/803,086 of INSTRUMENT COMPRISING AN ARTICULATION LOCK " (should Patent application is herein incorporated by reference) described in various modes engage the opening tab on anvil block 306.As entered one herein Step describes in detail, and in the case that anvil block 306 is opened, shape of a hoof hole 275 and inserted sheet 276 are engaged with the inserted sheet on anvil block.On Portion's double pivot links 277 include the distally pivot pin projecting upwards and nearside pivot pin, and these pivot pins engage closure respectively On pipe 260 proximally project upper tang 273 in top distally pin-and-hole and towards distally project upper tang 264 in upper Portion's nearside pin-and-hole.Lower double pivot link 278 includes the distally pivot pin projecting upwards and nearside pivot pin, these pivot pins Engage respectively proximally project lower tang 274 in lower distal pin-and-hole and towards distally project lower tang 265 under Portion's nearside pin-and-hole.Referring also to Fig. 8.

In use, closure pipe 260 translates towards distally (direction " DD "), so that (such as) is in response to closure trigger 32 Activate and close anvil block 306.By closing pipe 260 towards distal translation, thus translation shaft closure thimble assembly 272, cause axle to close Trap tube assembly is impacted on anvil block 360 in the way of described in aforementioned reference U.S. Patent Application Serial Number 13/803,086 Proximal face, thus close anvil block 306.Also as this bibliography describes in detail, closed by proximally translating closure pipe 260 and axle Trap tube assembly 272, causes inserted sheet 276 to contact with shape of a hoof hole 275 and pushes anvil block inserted sheet to lift anvil block 306, thus Open anvil block 306.In anvil block open position, axle closure pipe 260 moves to its proximal position.

As described above, surgical instruments 10 may also include its type and construction in U.S. Patent Application Serial Number 13/803,086 In the articulation lock 350 that describes in further detail, this articulation lock is configured to operation for selectively will End effector 300 is locked in the appropriate position.When articulation lock 350 is in its released state, this construction makes end Actuator 300 can rotate with respect to axle closure pipe 260 or do joint motions.Under this released state, end effector 300 Can be against the such as soft tissue around operative site and/or bone positioning and push in the patient, so that end effector 300 is relatively Do joint motions in closure pipe 260.End effector 300 also can be under joint motions driver 230 effect, with respect to closure pipe 260 do joint motions.

Similarly, as described above, interchangeable shaft assembly 200 also includes firing member 220, and this firing member is supported for Axially advance in axle ridge 210.Firing member 220 includes the centre being configured to be attached to distal incision part or knife bar 280 Percussion shaft portion 222.Firing member 220 is herein also referred to as " the second axle " and/or " the second shaft assembly ".As Fig. 8 and Fig. 9 In appreciable, middle percussion shaft portion 222 can include longitudinal slit 223 in its distal end, and this longitudinal slit can It is configured to receive the inserted sheet 284 in the proximal end 282 of distally knife bar 280.Longitudinal slit 223 and proximal end 282 Be dimensioned and configured to can allow for the relative motion between both, and both may include slip joint 286. Slip joint 286 can allow to fire driving means 220 in the middle of percussion shaft portion 222 move, and do not moving or at least basic On in the case of not motion knife bar 280, make end effector 300 do joint motions.Once end effector 300 is by suitably Orientation, middle percussion shaft portion 222 can advance towards distally, until the proximal sidewall of longitudinal slit 223 touches inserted sheet 284, So that propulsion knife bar 280 simultaneously fires the nail bin being positioned in passage 302.As in Fig. 8 and Fig. 9 can it is further seen that as, axle Ridge 210 has elongated opening or window 213 wherein, be beneficial to middle percussion shaft portion 222 be assembled into axle framework 210 with And insert in this axle framework.Once middle percussion shaft portion 222 has been inserted in axle framework, top frame section 215 can be with axle Framework 212 engages, thus closing percussion shaft portion 222 and knife bar 280 in the middle of therein.Operation about firing member 220 Further describe and be found in U.S. Patent Application Serial Number 13/803,086.

Apart from the above, shaft assembly 200 may include clutch pack 400, and this clutch pack has been configured to Selectively and releasedly by joint motions driver 230 it is connected to firing member 220.In one form, clutch pack 400 include the lock lining ring or sleeve pipe 402 around firing member 220 positioning, and wherein lock tube pipe 402 can be in bonding station and disengaging position Rotate between putting, in described bonding station, joint motions driver 360 is connected to firing member 220 by lock tube pipe 402, in institute State disengaging configuration, joint motions driver 360 is not operably linked to firing member 200.Lock tube pipe 402 is in its joint During position, the distally motion of firing member 220 can make joint motions driver 360 move towards distally, correspondingly, firing member 220 proximal movement can make joint motions driver 230 proximally move.When lock tube pipe 402 is in its disengaging configuration, fire structure The motion of part 220 is not transferred to joint motions driver 230, and therefore, firing member 220 can be independent of joint motions driver 230 motions.In all cases, if firing member 220 does not make joint motions driver 230 in proximal direction or distally side Move upwards, then joint motions driver 230 can be held in place by articulation lock 350.

Referring primarily to Fig. 9, lock tube pipe 402 may include cylindrical or at least substantially cylindrical main body, and this main body includes Be defined in wherein, be configured to receive firing member 220 longitudinal hole 403.Lock tube pipe 402 may include inward-facing lock and dashes forward Play 404 and the locking component 406 facing out, both is diametrically.Latching projection 404 is configured to and firing member 220 are selectively engaged.More specifically, when lock tube pipe 402 is in its bonding station, latching projection 404 is positioned in firing member So that distally thrust and/or proximal pulling force can be delivered to lock tube pipe from firing member 220 in the driving recess 224 limiting in 220 402.When lock tube pipe 402 is in its bonding station, the second locking component 406 is received in joint motions driver 230 and limits Drive in recess 232 so that being applied to the distally thrust of lock tube pipe 402 and/or proximal pulling force can be delivered to joint motions and drive Dynamic device 230.In fact, when lock tube pipe 402 is in its bonding station, firing member 220, lock tube pipe 402 and joint motions drive Device 230 will move together.On the other hand, when lock tube pipe 402 is in its disengaging configuration, latching projection 404 can be with delocalization in percussion In the driving recess 224 of component 220, therefore, distally thrust and/or proximal pulling force can not be delivered to lock from firing member 220 Sleeve pipe 402.Correspondingly, distally thrust and/or proximal pulling force can be not delivered to joint motions driver 230.In this situation Under, firing member 220 proximally and/or towards distally can slide with respect to lock tube pipe 402 and proximal joint motion drive 230.

Appreciable in Fig. 8 to Figure 12, shaft assembly 200 also includes being rotatably received on closure pipe 260 Switching cylinder 500.Switching cylinder 500 includes hollow shaft part 502, and this hollow shaft part has the crown of roll platform 504 being formed on, for inciting somebody to action Actuating pin 410 outwardly receives wherein.In all cases, actuating pin 410 extends through slit 267 entrance and is arranged on Longitudinal slit 408 in lock tube pipe 402, in the case that lock tube pipe 402 is engaged with joint motions driver 230, to be beneficial to This lock tube pipe axially moves.Rotation torsionspring 420 is configured to engage the boss on switching cylinder 500 as shown in Figure 10 504 and a part for nozzle housing 203, bias force is applied on switching cylinder 500.Referring to Fig. 5 and Fig. 6, switch cylinder 500 May also include the opening 506 of at least part of periphery of wherein restriction, these openings are configured to receive from nozzle half The periphery installing racks 204 of 202,203 extensions, 205, and allow to switch rotate against between cylinder 500 and nearside nozzle 201 rather than Relative translation.As appreciable in these in figures, installing rack 204 and 205 extend also through will rest upon recessed in axle ridge 210 The opening 266 in closure pipe 260 in sunken portion 211.However, nozzle 201 rotate to certain point (at this point, installing rack 204, End in switching cylinder 500 for the slit 506 of 205 arrival each of which) will lead to switch cylinder 500 around axle axis SA-SA rotation Turn.The rotation of switching cylinder 500 causes actuating pin 410 to rotate the most at last, and causes lock tube pipe 402 in its bonding station and disengaging position Rotate between putting.Therefore, nozzle 201 substantially can be used for by U.S. Patent Application Serial Number 13/803, detailed further in 086 The various modes of description, joint motions drive system are operatively engaged with percussion drive system, and make this two systems It is disengaged.

Also as shown in Fig. 8 to Figure 12, shaft assembly 200 may include slip ring assembly 600, and for example, this slip ring assembly can be constructed One-tenth can conduct power to end effector 300 and/or from this end effector conduct power, and/or signal is passed Deliver to end effector 300 and/or from this end effector receipt signal.Slip ring assembly 600 may include proximal connector flange 604 and distal connector flange 601, this proximal connector flange is installed to the base flange 242 extending from base 240, and this is remote Side-connector flange is positioned in the slit limit in shaft housing 202,203.Proximal connector flange 604 may include the first face, Distal connector flange 601 may include the second face, the wherein second face and the first face adjacent positioned, and can transport with respect to the first face Dynamic.Distal connector flange 601 can rotate around axle axis SA-SA with respect to proximal connector flange 604.Proximal connector is convex Edge 604 may include the multiple concentric or at least substantially concentric conductor 602 being limited in its first face.Connector 607 can be pacified It is contained on the proximal side of connector flange 601, and can have multiple contacts (not shown), wherein each contact corresponds to conductor 602 electrical contact in the lump.This construction is keeping electricity between proximal connector flange 604 and distal connector flange 601 It is allowed to rotate against between this two flanges while contact.For example, proximal connector flange 604 may include electric connector 606, this electric connector can make conductor 602 and carry out signal communication with the axle circuit board 610 being installed to axle base 240.At least one In the case of kind, the wire harness including multiple conductors can extend between electric connector 606 and axle circuit board 610.Electric connector 606 can Proximally extend through the connector opening 243 limiting in floor installation flange 242.Referring to Fig. 7.It is filed in March 13 in 2013 The U.S. Patent Application Serial of entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM " of day Number 13/800,067 is incorporated by reference in its entirety herein.It is filed in the entitled " STAPLE on March 13rd, 2013 U.S. Patent Application Serial Number 13/800,025 full text of CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM " with Way of reference is expressly incorporated herein.More details about slip ring assembly 600 are found in U.S. Patent Application Serial Number 13/803,086.

As discussed above, shaft assembly 200 may include the portions of proximal that can be fixedly secured to shank 14, and can be around The distal part of longitudinal axis rotation.As discussed above, rotatable distal shaft part can around slip ring assembly 600 with respect to Portions of proximal rotates.The distal connector flange 601 of slip ring assembly 600 can be positioned in rotatable distal shaft part.And, Apart from the above, switching cylinder 500 is alternatively positioned in rotatable distal shaft part.During rotatable distal shaft part rotation, Distal connector flange 601 and switching cylinder 500 can rotate synchronously with one another.In addition, switching cylinder 500 can be with respect to distal connector Flange 601 rotates between the first location and the second location.When switching cylinder 500 is in its primary importance, joint motions drivetrain System can be operationally disengaged with percussion drive system, and therefore, the operation of percussion drive system can not make shaft assembly 200 End effector 300 do joint motions.When switching cylinder 500 is in its second place, joint motions drive system can be grasped Make ground to engage with percussion drive system, therefore, the operation of percussion drive system can make the end effector 300 of shaft assembly 200 Do joint motions.When switching cylinder 500 moves between its primary importance and its second place, with respect to distal connector flange 601 motions.In all cases, shaft assembly 200 may include at least one and is configured to detect the position of switching cylinder 500 Sensor.Turning now to Figure 11 and Figure 12, distal connector flange 601 may include such as hall effect sensor 605, and cuts Creeling 500 may include such as magnetic element, such as permanent magnet 505.Hall effect sensor 605 is configured to detection forever The position of magnet 505.When switching cylinder 500 rotates between its primary importance and its second place, permanent magnet 505 can relative Hall Effect sensor 605 moves.In all cases, hall effect sensor 605 can detect the magnetic producing during permanent magnet 505 motion Field change.Hall effect sensor 605 can carry out signal communication with such as axle circuit board 610 and/or shank circuit board 100.Axle Microcontroller on circuit board 610 and/or shank circuit board 100 can determine according to the signal from hall effect sensor 605 Joint motions drive system is to engage with percussion drive system or be disengaged.

Refer again to Fig. 3 and Fig. 7, base 240 includes the tapered attachment of at least one, preferably two that is formed on Divide 244, this attachment part can be received in corresponding swallow-tail form slit 702, and described swallow-tail form slit is in framework 20 Formed in distally attachment flange portion 700.Each swallow-tail form slit 702 can be tapered, in other words, can slightly become V-arrangement, thus received attachment part 244 wherein with resting upon mode.As in Fig. 3 and Fig. 7 can it is further seen that as, axle is attached Lug 226 is formed in the proximal end of middle beating shaft 222.As discussed in further detail below, interchangeable axle group When part 200 is connected to shank 14, axle is attached ear 226 and is received in hitting of being formed in the distal end 125 of zigzag tread patterns component 120 Send out in axle attachment leg 126.Referring to Fig. 3 and Fig. 6.

Various shaft assembly embodiments adopt latch system 710 so that shaft assembly 200 is removably coupled to shell 12, more Specifically, it is connected to framework 20.Appreciable in Fig. 7, for example, at least one form, latch system 710 includes Movingly it is connected to locking component or the lock yoke 712 of base 240.In the shown embodiment, for example, lock yoke 712 is U Shape, has two legs separating and extending downwardly 714.Each leg 714 has the pivot ear 716 being formed on, these pivots Axle ear can be received in the corresponding aperture 245 formed in base 240.This being configured with is pivotally attached to beneficial to by lock yoke 712 Base 240.Lock yoke 712 may include the lock ear 714 of two proximally projections, and this two lock ears are configured to remote with framework 20 In side attachment flange 700, corresponding locking pawl or groove 704 are releasably engaged.Referring to Fig. 3.In various forms, lock yoke 712 are biased along proximal direction by spring or biasing member (not shown).The actuating of lock yoke 712 can be realized by latched press-button 722, This latched press-button is slidably mounted on the latch actuator assembly 720 being installed on base 240.Latched press-button 722 can be relatively Bias along proximal direction in lock yoke 712.As discussed in further detail below, lock yoke 712 can pass through inclined along distal direction Put latched press-button and move to unlocked position, this also causes lock yoke 712 to pivot, be no longer attached flange 700 with the distally of framework 20 Remain engaged with.During distally attachment flange 700 " remaining engaged with " of lock yoke 712 and framework 20, lock ear 716 holding rests upon attached in distally Connect in flange 700 in corresponding locking pawl or groove 704.

Using including cutting end effector with the type described herein of fastening tissue and other kinds of It can be advantageous that preventing interchangeable shaft assembly from activating in end effector in the case of the interchangeable shaft assembly of end effector During inadvertently from shell depart from.For example, clinician may be actuated closure trigger 32 in use, to firmly grasp target Organize and manipulate it and reach preferable position.Once destination organization is to expect orientation positions in end effector 300, clinical doctor Be born with can fully actuated closure trigger 32, with close anvil block 306 and by target tissue held correct position for cutting with seam Close.In this case, the first drive system 30 is fully actuated.It has been clamped in end effector 300 in destination organization In after it can be advantageous that preventing shaft assembly 200 from inadvertently departing from from shell 12.A kind of form quilt of latch system 710 It is constructed to be permeable to prevent this casual disengaging.

As can be clear that in Fig. 7, lock yoke 712 includes at least one and preferably two latch hooks 718, this A little latch hooks can contact the corresponding lock ear part 256 being formed on closure spindle moving part 250.Referring to Figure 13 to Figure 15, move in closure shuttle In the case that part 250 is in unactuated position (namely the first drive system 30 does not activate and anvil block 306 is opened), lock yoke 712 can pivot along distal direction, and interchangeable shaft assembly 200 is unlocked from shell 12.When in this position, latch hook 718 does not connect Touch the lock ear part 256 on closure spindle moving part 250.But, move to actuated position (that is, the first driving in closure spindle moving part 250 System 30 activated and anvil block 306 is in the close position) when, stop lock yoke 712 from being pivoted to unlocked position.Referring to Figure 16-18. In other words, if clinician attempts for lock yoke 712 to be pivoted to unlocked position, or for example, lock yoke 712 is inadvertently with former This may cause it to be pivotably collided towards distally or come in contact, then the latch hook 718 on lock yoke 712 will contact closure Lock ear 256 on spindle moving part 250, prevents lock yoke 712 from moving to unlocked position.

The operation of interchangeable shaft assembly 200 and shank 14 attachment is described now with reference to Fig. 3.Connection process to be started, faces Bed doctor can by the base 240 of interchangeable shaft assembly 200 be positioned at framework 20 distally attachment flange 700 top or near, make The tapered attachment part 244 being formed is obtained on base 240 align with the swallow-tail form slit 702 in framework 20.Then clinician can Move shaft assembly 200 along mounting axis IA perpendicular to axle axis SA-SA, with dispose attachment part 244 so as to corresponding swallow Tail shape receives slit 702 " being operatively engaged ".During do so, axle on middle beating shaft 222 attachment ear 226 also rests upon can In the support 126 of the drive member 120 of lengthwise movement, and on the second closure connector 38, the part of pin 37 will rest upon in closure In corresponding hook 252 in yoke 250.As used herein, the term under the background of two parts " being operatively engaged " refers to institute State two parts fully to engage each other so that once applying actuation motion to it, described part just can execute its expected work Dynamic, function and/or program.

As discussed above, at least five systems of interchangeable shaft assembly 200 can operationally with shank 14 at least Five correspondence system connections.The first system may include the framework of shaft assembly 200 or ridge are coupled with the framework 20 of shank 14 and/or The frame system of alignment.Second system may include closure drive system 30, and the closure of shank 14 can be touched by this closure drive system Send out device 32 to be operably connected with the closure pipe 260 of shaft assembly 200 and anvil block 306.As outlined above, the closing of shaft assembly 200 Close pipe attachment yoke 250 to engage with the pin 37 on the second closure connector 38.3rd system may include percussion drive system 80, should The firing trigger 130 of shank 14 can be operably connected by percussion drive system with the middle beating shaft 222 of shaft assembly 200. As outlined above, axle attachment ear 226 can be operably connected with the support 126 of zigzag tread patterns component 120.4th system can be wrapped Include electrical system, this electrical system can：Send the letter that shaft assembly (such as shaft assembly 200) has been operatively engaged with shank 14 Controller (such as microcontroller) number in shank 14；And/or, conduct power between shaft assembly 200 and shank 14 And/or signal of communication.For example, shaft assembly 200 may include the electric connector 4010 being operably mounted into axle circuit board 610.Electricity Connector 4010 is configured to engage with corresponding electric connector 4000 cooperation on shank control panel 100.Relevant Circuits System It is found in U.S. Patent Application Serial Number 13/803,086 with the more details of control system, in the complete disclosure of this patent application Hold and be herein incorporated by reference before this.5th system can be by for releasedly locking onto shaft assembly 200 on shank 14 Latch system forms.

Refer again to Fig. 2 and Fig. 3, shank 14 may include electric connector 4000, and this electric connector includes multiple electric contacts.Existing Going to Figure 59, electric connector 4000 may include the such as first contact 4001a, the second contact 4001b, the 3rd contact 4001c, Four contact 4001d, the 5th contact 4001e and the 6th contact 4001f.Although shown embodiment make use of six contacts, Contemplate other embodiments that can be utilized more than six contacts or less than six contacts.As shown in figure 59, the first contact 4001a Can be electrically connected with transistor 4008, contact 4001b to 4001e can be electrically connected with microcontroller 7004, and the 6th contact 4001f Can be electrically connected with ground.In some cases, one or more of electric contact 4001b to 4001e can be with microcontroller 7004 One or more output channels be electrically connected, and can be energized when shank 1042 is in powering state, or have and be applied to it Voltage potential.In some cases, one or more of electric contact 4001b to 4001e can be with the one of microcontroller 7004 Individual or multiple input channels are electrically connected, and microcontroller 7004 is configurable to when shank 14 is in powering state, can When detection voltage current potential is applied to such electric contact.It is assembled into the situation of shank 14 in shaft assembly (such as shaft assembly 200) Under, electric contact 4001a to 4001f may will not communicate with each other.However, shaft assembly unassembled in the case of shank 14, electricity The electric contact 4001a to 4001f of connector 4000 may expose, and in some cases, in the 4001a to 4001f of contact One or more may unexpectedly be electrically connected each other.For example, one or more of contact 4001a to 4001f touches conduction In fact it could happen that such situation during material.Once such situation, for example, microcontroller 7004 is likely to be received the defeated of mistake Enter and/or shaft assembly 200 is likely to be received wrong output.For solving this problem, in all cases, shank 14 can Not powered when being not attached to shank 14 in shaft assembly such as shaft assembly 200.In other cases, shank 1042 is (all in shaft assembly As shaft assembly 200) it is not attached to can power up at that time.In this case, for example, microcontroller 7004 is configurable in axle Before assembly is attached to shank 14, can ignore and be applied to the contact being electrically connected with microcontroller 7004 (that is, contact 4001b is extremely Input 4001e) or voltage potential.Although in this case microcontroller 7004 can be powered with operate shank 14 other Function, but shank 14 can be at power-down state.To a certain extent, if applied to the voltage of electric contact 4001b to 4001e is electric Position can not affect the operation to shank 14, then electric connector 4000 can be at power-down state.Readers will recognize that, even if contact 4001b to 4001e can be at power-down state, but electric contact 4001a and 4001f not being electrically connected with microcontroller 7004 can locate In, also can be not at power-down state.For example, no matter shank 14 is in powering state or power-down state, the 6th electric shock 4001f All can keep being electrically connected with ground.Additionally, any other suitable construction (such as crystal of transistor 4008 and/or transistor Pipe 4010) and/or switch to be configurable to no matter shank 14 is in powering state or power-down state, can control from handle Power source 4004 (such as battery 90) in portion 14 is to the power supply of the first electric contact 4001a.In all cases, for example, Shaft assembly 200 is configured to change the state of transistor 4008 with shank 14 in the case that shaft assembly 200 is engaged. In some cases, except as described below, hall effect sensor 4002 is configured to the state of conversioning transistor 4010, Power supply from power source 4004 is finally given the first contact 4001a by the state of therefore convertible transistor 4008.This Sample, in the case that shaft assembly is not mounted to shank 14, is connected to the power circuit of connector 4000 and signal circuit all can quilt Power down, and, in the case that shaft assembly is installed to shank 14, both of which can be powered.

In all cases, refer again to Figure 59, shank 14 may include such as hall effect sensor 4002, this Hall is imitated Induction sensor is configurable to, in the case that shaft assembly is connected to shank 14, can detect positioned at shaft assembly (such as shaft assembly 200) on can detecting element, such as magnetic element 4007 (Fig. 3).Hall effect sensor 4002 can be by such as battery etc Power source 4006 is powered, and this power source actually can amplify the detection signal of hall effect sensor 4002, and via Figure 59 institute The circuit showing is communicated with the input channel of microcontroller 7004.Once microcontroller 7004 receives instruction shaft assembly at least portion Point be connected to shank 14, thus the input of electric contact 4001a to 4001f no longer exposure, microcontroller 7004 can enter it Working condition that is normal or powering up.In such working condition, microcontroller 7004 will to transmitting to one from shaft assembly or The signal of multiple contact 4001b-4001e is estimated, and/or by being in one or more contacts of its normal operating condition 4001b-4001e transmits a signal to shaft assembly.In all cases it may be necessary to first make shaft assembly 1200 rest upon completely, suddenly You just can detect that magnetic element 4007 by effect sensor 4002.For example although can be examined using hall effect sensor 4002 Survey shaft assembly 200 whether there is, but be possible with any suitable system of sensor and/or switch whether to detect shaft assembly Have been assembled to shank 14.So, apart from the above, in the case that shaft assembly is not mounted to shank 14, it is connected to connector 4000 power circuit and signal circuit all can be powered down, and, in the case that shaft assembly is installed to shank 14, both of which Can be powered.

In various embodiments, for example, shaft assembly whether group can be detected using any amount of magnetic sensing elements It is attached to shank 14.For example, the technology for sensing magnetic fields includes search coil, fluxgate, optical pumping, core rotation, superconductive quantum interference Instrument (SQUID), Hall effect, anisotropic magnetoresistance, giant magnetoresistance, MTJ, giant magnetic impedance, magnetostriction/piezoelectricity Composite, magnetodiode, magnetic transister, optical fiber, magneto-optic, and the Magnetic Sensor based on MEMS etc..

Referring to Figure 59, microcontroller 7004 generally may include microprocessor (" processor ") and is operably linked at this One or more memory cells of reason device.Processor passes through to execute the instruction code of storage in memory, controllable surgical instruments Various parts, such as motor, various drive system and/or user display.Microcontroller 7004 can using integrated and/or The combination of discrete hardware element, software element and/or these elements is realizing.The example of integrated hardware element may include process Device, microprocessor, microcontroller, integrated circuit, special IC (ASIC), PLD (PLD), data signal Processor (DSP), field programmable gate array (FPGA), gate, register, semiconductor devices, chip, microchip, chip Group, microcontroller, on-chip system (SoC) and/or package system (SIP).The example of discrete hardware elements may include circuit and/or Component, such as gate, field-effect transistor, bipolar transistor, resistor, capacitor, inductor and/or relay Device.In some cases, for example, microcontroller 7004 may include hybrid circuit, and this hybrid circuit is on one or more substrates Including discrete He integrated component or part.

Referring to Figure 59, microcontroller 7004 can be for example the LM 4F230H5QR being purchased from Texas Instruments.? In some cases, the LM 4F230H5QR that Texas Instruments produces is ARM Cortex-M4F processor core, its bag Include：The on-chip memory of 256KB single cycle flash memories or other nonvolatile memories (up to 40MHZ), it is used for changing Kind performance makes its prefetching buffer, 32KB single cycle serial random access storage device (SRAM), being mounted with more than 40MHzThe inside read-only storage (ROM) of software, 2KB EEPROM (EEPROM), one Or multiple pulsewidth modulation (PWM) module, one or more orthogonal encoder input (QEI) simulation, there are 12 simulation inputs lead to One or more 12 analog-digital converters (ADC) in road, and other feature structures being easy to get.Can easily be used other instead Microcontroller, to be used in combination with the disclosure.Therefore, the disclosure should not necessarily be limited by this context.

As discussed above, shank 14 and/or shaft assembly 200 may include following systems and structure：These systems and structure Be configured to shaft assembly 200 unassembled to or when not being fully assembled to shank 14, be prevented from shank electric connector 4000 The contact of contact and/or axle electric connector 4010 is short-circuited, or at least reduces contact and/or the axle of shank electric connector 4000 The possibility that the contact of electric connector 4010 is short-circuited.Referring to Fig. 3, shank electric connector 4000 can be absorbed in handle at least in part In the cavity 4009 limiting in portion's framework 20.Six contact 4001a to 4001f of electric connector 4000 can be fully sunk in cavity In 4009.This construction can reduce the possibility that object unexpectedly contacts one or more of contact 4001a to 4001f contact Property.Similarly, axle electric connector 4010 can be positioned in the depressed part limiting in axle base 240, and this can reduce object unexpectedly The possibility of one or more of the contact 4011a to 4011f of engagement shaft electric connector 4010 contact.With reference to shown in Fig. 3 Specific embodiments, axle contact 4011a to 4011f may include convex contact.In at least one embodiment, for example, each axle Contact 4011a to 4011f may include the flexible projections extending from it, and this flexible projections is configured to engage and corresponds to Shank contact 4001a to 4001f.Shank contact 4001a to 4001f may include recessed contact.In at least one embodiment, Each shank contact 4001a to 4001f may include such as flat surfaces, and crown of roll contact 4001a to 4001f can be against this flat table Nuzzle up or slip in face, thus maintaining the conductive bond between both contacts.In all cases, shaft assembly 200 is assembled into The direction of shank 14 can parallel to or at least substantially parallel to shank contact 4001a to 4001f so that by shaft assembly 200 When being assembled into shank 14, axle contact 4011a to 4011f slides against shank contact 4001a to 4001f.Implement in various replacement In scheme, shank contact 4001a to 4001f may include convex contact, and axle contact 4011a to 4011f may include recessed contact.Some In alternate embodiment, shank contact 4001a to 4001f and axle contact 4011a to 4011f can have any suitable contact cloth Put mode.

In all cases, shank 14 may include and is configured to cover shank electric connector 4000 at least in part Connector protector and/or be configured to cover at least in part the connector protector of axle electric connector 4010.In axle Assembly unassembled to or in the case of being only partly assembled into shank, connector protector can prevent object from unexpectedly contacting electricity The contact of connector, or at least reduce the possibility of the object unexpectedly contact of contact electric connector.Connector protector is permissible It is movable.For example, connector protector can move between protective position and non-protective position, at protective position, should Connector protector protects connector at least in part, and at non-protective position, this connector protector does not protect connector, or Only provide less protection for connector.In at least one embodiment, when shaft assembly being assembled into shank, connector protector Position can be moved.For example, if shank includes shank connector protector, when shaft assembly is assembled into shank, axle Assembly can contact shank connector protector its position mobile.Similarly, if shaft assembly includes mandrel connector protector, When shaft assembly is assembled into shank, shank can contact mandrel connector protector its position mobile.In all cases, example As connector protector may include door.In the case of at least one, this door can have inclined surface, connects with shank or axle in door When tactile, this inclined surface can be conducive to an edge to determine direction shift position.In all cases, for example, connector protector can It is translated and/or rotate.In some cases, connector protector may include at least one of which film covering electrical connector contact. When shaft assembly is assembled into shank, this tunic may rupture.In the case of at least one, the convex contact of connector can first pierce This tunic, then with the corresponding engagement contacts being arranged on below this tunic.

As described above, surgical instruments may include can be selectively electric connector (such as electric connector 4000) contact Power up or enable the system of these contacts.In all cases, contact in not enabled state and can enable conversion between state.? In some cases, contact in monitoring state, dead status and can enable conversion between state.For example, in shaft assembly not yet In the case of being assembled into shank 14, microcontroller 7004 for example can monitor contact 4001a to 4001f, determines contact 4001a extremely Whether one or more of 4001f contact may short circuit.Microcontroller 7004 is configured to low-voltage electricity Position is applied to each contact in the 4001a to 4001f of contact, and can assess whether only exist minimum resistance at each contact. This working condition may include state monitored.If the resistance detecting at certain contact is very high, or exceed threshold value electricity Resistance, then microcontroller 7004 can disable this contact, more than one contact, or full contact.This working condition may include stops Use state.As discussed above, if shaft assembly is assembled into shank 14, and detected by microcontroller 7004, then microcontroller 7004 can improve the voltage potential being applied to contact 4001a to 4001f.This working condition may include the state of enabling.

Various shaft assembly disclosed herein using sensor and can need various with what the controller of inside the shell was electrically connected Miscellaneous part.These shaft assemblies are usually configured to can be with respect to shell rotation it is therefore necessary to can phase at two or more To the connector being provided between part mutually rotating beneficial to this electric connection.End execution using type disclosed herein During device, connector structure in itself must be relatively solid, simultaneously must also be slightly compact, to be assembled to the connection of shaft assembly Device partly in.

Figure 19 to Figure 22 show can with for example interchangeable shaft assembly 1200 or need the part being rotated relatively to each other it Between multiple other applications a form of electric connector used along or the sliding ring connector 1600 of electrical connector are set.Axle group Part 1200 can be similar with shaft assembly 200 as herein described, and it includes closure pipe or outer shaft 1260 and nearside nozzle 1201 (for clear For the sake of, save the first half of nozzle 1201).In the illustrated example, outer shaft 1260 is installed in axle ridge 1210 so that outer Pipe 1260 is possible can selectively axially-movable thereon.The proximal end of axle ridge 1210 and outer tube 1260 can be rotatable Be connected to base 1240, and around axle axis SA-SA with respect to base rotate.As discussed above, nearside nozzle 1201 can Including installing rack or mounting ear 1204 (Figure 20), this installing rack or mounting ear and extend through outer from nozzle segment to inner process Corresponding opening 1266 in pipe 1260, thus rest upon in the corresponding depressed part 1211 of axle ridge 1210.Therefore, if clinician Want around axle axis SA-SA with respect to base 1240 rotary outer spindle 1260 and ridge axle 1210, and presumption be connected to this two End effector (not shown) on person, then only need swivel nozzle 1201 as the arrow " R " in Figure 19 represents.

If for example at end effector, or using sensing at the multiple positions in shaft assembly or on shaft assembly Device, then conductor (such as wire rod and/or trace (not shown)) can be received or be arranged in outer tube 1260, or even can be along outer tube 1260 path is from sensor arrangement to the distally electricity part 1800 being arranged in nozzle 1201.Therefore, distally electricity part 1800 Can rotate around axle axis SA-SA together with nozzle 1201.In embodiment shown in Figure 20, electric part 1800 includes connecting Device, battery etc., including the contact 1802,1804,1806 and 1808 of lateral displacement each other.

Sliding ring connector 1600 also includes installation component 1610, and this installation component includes limiting annular installation surface 1613 Cylindrical body portion 1612.Distal lip 1614 can be formed at least one end of cylindrical body portion 1612.Peace Dress component 1610 main part 1612 be dimensioned to be non-rotatably mounted at the installation hub of base 1240 On 1241.In the shown embodiment, a distal lip 1614 is arranged on an end of main part 1612.Second Flange 1243 forms so that after regularly (non-rotatably) be mounted thereto main part 1612 on base 1240, The proximal end of the second flange 1243 adjacent main body part 1612.

Sliding ring connector 1600 additionally uses unique and novel loop circuit trace assembly 1620, this loop circuit trace Assembly in the way of being received between the first flange 1614 and the second flange 1243, pacify by the annular wound on main part 1612 Around dress surface 1613.Referring now to Figure 21 and Figure 22, circuit trace assembly 1620 may include with adhesive-backed flexible base Plate 1622, this flexible base board can be around the periphery (namely annular installation surface 1613) of main part 1612.Flexible Substrate 1622 can be " T-shaped " before being winding to around main part 1612, and this shape has first annular part 1624 He Lead portion 1626.As can also see that in Figure 19 to Figure 21, circuit trace assembly 1620 may also include circuit trace 1630,1640,1650,1660, these circuit traces may include for example conductive gold-plated trace.But also can use other conduction materials Material.Every conducting circuit traces all include " annular section ", and the another part transversely or vertically extending from this annular section is " lead portion ", substrate wound on main part 1612 surrounding when, annular section will be formed trace ring part.More specifically, Referring to Figure 22, the first conducting circuit traces 1630 have first annular part 1632 and the first lead portion 1634.Second is conductive Circuit trace 1640 has the second annular section 1642, and the second lead portion transversely or vertically extending from the second annular section 1644.3rd conducting circuit traces 1650 have the 3rd annular section 1652, and transversely or vertically extend from the 3rd annular section The 3rd lead portion 1654.4th conducting circuit traces have fourth annular part 1662, and from fourth annular parts transversely Or vertically extending 4th lead portion 1664.When substrate is in planar orientation (that is, being winding to installation component Before on 1610 circular main body portion 1612), traditional manufacturing technology can be adopted by conducting circuit traces 1630,1640, 1650,1660 are applied to flexible base board 1622.Appreciable in Figure 22, annular section 1632,1642,1652,1662 Lateral displacement each other.Equally, lead portion 1634,1644,1654,1664 also lateral displacements each other.

Circuit trace assembly 1620 is wound up into around annular installation surface 1613, and is incited somebody to action by adhesive, double faced adhesive tape etc. When it is attached to annular installation surface, substrate comprise annular section 1632,1642,1652,1664 in the end of interior part It is docking together so that annular section 1632,1642,1652,1664 forms and discrete extends around axle axis SA-SA respectively Continuous circular shape conductive path 1636,1646,1656,1666.Therefore, conductive path 1636,1646,1656,1666 along axle axis SA-SA laterally or axially shifts each other.Lead portion 1626 can extend across the slit 1245 in flange 1243, and is electrically coupled to Circuit board (see, for example, the circuit board 610 in Fig. 7) or other suitably electric parts.

In the illustrated embodiment, for example, electric part 1800 is installed in nozzle 1261, with around installation component 1610 Rotation so that：Contact 1802 is made electrical contact with first annular conductive path 1636 all the time, contact 1804 all the time with the second ring shaped conductive Path 1646 makes electrical contact with, and contact 1806 is made electrical contact with the 3rd ring shaped conductive path 1656 all the time, and contact 1808 is led with the 4th all the time Power path 1666 makes electrical contact with.It should be appreciated, however, that being supported for rotating around axle axis SA-SA in installation component 1610, and In the application that electric part 1800 is firmly fixed with respect to this installation component, also can be obtained various excellent using sliding ring connector 1600 Gesture.It is also understood that the application outside sliding ring connector 1600 can be effectively combined multiple different parts and surgical field makes With wherein advantageously providing electrical connector between the part being rotated relatively to each other.

Sliding ring connector 1600 includes radial direction slip ring, and this radial direction slip ring, after axle rotation, provides and passes signal and power The conductive contact device being delivered to any radial position and transmitting signal and power from any radial position.Include electricity in electric part In the application of pond contact, the position of battery contact can be arranged with respect to installation component, to minimize accumulation between these parts Any tolerance.Coupler configuration can represent can be with the inexpensive coupling configuration of minimum fabrication cost assembling.Gold-plated trace also may be used Minimize the possibility of corrosion.Unique and novel contact arrangement mode is keeping and the electrical contact of corresponding ring shaped conductive path Meanwhile, be conducive to fully being rotated both clockwise and counterclockwise around axle axis SA-SA.

Figure 23 to Figure 25 show can with for example interchangeable shaft assembly 1200 ' or need the part being rotated relatively to each other it Between multiple other applications a form of electric connector used along or the sliding ring connector 1600 ' of electrical connector are set.Axle Assembly 1200 ' can be similar with shaft assembly 1200 as herein described, and it includes closure pipe or outer shaft 1260 and nearside nozzle 1201 (is For the sake of clear, save the first half of nozzle 1201).In the illustrated example, outer shaft 1260 is installed in axle ridge 1210, makes Obtaining outer tube 1260 possibility can selectively axially-movable thereon.The proximal end of axle ridge 1210 and outer tube 1260 can It is rotationally coupled to base 1240 ', and rotate with respect to base around axle axis SA-SA.As discussed above, nearside nozzle 1201 may include installing rack or mounting ear, and this installing rack or mounting ear and extend through outer tube from nozzle segment to inner process Corresponding opening 1266 in 1260, thus rest upon in the corresponding depressed part 1211 of axle ridge 1210.Therefore, if clinician thinks Will be around axle axis SA-SA with respect to base 1240 ' rotary outer spindle 1260 and ridge axle 1210, and presumption has been connected to both On end effector (not shown), then only need as in Figure 23 arrow " R " represent as swivel nozzle 1201.

If for example at end effector, or using sensing at the multiple positions in shaft assembly or on shaft assembly Device, then conductor (such as wire rod and/or trace (not shown)) can be received or be arranged in outer tube 1260, or even can be along outer tube 1260 path is from sensor arrangement to the distally electricity part 1800 ' being arranged in nozzle 1201.Therefore, distally electricity part 1800 ' can rotate with nozzle 1201 with together with being attached to its wire rod/trace.In embodiment shown in Figure 23, electric part 1800 include connector, battery etc., including the contact 1802 ', 1804 ', 1806 ', 1808 ' of lateral displacement each other.

Sliding ring connector 1600 ' also includes the laminated slip ring assembly 1610 ' being made up of multiple conducting rings being laminated together. More specifically, with reference to Figure 25, a form of slip ring assembly 1610 ' may include the distal end forming slip ring assembly 1610 ' First non-conductive flange 1670.Flange 1670 can be made up of such as high heat resistance material.First conducting ring 1680 is close to the first flange 1670 positioning.First conducting ring 1680 may include the first copper ring 1681, and this first copper ring has the first Gold plated Layer 1682 thereon. Second non-conductive ring 1672 is adjacent with the first conducting ring 1680.Second conducting ring 1684 is adjacent with the second non-conductive ring 1672.The Two conducting rings 1684 may include the second copper ring 1685, and this second copper ring has the second Gold plated Layer 1686 thereon.3rd is non-conductive Ring 1674 is adjacent with the second conducting ring 1684.3rd conducting ring 1688 is adjacent with the 3rd non-conductive ring 1674.3rd conducting ring 1688 may include the 3rd copper ring 1689, and the 3rd copper ring has the 3rd Gold plated Layer 1690 thereon.4th non-conductive ring 1676 with 3rd conducting ring 1688 is adjacent.4th conducting ring 1692 is adjacent with the 4th non-conductive ring 1676.4th conducting ring 1692 and the 4th Non-conductive ring 1676 is adjacent.5th non-conductive ring 1678 is adjacent with the 4th conducting ring 1692, and forms the near of installation component 1610 ' Side end.Non-conductive ring 1670,1672,1674,1676,1678 can be made up of identical material.First conducting ring 1680 is formed First annular conductive path 1700.Second conducting ring 1682 forms the second annular conductive path 1702, and this second ring shaped conductive leads to Road is laterally or axially separated with first annular conductive path 1700.3rd conducting ring 1688 forms the 3rd annular conductive path 1704, the 3rd annular conductive path is laterally or axially separated with the second annular conductive path 1702.4th conducting ring 1692 shape Become fourth annular conductive path 1706, this fourth annular conductive path and the 3rd annular conductive path 1704 laterally or axially every Open.Slip ring assembly 1610 ' includes the high temperature resistant electrically non-conductive material of Integral moulding, is wherein molded with for electromagnetic forming The passage of (EMF- electromagnetic forming) copper ring.

Appreciable in Figure 24, sliding ring connector 1600 ' also include nonconducting be transversely mounted component 1720, should It is transversely mounted component to be inserted in each ring 1670,1680,1672,1684,1674,1688,1676,1692 and 1678 axially In the recess 1710 of alignment.It is transversely mounted component 1720 and there is the first circuit trace 1722 thereon, component will be transversely mounted 1672 when being installed in recess 1710, and this first circuit trace can be made electrical contact with first annular conductive path 1700.Similarly, Second circuit trace 1724 is printed on and is transversely mounted on component 1720, and is configured to and the second annular conductive path 1702 electrical contacts.Tertiary circuit trace 1726 is printed on and is transversely mounted on component 1720, and is configured to and the 3rd ring Shape conductive path 1704 makes electrical contact with.4th circuit trace 1728 is printed on and is transversely mounted on component 1720, and is constructed use In making electrical contact with fourth annular conductive path 1706.

In construction shown in Figure 23 to Figure 25, slip ring assembly 1610 ' is configured to by regularly (non-rotatable Ground) receive on the installation hub 1241 ' on base 1240 '.It is transversely mounted component 1720 and be received in formation in installation hub 1241 ' Groove 1243 ' in, this groove serves as the keyway being transversely mounted component 1720, and contributes to preventing slip ring assembly 1610 ' relatively Rotate in installing hub 1241 '.

In the illustrated embodiment, for example, electric part 1800 ' is installed in nozzle 1201, with around slip ring assembly 1610 ' rotations, so that：Contact 1802 ' is made electrical contact with first annular conductive path 1700 all the time, contact 1804 ' all the time with Second ring shaped conductive path 1702 makes electrical contact with, and contact 1806 ' is made electrical contact with the 3rd ring shaped conductive path 1704 all the time, and contact 1808 ' are made electrical contact with the 4th conductive path 1706 all the time.It should be appreciated, however, that being supported for around axle in slip ring assembly 1610 ' Axis SA-SA rotates, and in the application that is firmly fixed with respect to this slip ring assembly of electric part 1800 ', is connected using slip ring Device 1600 ' also can obtain various advantages.It is also understood that sliding ring connector 1600 ' can be effectively combined multiple different parts Use with the application outside surgical field, electrical connector is wherein advantageously provided between the part being rotated relatively to each other.

Sliding ring connector 1600 ' includes radial direction slip ring, and this radial direction slip ring, after axle rotation, provides and passes signal and power The conductive contact device being delivered to any radial position and transmitting signal and power from any radial position.Include electricity in electric part In the application of pond contact, the position of battery contact can be arranged with respect to installation component, to minimize accumulation between these parts Any tolerance.Sliding ring connector 1600 ' represents can be with the inexpensive coupling configuration of minimum fabrication cost assembling.Gold-plated trace The possibility of corrosion can be minimized.Unique and novel contact arrangement mode is keeping and the electrical contact of corresponding ring shaped conductive path While, be conducive to fully being rotated both clockwise and counterclockwise around axle axis.

Figure 26 to Figure 30 shows can be with for example interchangeable shaft assembly 1200 " or need the part being rotated relatively to each other it Between multiple other applications another form of electric connector used along or the sliding ring connector 1600 of electrical connector are set ". In addition to the difference being shown below, shaft assembly 1200 " can be similar with shaft assembly 1200 and/or 1200 ' as herein described.Shaft assembly 1200 " may include closure pipe or outer shaft 1260 and nearside nozzle 1201 (for clarity, having saved the first half of nozzle 1201). In the illustrated example, outer shaft 1260 is installed in axle ridge 1210 so that outer tube 1260 possibility can selectively thereon Axially-movable.The proximal end of axle ridge 1210 and outer tube 1260 can be rotationally coupled to base 1240 ", have been used for around Axle axis SA-SA rotates with respect to base.As discussed above, nearside nozzle 1201 may include installing rack or mounting ear, this peace Shelve or mounting ear from nozzle segment to inner process, and extend through the corresponding opening 1266 in outer tube 1260, thus resting upon In the corresponding depressed part 1211 of axle ridge 1210.Therefore, if clinician wants around axle axis SA-SA with respect to base 1240 " rotary outer spindle 1260 and ridge axle 1210, and estimate the end effector (not shown) being connected on both, then only Need swivel nozzle 1201.

If for example at end effector, or using sensing at the multiple positions in shaft assembly or on shaft assembly Device, then conductor (such as wire rod and/or trace (not shown)) can be received or be arranged in outer tube 1260, or even can be along outer tube 1260 path is from sensor arrangement to the distally electricity part 1800 being arranged in nozzle 1201 " '.In the embodiment illustrating In, for example, electric part 1800 " it is installed in nozzle 1201 so that it is substantially alignd with axle axis SA-SA.Distally electricity portion Part 1800 " can with nozzle 1201 and together with being attached to its wire rod/trace around axle axis SA-SA rotation.Electric part 1800 " can Including connector, battery etc., including the contact 1802 of four lateral displacements each other ", 1804 ", 1806 " and, 1808 ".

Sliding ring connector 1600 " also includes slip ring assembly 1610 ", this slip ring assembly include being made up of electrically non-conductive material and There is the base portion ring 1900 of the center mounting hole 1902 extending there through.Installing hole 1902 has flat surfaces 1904, and by structure Make for not being rotationally attached to be supported on base 1240 " distal end at mounting flange assembly 1930.Base portion ring 1900 distal side 1905 has attachment or is laminated to its a series of concentric conducting ring 1906,1908,1910,1912.Ring 1906,1908,1910,1912 can be attached to base portion ring 1900 using any suitable method.

Base portion ring 1900 may also include and extends through circuit trace therein, and this circuit trace is connected to conducting ring 1906, Each in 1908,1910,1912.Referring now to Figure 28 to Figure 30, the first circuit trace 1922 extends through base portion ring 1900 In the first hole 1920, be connected in parallel to the first conducting ring 1906.First circuit trace 1922 terminates in the nearside of base portion ring 1900 In the first nearside contact part 1924 on side 1907.Referring to Figure 30.Similarly, second circuit trace 1928 extends through base The second hole 1926 in portion's ring 1900, is connected in parallel to the second conducting ring 1908.Second circuit trace 1928 terminates in base portion ring At the second nearside contact 1930 on 1900 proximal side 1907.Tertiary circuit trace 1934 extends through in base portion ring Three holes 1932, and it is attached to the 3rd conducting ring 1910.Tertiary circuit trace 1934 terminates on the proximal side 1907 of base portion ring The 3rd nearside contact 1936 at.4th circuit trace 1940 extends through in base portion ring 1900 to be attached to the 4th conducting ring 1912 the 4th hole 1938.The 4th nearside that 4th circuit trace 1940 terminates on the proximal side 1907 of base portion ring 1900 touches At point 1942.

Referring now to Figure 27, base portion ring 1900 is configured to be non-rotatably supported in spray by mounting flange 1950 In mouth 1201, described mounting flange is nonrotatably coupling to base 1240 " installation hub portion 1241 ".Hub portion is installed 1241 " can with for support such as kind described above the flat surfaces 1243 being transversely mounted component " together with formed, this is horizontal Installation component includes being connected to for example with each described in described herein and U.S. Patent Application Serial Number 13/803,086 The mode of kind and many (preferably four) leads constructing the circuit board being supported on base or other corresponding electricity parts.For understanding See, in Figure 26 and Figure 27, saved lateral supports.However, appreciable in Figure 26 and Figure 27, mounting flange 1950 have recess 1952 wherein, this recess can engage install hub portion 1241 " on flat surfaces 1243 " one Point.Appreciable in Figure 27, mounting flange 1950 may also include flange hub portion 1954, and this flange hub portion includes Help base portion ring 1900 is fixedly attached to a series of spring tab 1956 of mounting flange 1950.It should be appreciated that closure pipe 1260 and ridge 1210 extend through flange hub 1954, and can together with nozzle 1201 with respect to this flange hub rotate.

In the shown embodiment, for example, electric part 1800 " is installed in nozzle 1201, for around slip ring Assembly 1610 " rotate so that (such as) in addition in nozzle 1201 with respect to base 1240 " rotation when, part 1800 " in Contact 1802 " is made electrical contact with ring 1906 all the time, contact 1804 " contact with ring 1908 all the time, contact 1806 " still connect with ring 1910 Touch, and contact 1808 " contact with ring 1912 all the time.It should be appreciated, however, that in slip ring assembly 1610 " be supported for around axle axle In the application that line SA-SA rotation, and electric part 1800 " is firmly fixed with respect to this slip ring assembly, using sliding ring connector 1600 " various advantages can also be obtained.It is also understood that sliding ring connector 1600 " can be effectively combined multiple different parts and Application outside surgical field uses, and wherein advantageously provides electrical connector between the part being rotated relatively to each other.

Sliding ring connector 1600 " includes radial direction slip ring, and this radial direction slip ring, after axle rotation, provides and passes signal and power The conductive contact device being delivered to any radial position and transmitting signal and power from any radial position.Include electricity in electric part In the application of pond contact, the position of battery contact can be arranged with respect to installation component, to minimize accumulation between these parts Any tolerance.Sliding ring connector 1600 " represents can be with the compact coupling configuration of low cost of minimum fabrication cost assembling.Unique and Novel contact arrangement mode, while keeping being made electrical contact with corresponding annular conductive rings, is conducive to around axle axis fully It is rotated both clockwise and counterclockwise.

Figure 31 to Figure 36 generally shows surgery fastening and the cutting device 2000 of motor driving.As Figure 31 and Figure 32 institute Show, surgical instruments 2000 may include shank assembly 2002, shaft assembly 2004 and (PCC) power 2006 (or " power source " or " power Group ").Shaft assembly 2004 may include end effector 2008, and this end effector is configured to fill in some cases When straight cuts device, for clamping, cutting off and/or suture tissue, but in other cases, can be held using different types of end Row device, such as be used for other kinds of surgical instruments end effector, for example grasper, cutter, stitching unstrument, applicator, Enter device, medicine/gene therapeutic system, Vltrasonic device, radio-frequency unit and/or laser aid.Several radio-frequency unit is visible The United States Patent (USP) 5,403 of entitled " the ELECTROSURGICAL HEMOSTATIC DEVICE " that announce in April 4 nineteen ninety-five, 312, and entitled " the SURGICAL FASTENING AND CUTTING INSTRUMENT submitting to on 2 14th, 2008 The U.S. Patent Application Serial Number 12/031,573 of HAVING RF ELECTRODES ".It is entitled that April 4 nineteen ninety-five announces The United States Patent (USP) 5 of " ELECTROSURGICAL HEMOSTATIC DEVICE ", submits to on 2 14th, 403,312, and 2008 The U.S. of entitled " SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES " The entire disclosure of patent application serial number 12/031,573 is incorporated by reference in its entirety herein.

Referring primarily to Figure 32 and Figure 33, shank assembly 2002 can be with multiple interchangeable shaft assemblies (for example, shaft assembly 2004) It is used together.This kind of interchangeable shaft assembly may include surgical end-effector, such as end effector 2008, this end effector It is configured to execute one or more surgical task or surgical operation.The example of suitably interchangeable shaft assembly is disclosed in The U.S. of entitled " CONTROL SYSTEM OF A SURGICAL INSTRUMENT " that on March 14th, 2013 submits to is interim Patent application serial number 61/782,866.It is filed in entitled " the CONTROL SYSTEM OF A on March 14th, 2013 The entire disclosure of the U.S. Provisional Patent Application Serial Article 61/782,866 of SURGICAL INSTRUMENT " accordingly in full with Way of reference is expressly incorporated herein.

Referring primarily to Figure 32, shank assembly 2002 may include shell 2010, and this shell is by being configured to by clinic Doctor grasps, manipulation and the shank 2012 activating form.It will be appreciated, however, that various forms of interchangeable axle disclosed herein The surgery system that the various unique and novel construction of assembly also can be controlled with robot effectively is used in combination.Therefore, term " shell " also can cover the receiving of robot system or the shell being otherwise operably supported at least one drive system Or similar portions, at least one drive system described be configured to generate and apply to can be used for activate disclosed herein can Exchange at least one control action of shaft assembly and its corresponding equivalent.For example, interchangeable shaft assembly disclosed herein can With entitled " SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT The U.S. Patent Application Serial Number 13/118,241 (now for U.S. Patent Application Publication 2012/0298719) of ARRANGEMENTS " Disclosed in various robot systems, apparatus, part and method be used together.Entitled " SURGICAL STAPLING The U.S. Patent Application Serial of INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " Number 13/118,241 (now for U.S. Patent Application Publication 2012/0298719) is incorporated by reference in its entirety herein.

Refer again to Figure 32, shank assembly 2002 can be operably supported multiple drive systems, the plurality of drive wherein Dynamic system is configured to generate various control actions and is applied to these control actions and is operably attached to it The corresponding part of interchangeable shaft assembly.For example, shank assembly 2002 can be operably supported the first drive system (or claim closure Drive system), this first drive system can be used for being applied to closed action and opening action and is operationally attached or coupled to The shaft assembly 2004 of shank assembly 2002.In at least one form, shank assembly 2002 can be operably supported percussion and drive Dynamic system, this percussion drive system is configured to be applied to firing action and is attached to the right of its interchangeable shaft assembly Answer part.

Referring primarily to Figure 33, shank assembly 2002 may include motor 2014, and this motor can be controlled by motor driver 2015, And can be used by the trigger system of surgical instruments 2000.In various forms, motor 2014 can be for example to have about 25, The DC brush drive motor of the maximum (top) speed of 000RPM.In other constructions, motor 2014 may include brushless motor, wireless horse Reach, syncmotor, stepper motor or any other suitable electro-motor.In some cases, motor driver 2015 can wrap Include such as H bridge FET 2019, as shown in figure 33.Motor 2014 can be powered by (PCC) power 2006 (Figure 35), (PCC) power 2006 Shank assembly 2002 can be releasably attached to, and be configured to control the power being supplied to surgical instruments 2000. (PCC) power 2006 may include battery 2007 (Figure 36), this battery may include being connected in series, can be used as power source be surgery device Tool 2000 provides multiple battery units of power.In this configuration, (PCC) power 2006 is referred to alternatively as battery pack.In some feelings Under condition, the battery unit of (PCC) power 2006 can be removable and/or rechargeable.In at least one example, electricity Pool unit can be the lithium ion battery that can be detachably coupled to (PCC) power 2006.

The example being suitable for the drive system and closed-system being used together with surgical instruments 2000 is disclosed in March 14 in 2013 The U.S. Provisional Patent Application Serial Article of entitled " CONTROL SYSTEM OF A SURGICAL INSTRUMENT " that day submits to Number 61/782,866, the entire disclosure of this patent is incorporated by reference in its entirety herein.For example, electro-motor 2014 can wrap Include the rotatable shaft (not shown) operationally joining with The gear deceleration device assembly, this The gear deceleration device assembly and one group or a tooth The sliding tooth engagement of bar is mounted in engagement with the drive member being capable of lengthwise movement.In use, battery 2007 (Figure 36) institute The operable electro-motor of polarity of voltage 2014 providing drives the drive member being capable of lengthwise movement, so that end effector 2008 Come into force.For example, motor 2014 is configured to drive the drive member being capable of lengthwise movement so as to propulsion firing lock will Nail is fired into the tissue being trapped by end effector 2008 from the nail bin being fitted together with end effector 2008, and/ Or the tissue that for example propulsion cutting element 2011 (Figure 34) cutting is trapped by end effector 2008.

In some cases, surgical instruments 2000 may include blocking mechanism, for preventing the incompatible shank of user's connection Assembly and (PCC) power.For example, as shown in figure 35, (PCC) power 2006 may include co-operating member 2011.In some cases, join Closing element 2011 can be the inserted sheet extending from (PCC) power 2006.In some cases, shank assembly 2002 may include for Carry out coordinating the corresponding matching element (not shown) engaging with co-operating member 2011.This construction can be used for preventing user from coupling not Compatible shank assembly and (PCC) power.

Readers will recognize that, different interchangeable shaft assemblies is likely to be of different power demands.Propulsion cutting element is worn Cross end effector and/or the power demand of percussion nail may depend on for example, the distance of cutting element traveling, nail bin used And/or the organization type being subject to processing.That is, (PCC) power 2006 is configured to meet various interchangeable shaft assemblies Power demand.For example, as shown in figure 34, the cutting element 2011 of shaft assembly 2004 is configured to along end effector 2008 travel distance D1.On the other hand, another interchangeable shaft assembly 2004 ' may include cutting element 2011 ', this cutting element It is configured to advance one section different from the distance apart from D1 along the end effector 2008 ' of interchangeable shaft assembly 2004 ' D2.(PCC) power 2006 is configured to provide the first power output, when interchangeable shaft assembly 2004 is connected to shank group During part 2002, this first power output be enough to power for motor 2014 so that cutting element 2011 advance distance D1；And can be by structure Cause can for example provide the second power output different from the first power output, when interchangeable shaft assembly 2004 ' is connected to handle During parts 2002, this second power output be enough to power for motor 2014 so that cutting element 2011 ' advance distance D2.As figure Shown in 33, and as detailed below, (PCC) power 2006 may include power management control 2016 (Figure 36), this power management control Device processed is configured to adjust the power output of (PCC) power 2006, so that when interchangeable shaft assembly 2004 is connected to shank During assembly 2002, conveying the first power output is powered for motor 2014, thus by cutting element 2011 advance distance D1, and with Just, for example when interchangeable shaft assembly 2004 ' is connected to shank assembly 2002, conveying the second power output is powered for motor 2014, Thus by cutting element 2011 ' advance distance D2.This regulation is avoiding beyond being connected to the interchangeable of shank assembly 2002 The mistake high power transmission of shaft assembly demand to motor 2014 this respect can be favourable.

Refer again to Figure 32 to Figure 36, shank assembly 2002 can releasedly couple or be attached to interchangeable shaft assembly (for example, shaft assembly 2004).In some cases, shank assembly 2002 can releasedly couple or be attached to (PCC) power 2006.Various coupling arrangements can be used for releasedly shank assembly 2002 being connected to shaft assembly 2004 and/or are connected to (PCC) power 2006.Entitled " the CONTROL SYSTEM OF A that exemplary coupling mechanism was submitted on March 14th, 2013 It is described in the U.S. Provisional Patent Application Serial No. 61/782,866 of SURGICAL INSTRUMENT ".For example, shaft assembly 2004 may include axle attachment module 2018 (Figure 32), and this axle attachment module may also include latch actuator assembly, and this breech lock activates Device assembly is configured to and is pivotally coupled to axle attachment module 2018 optionally to pivot traveling relative to it Lock yoke matches, and wherein lock yoke may include the lock ear of proximally projection, and these lock ears are configured for and are formed at shank group Corresponding locking pawl in the shank assembly attachment module 2020 of part 2002 or groove are releasably engaged.

Referring now primarily to Figure 33 to Figure 36, shaft assembly 2004 may include shaft assembly controller 2022, and this shaft assembly controls Device, when shaft assembly 2004 is connected to shank assembly 2002 with (PCC) power 2006, can be controlled with power management by interface 2024 Device 2016 communicates.For example, interface 2024 may include first interface part 2025 and second interface part 2027, wherein first interface Part may include one or more electric connectors 2026 for realizing connection joint with corresponding shaft assembly electric connector 2028, Second interface part may include one or more electricity for realizing connection joint with corresponding (PCC) power electric connector 2032 Connector 2030, thus when shaft assembly 2004 is connected to shank assembly 2002 with (PCC) power 2006 it is allowed to shaft assembly controls Carry out telecommunication between device 2022 and power management control 2016.One or more communication letters can be transmitted by interface 2024 Number, one or more power requirements of the interchangeable shaft assembly 2004 of attachment are sent to power management control 2016.Make For response, power management control can be according to the power requirement of attachment shaft assembly 2004, the battery of regulation (PCC) power 2006 2007 power output, as described in greater detail below.In some cases, one or more electric connectors 2026,2028, 2030 and/or 2032 may include switch, these switch can shank assembly 2002 mechanical attachment be joined to shaft assembly 2004 and/or (PCC) power 2006, to allow to be opened after carrying out telecommunication between shaft assembly controller 2022 and power management control 2016 Dynamic.

In some cases, for example, one or more signals of communication are routed through positioned at shank assembly interface 2024 Master controller 2017 (Figure 33) in 2002, thus can beneficial to power management control 2016 and shaft assembly controller 2022 it Between transmit this kind of signal of communication.In other cases, when shaft assembly 2004 and (PCC) power 2006 are connected to shank assembly 2002 When, interface 2024 can pass through shank beneficial to the order wire between conduct power Management Controller 2016 and shaft assembly controller 2022 Assembly 2002.

In one case, host microcontroller 2017 can be any one monokaryon or polycaryon processor, all business as is known The name of an article be ARM Cortex, purchased from Texas Instruments those.In one case, surgical instruments 2000 may include Power management control 2016, for example, include the safe micro-control of two series (such as TMS570 and RM4x) based on microcontroller Device platform (known its trade name Hercules ARM Cortex R4, also available from Texas Instruments) processed.So And, other suitable substitutes of microcontroller and safe processor can be adopted without restriction.In one case, safe place Reason device 1004 can clearly be arranged to IEC 61508 and ISO 26262 security critical is applied and other, advanced to provide Integrated security characteristic, extendible performance, connectivity and memory options are provided simultaneously.

In some cases, microcontroller 2017 can be the LM being for example purchased from Texas Instruments 4F230H5QR.In at least one example, the LM 4F230H5QR that Texas Instruments produces is ARM Cortex- M4F processor core, it includes：256KB single cycle flash memories or the piece of other nonvolatile memories (up to 40MHZ) Upper memory, prefetch buffer, 32KB single cycle serial random access storage device for improve that performance makes it more than 40MHz (SRAM), it is mounted withThe inside read-only storage (ROM) of software, the read-only storage of 2KB electric erazable programmable Device (EEPROM), one or more pulsewidth modulation (PWM) module, one or more orthogonal encoder input (QEI) are simulated, are had One or more 12 analog-digital converters (ADC) of 12 analog input channels, and be easy to get for product data handbook Other feature structures.The disclosure should not necessarily be limited by this context.

Referring now primarily to Figure 36 and Figure 37, (PCC) power 2006 may include management circuit 2034, this power management Circuit may include power management control 2016, power modulators 2038 and current sensing circuit 2036.Management circuit 2034 are configured to when shaft assembly 2004 is connected to shank assembly 2002 with (PCC) power 2006, based on shaft assembly The power output of 2004 power requirement regulating cell 2007.For example, power management control 2016 can be programmed to control work( Rate modulator 2038 adjusts the power output of (PCC) power 2006, and current sensing circuit 2036 can be used for monitoring (PCC) power 2006 Power output to provide the feedback relevant with the power output of battery 2007 for power management control 2016 so that work( The power output of rate Management Controller 2016 regulating power assembly 2006 is exported with remaining preferable, as shown in figure 37.

It should be noted that power management control 2016 and/or shaft assembly controller 2022 each may include one or Multiple processors storing multiple software modules and/or memory cell.Although can adopt outside describing by way of illustration The certain module of section's apparatus 2000 and/or block, it is to be understood that, the more or less of module of number and/or block can be used.Separately Outward although various situations can be according to the form description of module and/or block in order to illustrate, but these modules and/or block can pass through One or more hardware componenies and/or software part and/or hardware component are carried out with combining of software part, described hardware Part such as processor, digital signal processor (DSP), programmable logic device (PLD), special IC (ASIC), electricity Road, register, described software part such as program, subroutine, logic.

In some cases, surgical instruments 2000 may include output device 2042, and this output device may include one or many The individual device for providing a user with sensory feedback.Such device may include for example visual feedback means (for example, LCD display, LED indicator), auditory feedback mechanisms (for example, loudspeaker, buzzer) or haptic feedback devices (for example, tactile actuator).? In some cases, output device 2042 may include display 2043, and this display may include in shank assembly 2002, such as Figure 36 Shown.Shaft assembly controller 2022 and/or power management control 2016 can be by output device 2042 to surgical instruments 2000 User provide feedback.Interface 2024 is configured to shaft assembly controller 2022 and/or power management control 2016 are connected to output device 2042.Reader will appreciate that, alternatively, output device 2042 can be collected with (PCC) power 2006 Become.In such cases, when shaft assembly 2004 is connected to shank assembly 2002, output device 2042 and shaft assembly controller Communication between 2022 can be realized by interface 2024.

Referring to Figure 38 and Figure 39, they show surgical instruments 2050.Surgical instruments 2050 is in many aspects similar to outer Section's fastening and cutting device 2000 (Figure 31).For example, surgical instruments 2050 may include end effector 2052, this end effector In many aspects similar to end effector 2008.For example, end effector 2052 be configured to serve as clamping, Cutting and/or the straight cuts device of suture tissue.

In addition to the above, surgical instruments 2050 may include interchangeable work package 2054, this interchangeable work package May include shank assembly 2053 and the axle 2055 extending between shank assembly 2053 and end effector 2052, as Figure 38 institute Show.In some cases, surgical instruments 2050 may include (PCC) power 2056, and this (PCC) power can be with multiple interchangeable working groups Part (for example interchangeable work package 2054) is used together.This kind of interchangeable work package may include surgical end-effector, example As end effector 2052, this end effector is configured to execute one or more surgical task or surgical operation. In some cases, shank assembly 2053 and axle 2055 can be integrated into individual unit.In other cases, shank assembly 2053 He Axle 2055 can separably couple each other.

Similar to surgical instruments 2000, surgical instruments 2050 can be operably supported multiple drive systems, works as power packages When part 2056 is connected to interchangeable work package 2054, these drive systems can be powered by (PCC) power 2056.For example, interchangeable Work package 2054 can be operably supported closure drive system, and this closure drive system can be used for closed action and opens Action applies to end effector 2052.In at least one form, interchangeable work package 2054 can be operably supported Percussion drive system, this percussion drive system is configured to for firing action to be applied to end effector 2052.It is suitable for Entitled " the CONTROL that the example of the drive system being used together with surgical instruments 2050 was submitted on March 14th, 2013 The U.S. Provisional Patent Application Serial No. 61/782 of SYSTEM OF A SURGICAL INSTRUMENT ", is described in 866, The entire disclosure of this patent is incorporated by reference in its entirety herein.

Referring to Figure 39, the (PCC) power 2056 of surgical instruments 2050 can be detachably coupled to interchangeable work package, For example, interchangeable work package 2054.Various coupling arrangements can be used for being releasably attached to (PCC) power 2056 interchangeable Work package 2054.Exemplary coupling mechanism is described herein, and entitled on March 14th, 2013 submission In the U.S. Provisional Patent Application Serial No. 61/782,866 of " CONTROL SYSTEM OF A SURGICAL INSTRUMENT " It is described, the entire disclosure of this patent is incorporated by reference in its entirety herein.

Referring also to Figure 39, (PCC) power 2056 may include power source 2058, for example, is configurable to be connected to power packages During part 2056, can be the battery of interchangeable work package 2054 power supply.In some cases, (PCC) power 2056 may include and deposits Reservoir 2060, this memory is configured to receive and stores with regard to battery 2058 and/or interchangeable work package 2054 Information, for example, battery 2058 state-of-charge, the number of the treatment cycle being carried out using battery 2058, and/or in battery 2058 Usage cycles in be connected to (PCC) power 2056 interchangeable work package identification information.In addition to the above, can be mutual The assembly 2054 that changes jobs may include controller 2062, and this controller is configured to provide with regard to battery for memory 2060 2058 and/or the information of interchangeable work package 2054.

Referring also to Figure 39, (PCC) power 2056 may include interface 2064, and this interface is configured to be conducive to power The controller of the memory 2060 of assembly 2056 and the interchangeable work package being connected to (PCC) power 2056 is (for example, interchangeable The controller 2062 of work package 2054) between electric connection.For example, interface 2064 may include one or more connectors 2066, these connectors are used for coupling joint with corresponding work package connector 2068, to work as interchangeable work package 2054 are connected to during (PCC) power 2056 it is allowed to be electrically connected between controller 2062 and memory 2060.In some situations Under, one or more of electric connector 2066 and/or 2068 may include switch, and these switches can be by interchangeable work package 2054 engage with (PCC) power 2056 after start, to realize the telecommunication between controller 2062 and memory 2060.

Referring also to Figure 39, (PCC) power 2056 may include state-of-charge supervisory circuit 2070.In some cases, electric charge shape State supervisory circuit 2070 may include Coulomb meter.When interchangeable work package 2054 is connected to (PCC) power 2056, controller 2062 can be communicated with state-of-charge supervisory circuit 2070.State-of-charge supervisory circuit 2070 is operable to provide to battery 2058 State-of-charge accurate monitoring.

Figure 40 shows (for example when being connected to (PCC) power 2056, interchangeable with the controller of interchangeable work package The controller 2062 of work package 2054) example modules 2072 that are used together.For example, controller 2062 may include one or Multiple processors, and/or the memory cell of multiple software modules (such as module 2072) can be stored.Although can adopt illustrating Bright mode describes certain module and/or the block of surgical instruments 2050, it is to be understood that, the more or less of mould of number can be used Block and/or block.In addition, though various situations can describe in order to illustrate according to the form of module and/or block, but these modules And/or block can combining by one or more hardware componenies and/or software part and/or hardware component and software part in addition Implement, described hardware component such as processor, DSP, PLD, ASIC, circuit, register, described software part such as program, son Routine, logic.

Under any circumstance, after interchangeable work package 2054 is connected to (PCC) power 2056, interface 2064 can Be conducive to producing communication between controller 2062 and memory 2060 and/or state-of-charge supervisory circuit 2070, so that module 2072 come into force, as shown in figure 40.For example, the controller 2062 of interchangeable work package 2054 can utilize state-of-charge supervisory circuit 2070 measuring the state-of-charge of battery 2058.Then controller 2062 accessible storage device 2060, and determine battery 2058 first Whether front SOC is stored in memory 2060.When preceding value is detected, controller 2060 can by measured value with Earlier stored values are compared.If measured value is different from earlier stored values, then the renewable earlier stored values of controller 2060. When being not detected by preceding value, controller 2060 can store measured value in memory 2060.In some cases, controller 2060 visual feedback that the actual measurement state-of-charge with regard to battery 2058 can be provided to the user of surgical instruments 2050.For example, control Device 2060 can show the measured value of battery 2058 state-of-charge on LCD display, and in some cases, this LCD display can Combine with interchangeable work package 2054.

In addition to the above, when the interchangeable work package of other controllers this kind of is connected to (PCC) power 2056 When, module 2072 also can be executed by other controllers.For example, user can make interchangeable work package 2054 and (PCC) power 2056 Disconnect.Then user can make to be connected with (PCC) power 2056 including another interchangeable work package of another controller.When When interchangeable work package 2054 is connected to (PCC) power 2056, this controller can be surveyed using coulomb counting circuit 2070 then The state-of-charge of amount battery 2058, then accessible storage device 2060 determine the previous SOC of battery 2058 (for example, The value being inputted by controller 2060) whether it is stored in memory 2060.When preceding value is detected, controller can be by measured value It is compared with earlier stored values.If measured value is different from earlier stored values, then the renewable earlier stored values of controller.

Figure 41 shows surgical instruments 2090, and this surgical instruments is in many aspects similar to surgical instruments 2000 (Figure 31) And/or surgical instruments 2050 (Figure 38).For example, surgical instruments 2090 may include end effector 2092, and this end effector exists Many aspects are similar to end effector 2008 and/or end effector 2052.For example, end effector 2092 is configurable to Potentially act as the straight cuts device for clamping, cutting and/or suture tissue.

In addition to the above, surgical instruments 2090 may include interchangeable work package 2094, this interchangeable work package May include shank assembly 2093 and the axle 2095 that can extend between shank assembly 2093 and end effector 2092.In some feelings Under condition, surgical instruments 2090 may include (PCC) power 2096, and this (PCC) power can (for example can be mutual with multiple interchangeable work packages Change jobs assembly 2094) it is used together.This kind of interchangeable work package may include surgical end-effector, such as end effector 2092, this end effector is configured to execute one or more surgical task or surgical operation.In some cases, Shank assembly 2093 and axle 2095 can be integrated into individual unit.In other cases, shank assembly 2093 and axle 2095 can that This separably couples.

Additionally, the (PCC) power 2096 of surgical instruments 2090 can be detachably coupled to interchangeable work package, for example, Interchangeable work package 2094.Various coupling arrangements can be used for for (PCC) power 2096 being releasably attached to interchangeable working group Part 2094.Similar to surgical instruments 2050 and/or surgical instruments 2000, surgical instruments 2090 can be operably supported one or Multiple drive systems, when (PCC) power 2096 is connected to interchangeable work package 2094, these drive systems can be by power packages Part 2096 is powered.For example, interchangeable work package 2094 can be operably supported closure drive system, this closure drive system Can be used for applying closed action and/or opening action to end effector 2092.In at least one form, interchangeable work Assembly 2094 can be operably supported percussion drive system, and this percussion drive system is configured to apply firing action It is added to end effector 2092.The example drive system being used together with surgical instruments 2090 and coupling mechanism were at 2013 3 The U.S. Provisional Patent Application of entitled " CONTROL SYSTEM OF A SURGICAL INSTRUMENT " that the moon 14 was submitted to Sequence number 61/782, is more fully described in 866, and the entire disclosure of this patent is incorporated by reference in its entirety herein.

Referring to Figure 41 to Figure 45, interchangeable work package 2094 may include motor (for example, motor 2014 (Figure 44)) and horse Reach driver (for example, motor driver 2015 (Figure 44)), this motor driver can be used for for example actuating interchangeable work package 2094 closure drive system and/or percussion drive system.Motor 2014 can be powered by battery 2098 (Figure 42), and this battery can position In (PCC) power 2096.As shown in Figure 42 and Figure 43, battery 2098 may include the battery unit of multiple series connection, these battery lists Unit can be used as the power source of motor 2014 power supply.In some cases, the battery unit of (PCC) power 2096 can be can be more Changing and/or rechargeable.For example, battery unit can be the lithium ion that can separably be attached to (PCC) power 2096 Battery.In use, the operable motor of polarity of voltage 2014 that (PCC) power 2096 is provided drives the drive being capable of lengthwise movement Dynamic component, so that end effector 2092 comes into force.For example, motor 2014 is configured to drive the drive being capable of lengthwise movement Dynamic component, with the tissue advancing cutting element cutting to be trapped by end effector 2092, and/or for example advances firing lock Percussion is from the nail of the nail bin fitting together with end effector 2092.These nails can be entered by percussion and for example be executed by end In the tissue of device 2092 trapping.

Referring now to Figure 41 to Figure 45, interchangeable work package 2094 may include work package controller 2102 (Figure 44 and Figure 45), and (PCC) power 2096 may include (PCC) power controller 2100 (Figure 42 and Figure 43).Work package controller 2102 It is configured to produce one or more signals, thus communicating with (PCC) power controller 2100.In some cases, when When (PCC) power 2096 is connected to interchangeable work package 2094, work package controller 2102 can be by adjusting from (PCC) power 2096 arrive interchangeable work package 2094 power transmissions, produce one or more signals, thus with (PCC) power controller 2100 communications.

Additionally, (PCC) power controller 2100 is configured in response to receiving by work package controller 2102 The one or more signals generating, and execute one or more function.For example, interchangeable work package 2094 can have a kind of work( Rate demand, and work package controller 2102 is configured to produce indicated horsepower assembly controller 2100 according to can be mutual Change jobs the signal to select the power output of battery 2098 for the power demand of assembly 2094；When (PCC) power 2096 is connected to can Exchange work package 2094 when, can as described above by adjust from (PCC) power 2096 to the work(of interchangeable work package 2094 Rate is transmitted and to be produced signal.In response to receiving signal, (PCC) power controller 2100 can set the power output of battery 2098, To adapt to the power demand of interchangeable work package 2094.Readers will recognize that, can be by different interchangeable work packages and work( Rate assembly 2096 is used together.Different interchangeable work packages can have different power demands, and in them and power packages Part 2096 connection can produce the distinct signal for its power demand during engaging, to warn (PCC) power controller 2100 basis Above-mentioned power demand is setting the power output of battery 2098.

Referring now primarily to Figure 42 and Figure 43, (PCC) power 2096 may include power modulators control device 2106, this work( Rate modulator control device may include for example one or more field-effect transistors (FET), darlington array, adjustable amplifier And/or any other power modulators.When interchangeable work package 2094 is connected to (PCC) power 2096, in response to by working The signal that assembly controller 2102 produces, (PCC) power controller 2100 may be actuated power modulators control device 2106, thus Set the power output of battery 2098 according to the power demand of interchangeable work package 2094.

Referring still primarily to Figure 42 and Figure 43, when interchangeable work package 2094 is connected to (PCC) power 2096, power packages Part controller 2100 is configured to monitoring from (PCC) power 2096 to the power transmission of interchangeable work package 2094, with Just the one or more signals being produced by the work package controller 2102 of interchangeable work package 2094 are detected.As Figure 42 institute Show, for example, (PCC) power controller 2100 can be utilized the voltage monitoring mechanism of the voltage for monitoring battery 2098 two ends, to examine Survey the one or more signals being produced by work package controller 2102.In some cases, voltage regulator can be used for by than The voltage of example regulating cell 2098, so that this voltage can be read by the A/D converter (ADC) of (PCC) power controller 2100 Go out.As shown in figure 42, voltage regulator may include divider 2108, and this divider can generate proportional to the voltage of battery 2098 Reference voltage or low voltage signal, this signal can be measured by such as ADC and recorded (PCC) power controller 2100.

In other cases, as shown in figure 43, (PCC) power 2096 can for example include current monitoring mechanism, this current monitoring Mechanism is used for the electric current that monitoring is transferred to interchangeable work package 2094, thus what detection was produced by work package controller 2102 One or more signals.In some cases, (PCC) power 2096 may include current sensor 2110, and this current sensor can use It is transferred to the electric current of interchangeable work package 2094 in monitoring.The electric current monitored can recorded (PCC) power by such as ADC Controller 2100.In other cases, (PCC) power controller 2100 be configured to monitor simultaneously be transferred to interchangeable The electric current of work package 2094 and the corresponding voltage at battery 2098 two ends, so that what detection was produced by work package controller 2102 One or more signals.Readers will recognize that, (PCC) power controller 2100 can be utilized each for monitoring current and/or voltage Plant other mechanisms, to detect the one or more signals being produced by work package controller 2102；The disclosure contemplate all this A little mechanisms.

As shown in figure 44, work package controller 2102 is configured to come into force by making motor driver 2015, And produce the one or more signals for communicating with (PCC) power controller 2100, thus adjust it is transferred to horse from battery 2098 Reach 2014 electric power.Therefore, it is the voltage at battery 2098 two ends of motor 2014 power supply and/or the electric current consuming from battery 2098 The discontinuous pattern representing one or more signals or waveform can be formed.As described above, (PCC) power controller 2100 can quilt It is constructed to be permeable to, for the one or more signals being produced by work package controller 2102, to monitor the electricity at battery 2098 two ends Pressure and/or the electric current consuming from battery 2098.

When a signal is detected, (PCC) power controller 2100 is configured to execute corresponding to the one of institute's detection signal Item or multiple function.In at least one example, when the first signal is detected, (PCC) power controller 2100 is configurable to Power modulators control device 2106 can be activated, thus the power output of battery 2098 is set to there is the first dutycycle. In at least one example, when secondary signal is detected, (PCC) power controller 2100 is configured to activate power Modulator control device 2106, has second accounting for different from the first dutycycle thus the power output of battery 2098 is set to Empty ratio.

In some cases, as shown in figure 45, interchangeable work package 2094 may include algorithm for power modulation circuit 2012, this work( Rate modulation circuit may include one or more field-effect transistors (FET), and these field-effect transistors can be by work package control Device 2102 controls, thus producing the signal that can be identified or waveform by (PCC) power controller 2100.For example, in some cases, The operable algorithm for power modulation circuit 2012 of work package controller 2102 with amplify voltage so as to higher than battery 2098 voltage, from And for example trigger the new power mode of (PCC) power 2096.

Referring now primarily to Figure 42 and Figure 43, (PCC) power 2096 may include and can turn between the open and the closed positions The switch 2104 changing.For example, when (PCC) power 2096 is coupled with interchangeable work package 2094, switch 2104 can be from open position Put and be transformed into closing position.In some cases, after such as (PCC) power 2096 is coupled with interchangeable work package 2094, Manually switch 2104 can be transformed into closing position from open position.When switching 2104 and being in an open position, (PCC) power 2096 part can consume sufficiently low electric power or non-consumption electric power, is used for clinical practice with the electricity keeping battery 2098. Switch 2104 can be mechanical mechanism, reed mechanism, Hall mechanism or any other suitable switching mechanism.Additionally, in some feelings Under condition, (PCC) power 2096 may include optional power source 2105, and this power source is configured to making in battery 2098 With period, provide sufficient electric power to the various parts of (PCC) power 2096.Similarly, interchangeable work package 2094 may also comprise Optional power source 2107, this power source is configured to provide abundance to the various parts of interchangeable work package 2094 Electric power.

In use, as shown in figure 46, (PCC) power 2096 can be connected to interchangeable work package 2094.In some situations Under, as described above, switch 2104 can be switched to closed configuration, so that interchangeable work package 2094 is electrically connected to (PCC) power 2096.As response, interchangeable work package 2094 can power up, and can at least start to consume relatively low electricity from battery 2098 Stream.For example, interchangeable work package 2094 can consume the electric current less than or equal to 1 ampere, is interchangeable work package 2094 Various parts are powered.In some cases, when switch 2014 is transformed into closing position, (PCC) power 2096 also can power up.As Hereinbefore detailed, as response, (PCC) power controller 2100 can by the monitoring such as voltage at battery 2098 two ends and/or from Battery 2098 arrives the electric current transmission of interchangeable work package 2094, and starts to monitor the electricity consuming from interchangeable work package 2094 Stream.

It is to produce and transmit signal of communication by algorithm for power modulation to (PCC) power controller 2100, work package controller 2102 can adopt motor driver 2015 with the pattern of such as power peak or waveform for motor 2014 pulse power supply.In some feelings Under condition, work package controller 2102 is configured to communicate with motor driver 2015, with by being switched fast motor The direction of motion to be switched fast motor 2014 for the polarity of voltage at 2014 winding two ends, thus limit by having that power peak produces Effect electric current is transferred to motor 2014.Therefore, as shown in Figure 47 C, in response to power peak, it is possible to decrease by having that power peak value produces Effect motor displacement, to reduce effective displacement of the drive system of the surgical instruments 2090 being connected to motor 2014 to greatest extent.

In addition to the above, work package controller 2102 can pass through using motor driver 2015 from battery 2098 With the peak value form consumption electric power of predetermined bag or group, and communicate with (PCC) power controller 2100, these bags or group can Repeat within the predetermined time period, thus forming the fluctuation pattern that can be detected by (PCC) power controller 2100.For example, as schemed Shown in 47A and Figure 47 B, (PCC) power controller 2100 is configured to using voltage as set forth in detail above and/or electricity Stream mechanism for monitoring, to monitor predetermined voltage patterns (for example, voltage patterns 2103 of the voltage at battery 2100 two ends (Figure 47 A)) and/or predetermined electrical current fluctuations figure (for example, current pattern 2109 (Figure 47 B)).Additionally, work as fluctuating is detected During figure, (PCC) power controller 2100 is configured to execute one or more function.Readers will recognize that, (PCC) power The communication being carried out by adjusting power transmission between controller 2100 and work package controller 2102, it is possible to decrease interchangeable The number of required connection line between work package 2094 and (PCC) power 2096.

In some cases, (PCC) power 2096 can be used together with the various interchangeable work package in many generations, and these can Exchange work package and can have different power demands.Some in different interchangeable work packages may include above-mentioned communication system System, and other interchangeable work packages then may not have this kind of communication system.For example, (PCC) power 2096 can with do not have on The interchangeable work package of the first generation stating communication system is used together.Or, (PCC) power 2096 can be with the above-mentioned communication system of inclusion The interchangeable work package of the second generation (for example, interchangeable work package 2094) of system is used together.

In addition to the above, the interchangeable work package of the first generation can have the first power demand, and the second generation can be mutual The assembly that changes jobs can have the second power demand that may differ from the first power demand.For example, the first power demand is smaller than Two power demands.For adapting to the of the first power demand of the interchangeable work package of the first generation and the interchangeable work package of the second generation Two power demands, (PCC) power 2096 can have the first power mode for the interchangeable work package of the first generation, and is used for Second power mode of the interchangeable work package of the second generation.In some cases, (PCC) power 2096 is configured to Operate corresponding under acquiescence first power mode of the power demand of the interchangeable work package of the first generation.Therefore, when the first generation can When exchange work package is connected to (PCC) power 2096, acquiescence first power mode of (PCC) power 2096 is suitable for the first generation can Exchange the first power demand of work package.But, when the interchangeable work package of the second generation (for example, interchangeable work package 2094) when being connected to (PCC) power 2096, as described above, the work package controller 2102 of interchangeable work package 2094 can be with The (PCC) power controller 2100 of (PCC) power 2096 communicates, and (PCC) power 2096 is switched to the second power mode, thus Adapt to the second power demand of interchangeable work package 2094.Readers will recognize that, because the interchangeable work package of the first generation lacks The weary ability producing signal of communication, therefore (PCC) power 2096, when connecting work package interchangeable to the first generation, will remain in Give tacit consent under the first power mode.

As described above, battery 2098 can be rechargeable.In some circumstances, it may be advantageous in transport power Before assembly 2096, battery 2098 electricity is exhausted.During preparing transport power assembly 2096, special drainage can be enabled Circuit exhausts making battery 2098 electricity.After reaching final destination, battery 2098 can be recharged for surgery Operation.But, in Clinical practice, drainage circuit may persistently consume the energy of battery 2098.In some cases, as above Literary composition is described in detail, and interchangeable work package controller 2102 is configured to by adjusting from battery 2098 to motor 2014 Power transmission, and drainage circuit is disabled signal transmission to (PCC) power controller 2100.Disable signal in response to drainage circuit, (PCC) power controller 2100 can for example be programmed to disable drainage circuit, thus prevent battery 2098 via drainage circuit quilt Exhaust.Readers will recognize that, when (PCC) power 2096 is connected to interchangeable work package 2094, work package controller 2102 Various signals of communication can be produced, various functions are executed with indicated horsepower assembly controller 2100.

Refer again to Figure 42 to Figure 45, (PCC) power controller 2100 and/or work package controller 2102 may include one Individual or the multiple processor storing multiple software modules and/or memory cell.Although can adopt retouching by way of illustration State certain module and/or the block of surgical instruments 2050, it is to be understood that, the more or less of module of number and/or block can be used. In addition, though various situations can be according to the form description of module and/or block in order to illustrate, but these modules and/or block can lead to Cross one or more hardware componenies and/or software part and/or hardware component to be carried out with combining of software part, described hard Part part such as processor, DSP, PLD, ASIC, circuit, register, described software part such as program, subroutine, logic.

Figure 48 generally shows the surgical instruments 2200 of motor driving.In some cases, surgical instruments 2200 may include Shank assembly 2202, shaft assembly 2204 and (PCC) power 2206 (or " power source " or " power packages ").Shaft assembly 2204 may include End effector 2208, this end effector is configured to serve as clamping, cutting off and/or stitch in some cases The charge-coupled straight cuts device knitted, but in other cases, it is possible to use different types of end effector, for example it is used for promptly Device, cutter, stitching unstrument, Clip Applier, enter device, medicine/gene therapeutic system, ultrasonic, RF and/or laser aid etc. other The end effector of type surgical device.Some RF devices can be entitled in the announcement of April 4 nineteen ninety-five The United States Patent (USP) 5 of " ELECTROSURGICAL HEMOSTATIC DEVICE ", submits to on 2 14th, 403,312, and 2008 The U.S. of entitled " SURGICAL FASTENING AND CUTTING INSTRUMENT HAVING RF ELECTRODES " Patent application serial number 12/031, finds in 573, and the entire disclosure of these patents is incorporated by reference in its entirety herein.

In some cases, for example, shank assembly 2202 can be detachably coupled to shaft assembly 2204.In such situation Under, shank assembly 2202 can be used together with multiple interchangeable shaft assemblies, and these interchangeable shaft assemblies may include surgical end and hold Row device (such as end effector 2208), this surgical end-effector is configured to execute one or more surgical tasks Or surgical operation.For example, one or more interchangeable shaft assemblies can be using the end being suitable to the nail bin supporting different size and type Portion's actuator, and there is different shaft lengths, size and type etc..The example of suitably interchangeable shaft assembly is disclosed in 2013 The US provisional patent Shen of entitled " CONTROL SYSTEM OF A SURGICAL INSTRUMENT " that March 14 submitted to Please sequence number 61/782, in 866, the entire disclosure of this patent application is incorporated by reference in its entirety herein accordingly.

Referring also to Figure 48, shank assembly 2202 may include shell 2210, and this shell is by being configured to be cured by clinic Raw grasping, the shank 2212 manipulating and activating form.It will be appreciated, however, that the various unique and novel construction of shell 2210 Also the surgery system that can effectively be controlled with robot is used in combination.Therefore, robot system also can be covered in term " shell " Accommodate or be otherwise operably supported shell or the similar portions of at least one drive system, this at least one drivetrain System is configured to generate and apply to can be used for activate shaft assembly 2204 disclosed herein and its corresponding equivalent at least A kind of control action.For example, shell 2210 disclosed herein can be with entitled " SURGICAL STAPLING The U.S. Patent Application Serial of INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS " Various robot systems disclosed in number 13/118,241 (now for U.S. Patent Application Publication 2012/0298719), apparatus, portion Part and method are used together, and this patent application is incorporated by reference in its entirety herein.

Under at least one form, surgical instruments 2200 can be surgery fastening and cutting device.Additionally, shell 2210 is permissible It is operably supported one or more drive systems.For example, as shown in figure 50, shell 2210 can support drive system, this driving System is referred to herein as firing drive system 2214, and it is configured to for firing action to be applied to end effector 2208.Percussion drive system 2214 can adopt electro-motor 2216, and this electro-motor can be located in such as shank 2212.Various In form, motor 2216 can be for for example having the DC brush drive motor of the maximum (top) speed of about 25,000RPM.In other cloth In putting, motor may include brushless motor, wireless motor, syncmotor, stepper motor or any other suitable electro-motor.Electricity Pond 2218 (or " power source " or " power packages "), such as lithium ion battery, shank 2212 can be connected to, with to control board group Part 2220 and final provide electric power to motor 2216.

In some cases, referring also to Figure 50, electro-motor 2216 may include can with The gear deceleration device assembly 2222 The rotatable shaft (not shown) operatively joining, this The gear deceleration device assembly can be engaged with the sliding tooth 2224 of a group or a tooth bar It is mounted in engagement with the drive member 2226 being capable of lengthwise movement.In use, the polarity of voltage that battery 2218 is provided can Operate electro-motor 2216 along clockwise direction, wherein can be reversed by the polarity of voltage that battery 2218 is applied to electro-motor, To operate electro-motor 2216 in the counterclockwise direction.For example, when electro-motor 2216 rotates in one direction, drive member 2226 axially will be driven along distal direction " D ", and for example, when motor 2216 is driven along contrary direction of rotation, Drive member 2226 axially will be driven along proximal direction " P ", as shown in figure 50.Shank 2212 may include switch, described opens Pass can make to be applied to the pole reversal of electro-motor 2216 by battery 2218.As other forms as herein described, shank 2212 may also include sensor, and this sensor is configured to detect position and/or the drive member of drive member 2226 2226 directions moved.

As described above, at least one form, the drive member 2226 being capable of lengthwise movement may include and is formed on A tooth bar sliding tooth 2224, for engaging joint with The gear deceleration device assembly 2222.In some cases, as Figure 50 institute Show, surgical instruments 2200 may include " meeting an urgent need " assembly 2228 of manually actuable, this emergent assembly is configured in inspection When measuring emergent mistake, for example, during operation surgical instruments 2200, being out of order when motor 2216, (this can be so that by holding The tissue of portion's actuator 2208 trapping is stuck) when, enabling the clinician to manually bounces back is capable of the driving structure of lengthwise movement Part 2226.

In addition to the above, as shown in figure 50, emergent assembly 2228 may include lever or emergent shank 2230, this lever Or emergent shank is configured to manually be moved or be pivoted into and is engaged with tooth 2224 ratchet in drive member 2226.? In the case of described, clinician can for example bounce back drive member 2226 along proximal direction " P " by using emergent shank 2230, and Manually bounce back drive member 2226, so that the tissue for example blocking from end effector 2208 release.Can with disclosed herein The exemplary emergent arrangement that is used together of various apparatuses and miscellaneous part, arrangement and system be disclosed in entitled “POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE The U.S. Patent Application Serial Number 12/249,117 of FIRING SYSTEM " is (now for U.S. Patent Application Publication 2010/ 0089970), in, this patent application is incorporated by reference in its entirety herein accordingly.

In addition to the above, referring now primarily to Figure 48 and Figure 50, the emergent shank 2230 of emergent assembly 2228 can position In the shell 2210 of shank assembly 2202.In some cases, touching to emergent shank 2230 can be controlled by escape door 2232 And.Escape door 2232 can be releasably locked to shell 2210, to control touching for emergent shank 2230.As Figure 48 institute Show, escape door 2232 may include locking mechanism, for example, for the flip open type locking mechanism 2234 being engaged by locking with shell 2210. The disclosure contemplates other locking mechanisms for escape door 2232 locks onto shell 2210.In use, clinician can By unlocking locking mechanism 2234 and opening escape door 2232 and touch emergent shank 2230.In at least one example, for example, Escape door 2232 can be detachably coupled to shell 2232, and can depart from from shell 2210, thus for touching emergent shank 2230 offer paths.In another example, for example, escape door 2232 can be pivotally coupled to outward by hinge (not shown) Shell 2210, and can pivot with respect to shell 2210, thus providing path for touching emergent shank 2230.In another example, Escape door 2232 can be sliding door, and this sliding door slidably can move with respect to shell 2210, thus for touching emergent handle Portion 2230 provides path.

Referring now to Figure 51, surgical instruments 2200 may include emergent reponse system 2236, and this emergent reponse system can be by structure Cause to guide clinician and/or provide it in emergent assembly 2228 as detailed below is respectively using step Feedback.In some cases, emergent reponse system 2236 may include microcontroller 2238 and/or one or more emergent feedback unit Part.The electronic and electronic circuit component being associated with emergent reponse system 2236 and/or emergent feedback element is by for example controlling electricity Road board component 2220 supports.Microcontroller 2238 generally may include memory 2240 and is operably linked to memory 2240 Microprocessor 2242 (" processor ").Processor 2242 controllable motor driver 2244 circuit, this circuit is generally used for controlling The position of motor 2216 and speed.In some cases, processor 2242 is to motor driver 2244 sending signal, stopping or Disable motor 2216, as detailed below.In some cases, processor 2242 can control single motor override circuit, should Circuit may include motor override switch, and this motor override switch can be during operation surgical instruments 2200, in response to processing The override signal of device 2242 and stop and/or disable motor 2216.It should be appreciated that terms used herein " processor " includes appointing What suitable microprocessor, microcontroller, or by the function of the CPU (CPU) of computer be attached to one integrated Other base computing device on circuit or at most several integrated circuit.Processor is multiduty programmable device, this device Receive numerical data as input, the instruction according to storage in its memory to process input, then provide result as output. Processor has internal storage, so being the example of sequential digital logic.The operation object of processor is with binary digit The numbers and symbols of system representation.

In one case, processor 2242 can be any one monokaryon or polycaryon processor, all trade names as is known For ARM Cortex, purchased from Texas Instruments those.In one case, surgical instruments 2200 may include safety Processor, for example, included the secure microcontroller platform of two series (such as TMS570 and RM4x) based on microcontroller ( Know its trade name Hercules ARM Cortex R4, also available from Texas Instruments).However, can be unrestricted Ground is using other suitable substitutes of microcontroller and safe processor.In one case, safe processor 1004 can be bright Really it is arranged to IEC 61508 and ISO 26262 security critical is applied and other, to provide advanced integrated security special Property, extendible performance, connectivity and memory options are provided simultaneously.

In some cases, microcontroller 2238 can be the LM being for example purchased from Texas Instruments 4F230H5QR.In at least one example, the LM 4F230H5QR that Texas Instruments produces is ARM Cortex- M4F processor core, it includes：256KB single cycle flash memories or the piece of other nonvolatile memories (up to 40MHZ) Upper memory 2240, for improve performance make its more than 40MHz prefetch buffer, 32KB single cycle serial random access storage Device (SRAM), it is mounted withThe inside read-only storage (ROM) of software, 2KB electric erazable programmable is read-only deposits Reservoir (EEPROM), one or more pulsewidth modulation (PWM) module, one or more orthogonal encoder input (QEI) simulation, tool There are one or more 12 analog-digital converters (ADC) of 12 analog input channels, and for product data handbook easily Other feature structures obtaining.Other microcontrollers can easily be replaced in emergent reponse system 2236.Therefore, the disclosure Should not necessarily be limited by this context.

Refer again to Figure 51, emergent reponse system 2236 may include such as escape door feedback element 2246.In some situations Under, escape door feedback element 2246 is configured to warn processor 2242 locking mechanism 2234 non-locking.At least one In individual example, escape door feedback element 2246 may include the on-off circuit (not shown) being operably linked to processor 2242； This on-off circuit is configured to for example be transformed into when clinician's unblock locking mechanism 2234 opens configuration, and/ Or it is transformed into closed configuration when clinician's locking locking mechanism 2234.In at least one example, escape door feedback unit Part 2246 may include the sensor (not shown) that at least one is operably linked to processor 2242；This sensor can be constructed One-tenth can for example be triggered when locking mechanism 2234 is transformed into unblock and/or locked configuration by clinician.Reader will recognize that Arrive, escape door feedback element 2246 may include for detect locking mechanism 2234 locked by clinician and/or unlock other Device.

In some cases, escape door feedback element 2246 may include the switch electricity being operably linked to processor 2242 Road (not shown)；For example, this on-off circuit is configured to for example be transformed into when removing or open escape door 2232 and beats Open configuration, and/or be for example transformed into closed configuration when installing or close escape door 2232.In at least one example, Escape door feedback element 2246 may include the sensor (not shown) that at least one is operably linked to processor 2242；This biography Sensor is configured to for example be triggered when removing or open escape door 2232, and/or for example when closing or installation should It is triggered during anxious door 2232.Readers will recognize that, escape door feedback element 2246 may include for detecting locking mechanism 2234 quilt Clinician's locking and/or unblock, and/or other devices that escape door 2232 is opened and/or closed by clinician.

In some cases, as shown in figure 51, emergent reponse system 2236 may include one or more additional feedback elements 2248, this additional feedback elements may include the additional switch circuit operationally communicating with processor 2242 and/or sensor；Place Reason device 2242 can measure other ginsengs being associated with emergent reponse system 2236 using additional switch circuit and/or sensor Number.In some cases, emergent reponse system 2236 may include one or more interfaces, and these interfaces may include for user One or more devices of sensory feedback are provided.This kind of device may include such as visual feedback means, for example display screen and/or LED indicator.In some cases, this kind of device may include auditory feedback mechanisms, such as loudspeaker and/or buzzer.At certain In the case of a little, this kind of device may include haptic feedback devices, such as tactile actuator.In some cases, this kind of device can wrap Include the combination of visual feedback means, auditory feedback mechanisms and/or haptic feedback devices.In some cases, as shown in figure 48, one Individual or multiple interfaces may include display 2250, and this display may include in such as shank assembly 2202.In some cases, Processor 2242 can warn, guide the user of surgical instruments 2200 using display 2250, and/or provide it with regard to Carry out the feedback of the manual-operated emergent of surgical instruments 2200 using emergent assembly 2228.

In some cases, emergent reponse system 2236 may include with firmware, software, hardware or their any combination in fact Existing one or more built-in application programs.In some cases, emergent reponse system 2236 may include various executable moulds Block, such as software, program, data, driver and/or application programming interfaces (API).Figure 52 shows and is storable in for example storing Example modules 2252 in device 2240.Module 2252 can be executed by processor 2242, such as to warn, to guide surgical instruments 2200 user, and/or provide it the manual-operated emergent with regard to carrying out surgical instruments 2200 using emergent assembly 2228 Feedback.

As shown in figure 52, module 2252 can be executed by processor 2242, providing a user with regard to how touching and/or Carry out the instruction of the such as manual-operated emergent of surgical instruments 2200 using emergent assembly 2228.In all cases, module 2252 May include one or more stepss in decision-making, for example, with regard to detecting one of the manual-operated emergent needing execution surgical instruments 2200 Or multiple mistake steps in decision-making 2254.

In all cases, processor 2242 is configured in response to one or more Intervention Events for example outer Incidence during the normal operating of section's apparatus 2200, and detect emergent mistake.In some cases, processor 2242 can be by structure Cause to work as processor 2242 and receive and during one or more emergent rub-out signal, detect emergent mistake；Emergent rub-out signal can Send processor 2242 by other processors and/or sensor of such as surgical instruments 2200 to.In some cases, for example, When surgical instruments 2200 temperature being detected by sensor (not shown) exceeds threshold value, emergent mistake can be detected by processor 2242 Go out.In some cases, surgical instruments 2200 may include alignment system (not shown), and this alignment system is used for sensing and record exists During the firing schedule of percussion drive system 2214, it is capable of the position of the drive member 2226 of lengthwise movement.Show at least one In example, processor 2242 is configured to for example when one or more records of the drive member 2226 being capable of lengthwise movement Detection emergent mistake when position is inconsistent with predetermined threshold value.

Refer again to Figure 52, under any circumstance, when processor 2242 detects emergent mistake in steps in decision-making 2254 When, processor 2242 can be responded by for example closing down and/or disable motor 2216.Additionally, in some cases, in inspection After measuring emergent mistake, processor 2242 also emergency rating can be stored in memory 2240, as shown in figure 52.In other words Say, processor 2242 can will indicate that the state having detected that emergent mistake is stored in memory 2240.As described above, memory 2240 can be nonvolatile memory, and when for example user resets surgical instruments 2200, this memory can keep detecting State to this storage of emergent mistake.

In all cases, can be closed down by for example making battery 2218 and motor 2216 disconnect and/or disable horse Reach 2216.In all cases, processor 2242 can be closed down or be disabled motor 2216 using driver 2244.In some situations Under, when employing motor override circuit, processor 2242 can be closed down using motor override circuit and/or be disabled motor 2216.In some cases, close down and/or disable motor 2216 can stop surgical instruments 2200 user use motor 2216, At least up to for example having carried out manual-operated emergent.Readers will recognize that, close down in response to emergent mistake is detected and/or disable horse Reach 2216, can be conducive to protecting the tissue being trapped by surgical instruments 2200.

In addition to the above, referring also to Figure 52, module 2252 may include for detecting what whether escape door 2232 removed Steps in decision-making 2256.As described above, processor 2242 can be operably linked to escape door feedback element 2246, this escape door Feedback element is configured to the information warning processor 2242 whether to remove with regard to escape door 2232.In some situations Under, processor 2242 can be programmed to for example when escape door feedback element 2246 reports locking mechanism 2234 unblock, and detection should Whether anxious door 2232 is removed.In some cases, processor 2242 is programmed to for example when escape door feedback element 2246 is reported When announcement escape door 2232 is opened, whether detection escape door 2232 is removed.In some cases, as a example processor 2242 is programmed As when escape door feedback element 2246 reports that locking mechanism 2234 unlocks and escape door 2232 opens, detect that escape door 2232 is No it is removed.

In all cases, referring also to Figure 52, when processor 2242 is not detected by emergent mistake in steps in decision-making 2254, And in steps in decision-making 2256 when processor 2242 is not detected by escape door 2232 and is removed, this processor may in The normal operating of disconnected surgical instruments 2200, and can be utilized various clinical algorithms to be worked on.In some cases, in decision-making When processor 2242 is not detected by emergent mistake in step 2254, but in steps in decision-making 2256 processor 2242 detect emergent When door 2232 is removed, this processor can be responded by closing down and/or disable motor 2216 as above.This Outward, in some cases, processor 2242 is alternatively user and provides with regard to reinstalling the instruction of escape door 2232, following article institute Describe in detail.In some cases, reinstall when processor 2242 detects escape door 2232, be not detected by emergent mistake simultaneously When, processor 2242 is configured to again be connected power source with motor 2216, and so that user is continued using clinical algorithm Continuous operation, as shown in figure 52.

In some cases, when user does not reinstall escape door 2232, processor 2242 is possible will not be again by work( Rate source is connected with motor 2216, but continues to provide the user the instruction with regard to reinstalling escape door 2232.In some situations Under, when user does not reinstall escape door 2232, processor 2242 can provide a user with to be needed to reinstall escape door 2232 To continue this warning of normal operating surgical instruments 2200.In some cases, surgical instruments 2200 can be equipped with override machine Structure (not shown), even if so that user in the case that escape door 2216 is not installed it is also possible to reconnect power source and motor 2216.

In all cases, processor 2242 is configured to escape door 2232 is detected in processor 2242 and is moved Except when, provide the user sensory feedback.In all cases, processor 2242 is configured to detect in processor 2242 To escape door 2232 be reinstalled as quickly as possible when, provide the user sensory feedback.Processor 2242 can be carried for user using various devices For sensory feedback.This kind of device may include such as visual feedback means, such as display screen and/or LED indicator.In some situations Under, this kind of device may include auditory feedback mechanisms, such as loudspeaker and/or buzzer.In some cases, this kind of device can wrap Include haptic feedback devices, such as tactile actuator.In some cases, to may include visual feedback means, the sense of hearing anti-for this kind of device Feedback device and/or the combination of haptic feedback devices.In some cases, processor 2242 can indicate use using display 2250 Escape door 2232 is reinstalled at family.For example, processor 2242 can assume escape door 2232 by such as display 2250 to user Image and its warning symbol on side.In some cases, can to assume such as escape door 2232 installed for processor 2242 Animated image.Also the user of surgical instruments 2200 can be warned by display 2250 other images of display, symbol and/or word Reinstall escape door 2232.

Refer again to Figure 52, when emergent mistake is detected, processor 2242 is credible to be sent out to the user of surgical instruments 2200 Go out to execute the signal of manual-operated emergent using emergent shank 2230.In all cases, processor 2242 can be for example by for user Vision, the sense of hearing and/or touch feedback are provided, and issue the user with the signal of execution manual-operated emergent.In some cases, as Figure 52 Shown, processor 2242 can be flashed by making the backlight of display 2250, to send execution to the user of surgical instruments 2200 The signal of manual-operated emergent.Under any circumstance, processor 2242 subsequently can provide the user the instruction of execution manual-operated emergent.Each In the case of kind, as shown in figure 52, these instructions are likely to be dependent on whether install escape door 2232；Steps in decision-making 2258 can determine that The instruction type providing a user with.In some cases, when processor 2242 detects escape door 2232 and installs, processor 2242 instructions that can provide a user with the instruction for example removing escape door 2232 and the emergent shank 2230 of operation.But, work as process When device 2242 detects escape door 2232 and is removed, processor 2242 can provide a user with the finger for example operating emergent shank 2230 Order, but the instruction removing escape door 2232 is not provided.

Refer again to Figure 52, in all cases, by processor 2242 provide a user with remove escape door 2232 and/or The instruction of the emergent shank 2230 of operation may include one or more steps；These steps can present to user in chronological order.? In some cases, these steps may include the action being carried out by user.In these cases, user can be by carrying out each step Shown in action, and execute manual-operated emergent step.In some cases, required action in one or more steps being capable of example As presented to user in the form of being shown in the animated image on display 2250.In some cases, one or more steps User can be presented in the form of information, this information may include the word instructing user to carry out manual-operated emergent, signal and/or figure Picture.In some cases, one or more steps carrying out manual-operated emergent for example can be combined in one or more information.? In some cases, each information can for example include single step.

In some cases, instruction for manual-operated emergent will can be provided for example in predetermined time interval These steps and/or information present to user, so that user has the sufficiently long time to enter in accordance with these steps and/or information Row operation.In some cases, processor 2242 can be programmed to lasting rendering step and/or information, until processor 2242 Receive the feedback information of this step of executed.In some cases, for example can be from escape door feedback element 2246 to processor 2242 provide feedback.Processor 2242 may also be employed other mechanisms and/or sensor obtains the feedback having completed this step.Extremely In a few example, when for example completing step by pressing warning button, user can obtain warning the instruction of processor 2242. In some cases, display 2250 may include capacitance plate, and this capacitance plate can provide the user interface, thus when step completes Warning processor 2242.For example, after completing current procedures, user's pressable capacitance plate is to proceed manual-operated emergent instruction Next step.

In some cases, as shown in figure 52, when escape door 2232 is detected and installing, processor 2242 can be constructed One-tenth can assume the animated image 2260 sold just towards escape door 2232 motion using display 2250.Processor 2242 can be held Continuous display animated image 2260 a period of time, for example, it is sufficient for the time interval that user contacts escape door 2232.In some situations Under, processor 2242 subsequently can be for example with showing with the animated image 2262 of finger contact escape door locking mechanism 2234 in generation For animated image 2260.Processor 2242 sustainable display animated image 2262 a period of time, for example, it is sufficient for user's unblock lock Determine the time interval of mechanism 2234.In some cases, processor 2242 sustainable display animated image 2262, until for example should Anxious door feedback element 2246 report locking mechanism 2234 is unlocked.In some cases, the sustainable display animation of processor 2242 Image 2262, until user's warning processor 2242 has completed the step for unlock locking mechanism 2234.

Under any circumstance, processor 2242 subsequently can be for example with showing the animation figure removing escape door 2232 with finger As 2264 to replace animated image 2262.Processor 2242 sustainable display animated image 2264 a period of time, for example, it is sufficient for User removes the time interval of escape door 2232.In some cases, processor 2242 sustainable display animated image 2264, directly Report that escape door 2232 is removed to such as escape door feedback element 2246.In some cases, processor 2242 is sustainable aobvious Show animated image 2264, until for example user's warning processor 2242 completes the step for remove escape door 2232.Some In the case of, processor 2242 can be removed to be configured to be continuously detected in processor 2242 and installs in steps in decision-making 2258 During escape door, continue to repeat to show animated image 2260,2262 and 2246 with its respective sequence.

In addition to the above, after escape door 2232 is detected and being removed, processor 2242 can continue to instruct user Carry out the step operating emergent shank 2230.In some cases, processor 2242 can use for example show as described above that Sample lifts emergent shank 2230 with finger and makes the animated image 2266 that it is engaged with tooth 2224 ratchet in drive member 2226 Replace animated image 2264.Processor 2242 sustainable display animated image 2266 a period of time, for example, it is sufficient for user and lifts The time interval of emergent shank 2230.In some cases, processor 2242 sustainable display animated image 2266, until process Device receives the feedback that emergent shank 2230 has been lifted.For example, processor 2242 sustainable display animated image 2266, until User's warning processor 2242 completes the step for lift emergent shank 2230.

In some cases, as described above, user can for example bounce back along proximal direction " P " by using emergent shank 2230 Drive member 2226, and the drive member 2226 that manually bounces back, for example to discharge the tissue being blocked by end effector 2208. In said case, processor 2242 can use for example show with finger repeatedly tractive then push emergent shank 2230 thus The animated image 2268 of simulation emergent shank 2230 retraction is replacing animated image 2266.The sustainable display animation of processor 2242 Image 2268 a period of time, for example, it is sufficient for the time interval that drive member 2226 is bounced back to default location by user.Some In the case of, processor 2242 sustainable display animated image 2268, until processor 2242 receives drive member 2226 and returns The feedback of contracting.

Figure 53 shows module 2270, and this module is similar with module 2258 in many aspects.For example, module 2252 also can be deposited Storage executes in memory 2240 and/or by processor 2242, such as to warn, to guide the user of surgical instruments 2200, And/or provide it the feedback of the manual-operated emergent with regard to carrying out surgical instruments 2200.In some cases, surgical instruments 2200 may not include escape door.In such cases, processor 2242 can be provided a user with for example with regard to such as using module 2270 What operates the instruction of emergent shank 2230.

Refer again to the module 2270 shown in Figure 53, in the steps in decision-making 2254 of module 2270 when processor 2242 not When emergent mistake is detected, this processor 2242 may will not interrupt the normal operating of surgical instruments 2200, and can be utilized various Clinical algorithm is worked on.However, when processor 2242 detects emergent mistake in the steps in decision-making 2254 of module 2270 Mistake, this processor 2242 can for example be responded by closing down and/or disable motor 2216.Additionally, in some cases, After emergent mistake is detected, processor 2242 also emergency rating can be stored in memory 2240, as shown in figure 53.No When there is escape door, processor 2242 can for example be flashed by making the backlight of display 2250, and to surgical instruments 2200 User sends the signal carrying out manual-operated emergent；Then as above, processor 2242 can continue directly to provide the user The instruction of the emergent shank 2230 of operation.

Readers will recognize that, the step shown in Figure 52 and/or 53 is that the user that can be supplied to surgical instruments 2200 enters The exemplary embodiment of the instruction of row manual-operated emergent.Module 2252 and/or 2270 is configured to provide than Figure 52 and Tu The more or less of step of module shown in 53.Reader also will be recognized that, module 2252 and/or 2270 is exemplary module； Processor 2242 also can perform various other modules, to provide the instruction carrying out manual-operated emergent to the user of surgical instruments 2200.

In all cases, as described above, processor 2242 is configured in predetermined time interval Assume step and/or the information carrying out manual-operated emergent to the user of surgical instruments 2200.According to for example being carried out by user of task Complexity, these time intervals can be identical or can be different.In some cases, these time intervals can be e.g., from about Any time interval in the range of 1 second to e.g., from about 10 minutes.In some cases, these time intervals can be e.g., from about 1 Any time interval in the range of e.g., from about 1 minute for the second.The disclosure is contemplated that other times are spaced.

In some cases, (PCC) power ((PCC) power 2006 for example shown in Figure 31 to Figure 33) is configured to The access times monitored (PCC) power 2006 and/or be connected to the surgical instruments 2000 of (PCC) power 2006.(PCC) power 2006 Remain the use cycle count corresponding to access times.(PCC) power 2006 and/or surgical instruments 2000 are according to using circulation Count, carry out one or more actions.For example, in some cases, when exceeding predetermined use pole using cycle count In limited time, (PCC) power 2006 and/or surgical instruments 2000 can disable (PCC) power 2006, disable surgical instruments 2000, and this shows Needs carry out repairing circulation or maintenance circulation, and provide using cycle count to operator and/or remote system and/or carry out appointing What his suitable action.Determined by suitable system using cycle count, for example, mechanical restriction device, using cycling circuit and/ Or it is connected to any other suitable system of battery 2006 and/or surgical instruments 2000.

Figure 54 shows an example of (PCC) power 2400, and this (PCC) power includes being configured to monitor power packages The use cycling circuit 2402 of the use cycle count of part 2400.Power Component 2400 can be connected to surgical instruments 2410.Use Cycling circuit 2402 includes processor 2404 and uses indicator 2406.It is configured to processor using indicator 2406 2404 offer signals, with indicate battery pack 2400 and/or be connected to (PCC) power 2400 surgical instruments 2410 service condition. " service condition " may include any suitable action, condition and/or parameter, for example, changes the modularization portion of surgical instruments 2410 Part, deployment or percussion are connected to the disposable unit of surgical instruments 2410, deliver electrosurgical energy, reparation from surgical instruments 2410 Surgical instruments 2410 and/or (PCC) power 2400, exchange (PCC) power 2400, recharge for (PCC) power 2400, and/or exceeding Surgical instruments 2410 and/or the security restriction of battery pack 2400.

In some cases, limited by one or more (PCC) power 2400 parameters using circulation or service condition.For example, In one case, include using using circulation and be available from when (PCC) power 2400 is in fully charged level more than 5% The gross energy of (PCC) power 2400.In another case, included beyond predetermined time limit value from work(using circulation The Continuous Energy consumption of rate assembly 2400.For example, be may correspond to using circulation continuous and/or gross energy disappears from (PCC) power 2400 Consumption five minutes.In some cases, (PCC) power 2400 includes using cycling circuit 2402, and it is continuous that this uses cycling circuit to exist Power consumption, by the one or more parts using cycling circuit 2402, such as using indicator 2406 and/or counter 2408 remain in a working condition.

Processor 2404 remains and uses cycle count.Indicated using cycle count and detected by using indicator 2406 (PCC) power 2400 and/or surgical instruments 2410 access times.Processor 2404 can be according to from using indicator 2406 Be incremented by and reduce and/or reduce use cycle count.It is used for controlling (PCC) power 2400 and/or surgery device using cycle count One or more operations of tool 2410.For example, in some cases, when using cycle count exceed predetermined operating limit When, disable (PCC) power 2400.Although situation described herein is that so that it is exceeded with respect to incremental use cycle count predetermined Operating limit and discuss, but those skilled in the art will be recognized that, can begin at certain using cycle count Predetermined amount, and can be reduced by processor 2404.In this case, predetermined when being brought down below using cycle count Operating limit when, processor 2404 starts and/or stops one or more operations of (PCC) power 2400.

Kept by counter 2408 using cycle count.Counter 2408 includes any suitable circuit, for example, memory Module, simulative counter and/or be configured to keep using cycle count any circuit.In some cases, count Device 2408 is formed with processor 2404.In other cases, counter 2408 includes single part, and such as solid-state is deposited Memory modules.In some cases, it is provided to remote system, such as central database using cycle count.Using circulation meter Number is transferred to remote system by communication module 2412.Communication module 2412 is configured to using any suitable communication matchmaker It is situated between, for example, wiredly and/or wirelessly communicate.In some cases, communication module 2412 is configured to using cycle count During beyond predetermined operating limit, receive the one or more instructions from remote system, such as control signal.

In some cases, it is configured to the surgery monitored be connected to (PCC) power 2400 using indicator 2406 The number of the modular member that apparatus 2410 is used together.Modular member may include for example, and modular shaft, modular end are held Row device and/or any other modular member.In some cases, one or more disposable portions are monitored using indicator 2406 The service condition of part, for example, is inserted in the end effector being connected to surgical instruments 2410 and/or disposes the situation of nail bin. Include one or more sensors using indicator 2406, these sensors are used for detecting the one or more of surgical instruments 2410 Modularization and/or the exchange of disposable unit.

In some cases, it is configured to monitoring using indicator 2406 to carry out in installation power assembly 2400 Single patient's surgical operation.For example, when (PCC) power 2400 is connected to surgical instruments 2410, can quilt using indicator 2406 It is constructed to be permeable to monitor the percussion of surgical instruments 2410.Percussion may correspond to the deployment of nail bin, the applying of electrosurgical energy and/or Any other suitable surgery event.Be may include in installation power assembly 2400, measurement is hit using indicator 2406 Send out one or more circuit of number of times.When carrying out single patient's operation, provide letter using indicator 2406 to processor 2404 Number, then processor 2404 is incremental uses cycle count.

In some cases, include being configured to monitor the one or more of power source 2414 using indicator 2406 The circuit of parameter (electric current for example, consuming from power source 2414).One or more parameters of power source 2414 correspond to can be by One or more operations of surgical instruments 2410 execution, for example, cutting and suture operate.Using indicator 2406 to processor The 2404 one or more parameters of offer, when the one or more parameter indicates that operation is carried out, this processor is incremented by use Cycle count.

In some cases, including being configured to being incremented by after the predetermined time period using indicator 2406 makes Timing circuit with cycle count.The predetermined time period corresponds to single patient's operating time, and that is, operator is performed the operation Time needed for (for example, cutting and suture operation).When (PCC) power 2400 is connected to surgical instruments 2410, processor 2404 Poll uses indicator 2406, to determine whether single patient's operating time terminates.If the predetermined time period passes through Go, processor 2404 is then incremental to use cycle count.After incremental use cycle count, processor 2404 resets user The timing circuit of indicator 2406.

In some cases, include the time constant approximate with single patient's operating time using indicator 2406.Figure 55 One example of (PCC) power 2500 is shown, this (PCC) power includes thering is resistor-capacitor circuit (RC) timing circuit 2506 Using cycling circuit 2502.RC timing circuit 2506 is included by resistor-capacitor circuit to the time constant limiting.Time constant by The value of resistor 2516 and capacitor 2518 limits.When (PCC) power 2500 is arranged in surgical instruments, processor 2504 is taken turns Ask RC timing circuit 2506.When one or more parameters of RC timing circuit 2506 are less than predetermined threshold value, processor 2504 be incremented by use cycle count.For example, processor 2504 can poll resistor-capacitor circuit to 2506 capacitor 2518 electricity Pressure.When the voltage of capacitor 2518 is less than predetermined threshold value, processor 2504 is incremental to use cycle count.Processor 2504 can be connected to RC timing circuit 2506 by such as A/D 2520.After incremental use cycle count, processor 2504 Transistor 2522 is turned on, RC timing circuit 2506 is connected to power source 2514, thus the electricity for RC timing circuit 2506 Container 2518 charges.When capacitor 2518 is fully charged, disconnect transistor 2522, and make RC timing circuit 2506 discharge (as by Time constant controls) to indicate follow-up single patient's operation.

Figure 56 shows an example of (PCC) power 2550, and this (PCC) power is included with rechargeable battery 2564 He The use cycling circuit 2552 of clock 2560.When (PCC) power 2550 is arranged in surgical instruments, rechargeable battery 2564 Charged by power source 2558.Rechargeable battery 2564 includes enough electric power so that clock 2560 runs at least single patient's hand The art time.Clock 2560 may include real-time clock, be configured to realize the processor of clocking capability or any other is suitable Timing circuit.Processor 2554 receives the signal from clock 2560, and indicates in clock 2560 and exceeded single patient During operating time, it is incremented by and uses cycle count.After incremental use cycle count, processor 2554 resets clock 2560.For example, in one case, processor 2554 closed transistor 2562, thus recharge for rechargeable battery 2564. When rechargeable battery 2564 is fully charged, processor 2554 disconnects transistor 2562, and when rechargeable battery 2564 is put Clock 2560 is made to run when electric.

Referring again to Figure 54, in some cases, include sensor using indicator 2406, this sensor is adapted to One or more environmental conditions that enough monitoring (PCC) power 2400 is stood.For example, may include acceleration using indicator 2406 Meter.Accelerometer is configured to monitor the acceleration of (PCC) power 2400.It is resistance to that (PCC) power 2400 has peak acceleration Spent.Acceleration exceedes predetermined threshold value table example such as (PCC) power 2400 and drops.When being detected using indicator 2406 To acceleration exceed peak acceleration tolerance level when, processor 2404 be incremented by uses cycle count.In some cases, using referring to Show that device 2406 includes moisture transducer.Moisture transducer is configured to carry out when (PCC) power 2400 is exposed to moisture Instruction.Moisture transducer may include for example, is configured to be totally submerged in cleaning liquid in (PCC) power 2400 Shi Jinhang instruction immersion sensor, be configured to enter when moisture is contacted with (PCC) power 2400 in use The moisture transducer of row instruction, and/or any other suitable moisture transducer.

In some cases, include chemical contact sensor using indicator 2406.Chemical contact sensor is by structure Cause to be indicated with when being harmful to and/or hazardous chemical contacts in (PCC) power 2400.For example, in disinfecting process In, may have been used the improper chemicals leading to (PCC) power 2400 deterioration.Improper when being detected using indicator 2406 During chemicals, processor 2404 is incremental to use cycle count.

In some cases, using cycling circuit 2402 be configured to monitor (PCC) power 2400 after reparation Cycle-index.Repair circulation and may include for example, cleaning circulation, decontamination cycle, charging cycle, routine and/or preventive maintenance, And/or any other suitable reparation circulation.It is configured to detection using indicator 2406 and repair circulation.For example, use Indicator 2406 may include moisture transducer to detect cleaning and/or decontamination cycle.In some cases, using cycling circuit 2402 monitoring (PCC) powers 2400 institute after reparation cycle-index, and repair cycle-index beyond predetermined threshold value it Afterwards, disable (PCC) power 2400.

It is configured to monitor the number of times that (PCC) power 2400 exchanges using cycling circuit 2402.Whenever exchange power During assembly 2400, just it is incremented by using cycling circuit 2402 and uses cycle count.When beyond maximum exchange number of times, using circulation electricity Road 2402 locking (PCC) power 2400 and/or surgical instruments 2410.In some cases, when (PCC) power 2400 is connected to surgery During apparatus 2410, identify the sequence number of (PCC) power 2400 using cycling circuit 2402 and lock (PCC) power 2400 so that work( Rate assembly 2400 is only being linked together Shi Caike use with surgical instruments 2410.In some cases, whenever (PCC) power 2400 when surgical instruments 2410 removes and/or is connected to this surgical instruments, is incremented by using circulation using cycling circuit 2402.

In some cases, the sterilization of (PCC) power 2400 is corresponded to using cycle count.Included using indicator 2406 Be configured to detect decontamination cycle one or more parameters (for example, temperature parameter, chemical parameters, water parameters and/or Any other suitable parameter) sensor.When sterilization parameter is detected, processor 2404 is incremental to use cycle count.? After predetermined sterilization number of times, disable (PCC) power 2400 using cycling circuit 2402.In some cases, using circulation Circuit 2402 is during decontamination cycle, voltage sensor and/or any suitable sensor detect and weighed during recharging circulation New settings.When reparation circulation is detected, processor 2404 is incremental to use cycle count.When decontamination cycle is detected, disable Using cycling circuit 2402.When (PCC) power 2400 is connected to surgical instruments 2410, reactivates and/or reset use Cycling circuit 2402.In some cases, include zero energy indicator using indicator.Zero energy indicator is in the decontamination cycle phase Between change state, and checked by processor 2404 when (PCC) power 2400 is connected to surgical instruments 2410.When zero energy instruction When device instruction has occurred and that decontamination cycle, processor 2404 is incremental to use cycle count.

Counter 2408 remains and uses cycle count.In some cases, counter 2408 includes non-volatile memories Device module.Whenever detecting using circulation, processor 2404 is just incremented by the use being stored in non-volatile memory module Cycle count.Memory module can be accessed by processor 2404 and/or control circuit (for example, control circuit 1100).Work as use When cycle count exceeds predetermined threshold value, processor 2404 disables (PCC) power 2400.In some cases, using circulation Count and kept by multiple circuit blocks.For example, in one case, counter 2408 includes resistor (or fuse) group.? After using (PCC) power 2400 every time, resistor (or fuse) can be blown into open position, thus changing resistor group Resistance.(PCC) power 2400 and/or surgical instruments 2410 read remaining resistance value.Last resistor when resistor group When device is burned, resistor group just has predetermined resistance (for example, corresponding to the infinite resistance of open circuit), this table Bright (PCC) power 2400 has reached its operating limit.In some cases, the resistance of resistor group be used for deriving remaining Access times.

In some cases, when exceeding predetermined operating limit using cycle count, using cycling circuit 2402 Just stop the use further of (PCC) power 2400 and/or surgical instruments 2410.In one case, for example, utilization and surgery Related to (PCC) power 2400 is supplied to operator using cycle count by the integral part of screen of apparatus 2410.Surgical instruments 2410 provide the instruction of the predetermined limit value having exceeded (PCC) power 2400 using cycle count to operator, and stop The operation further of surgical instruments 2410.

In some cases, being configured to when reaching predetermined operating limit using cycling circuit 2402 can be Physically prevent its operation.For example, (PCC) power 2400 may include guard shield, and this guard shield is configured to using cycle count During beyond predetermined operating limit, it is deployed on the contact of (PCC) power 2400.This guard shield passes through coverage power assembly 2400 electrical connector prevention recharges and uses (PCC) power 2400.

In some cases, it is at least partially situated within surgical instruments 2410 using cycling circuit 2402, and be constructed One-tenth can keep the use cycle count of surgical instruments 2410.Figure 54 show in phantom using in surgical instruments 2410 and circulates One or more parts of circuit 2402, dotted line also shows that the optional position using cycling circuit 2402.When beyond surgical instruments During 2410 predetermined operating limit, disable and/or stop the operation of surgical instruments 2410 using cycling circuit 2402.When Using indicator 2406 detect particular event and/or demand (for example, the percussion of surgical instruments 2410, correspond to single patient The predetermined time period of operating time) when, using cycling circuit 2402 in response to show to have reached one or more in advance The threshold value determining and/or the system diagnostics meeting any other suitable demand, and one according to surgical instruments 2410 or many Individual parameters of hydraulic motor is incremental to use cycle count.As explained above, in some cases, included corresponding to list using indicator 2406 The timing circuit of secondary corrective surgery time.In other cases, one or more sensors are included using indicator 2406, these Sensor is configured to detect particular event and/or the condition of surgical instruments 2410.

In some cases, it is configured to prevent reaching predetermined operating limit using cycling circuit 2402 Afterwards using surgical instruments 2410.In some cases, surgical instruments 2410 includes visual detector, ought to have reached And/or exceed and during predetermined operating limit, provide instruction.For example, mark (such as red-label) can be from surgical instruments 2410 (such as from shank) ejects, thus providing the vision that surgical instruments 2410 has exceeded predetermined operating limit to refer to for operator Show.And for example, can be connected to, using cycling circuit 2402, the display forming with surgical instruments 2410.Using cycling circuit 2402 show that instruction has exceeded the information of predetermined operating limit.Surgical instruments 2410 can provide to operator Through the audible indication beyond predetermined operating limit.For example, in one case, when beyond predetermined operating limit When, surgical instruments 2410 sends the tone that can hear, then removes (PCC) power 2400 from surgical instruments 2410.Can listen The tone seen indicates the last use of surgical instruments 2410, and indicates and abandon or reconstructive surgery apparatus 2410.

In some cases, it is configured to the use cycle count of surgical instruments 2410 using cycling circuit 2402 It is transferred to remote location, for example, central database.Include being configured to use cycle count using cycling circuit 2402 It is transferred to the communication module 2412 of remote location.Communication module 2412 can utilize any suitable communication system, for example wired and/ Or wireless communication system.Remote location may include the central database being configured to keep use information.In certain situation Under, when (PCC) power 2400 is connected to surgical instruments 2410, (PCC) power 2400 records the sequence number of surgical instruments 2410.Example As when (PCC) power 2400 is connected to charger, this sequence number is transferred to central database.In some cases, central authorities Database remains the counting using each time corresponding to surgical instruments 2410.For example, whenever using surgical instruments 2410, The bar code being associated with surgical instruments 2410 just can be scanned.When exceeding predetermined operating limit using counting, in Centre database provides instruction should abandon the signal of surgical instruments 2410 to surgical instruments 2410.

Surgical instruments 2410 is configurable to, when exceeding predetermined operating limit using cycle count, can lock And/or stop operation surgical instruments 2410.In some cases, surgical instruments 2410 includes disposable instrument, and is using Cycle count is dropped after exceeding predetermined operating limit.In other cases, surgical instruments 2410 includes repeating The surgical instruments using, this surgical instruments can be repaired after exceeding predetermined operating limit using cycle count.? After reaching predetermined operating limit, surgical instruments 2410 causes reversible locking.Technical staff is for example using being configured to Can reset and carry out reconstructive surgery apparatus 2410 and discharge locking using the professional technique key of cycling circuit 2402.

In some cases, it is charged for (PCC) power 2400 before the use simultaneously and sterilize.Figure 57 show by It is constructed to be permeable to the example of combination type sterilizing charging system 2600 charging and sterilizing for battery 2602 simultaneously；Combined type disappears Malicious charging system 2600 includes disinfection room 2604.Battery 2602 is arranged in disinfection room 2604.In some cases, battery 2602 are connected to surgical instruments.Charging cables 2606 are mounted across the wall 2608 of disinfection room 2604.Wall 2608 is around charging cable Line 2606 seals, thus keeping the gnotobasis in disinfection room 2604 during sterilizing.Charging cables 2606 include first end And the second end, first end is configured to the (PCC) power 2602 being connected in disinfection room 2604, and the second end is by structure Cause to be connected to the battery charger 2610 outside disinfection room 2604.Because aseptic in holding disinfection room 2604 During environment, charging cables 2606 pass through the wall 2608 of disinfection room 2604, and therefore (PCC) power 2602 can be electrically charged simultaneously and sterilize.

It is configured to mate the decontamination cycle of disinfection room 2604 by the charging curve that battery charger 2610 applies.Example As in one case, the disinfecting process time is about 28 to 38 minutes.Battery charger 2610 is configured to provide and is disappearing The charging curve charging for battery during malicious process time.In some cases, charging curve can be cold after disinfecting process But extend in the phase.Charging curve can be according to the feedback from (PCC) power 2602 and/or disinfection room 2604 by battery charger 2610 adjustment.For example, in one case, sensor 2612 is located in disinfection room 2604.Sensor 2612 is configured to One or more characteristics of monitoring disinfection room 2604, for example, are present in the chemicals in disinfection room 2604, the temperature of disinfection room 2604 Degree and/or any other suitable characteristic of disinfection room 2604.Sensor 2612 is by extend through the wall of disinfection room 2604 2608 cable 2614 is connected to battery charger 2610.Cable 2614 is sealed so that disinfection room 2604 can keep asepsis ring Border.Battery charger 2610 is according to the feedback adjustment charging curve from sensor 2614.For example, in one case, battery Charger 2610 receives the temperature data from sensor 2612, and the temperature in disinfection room 2604 and/or (PCC) power 2602 Beyond adjustment charging curve during predetermined temperature.And for example, battery charger 2610 receives the chemistry from sensor 2612 Composition information, and in chemicals (for example, H₂O₂) near-by explosion limit value when stop (PCC) power 2602 charge.

Figure 58 shows an example of the combination type sterilizing charging system 2650 being configured to (PCC) power 2652, should (PCC) power has integral part of battery charger 2660 in it.Alternating current (AC) source 2666 be located at disinfection room 2654 it Outward, and by the AC cable 2656 that the wall 2658 through disinfection room 2654 is installed couple battery charger 2660.AC cable 2656 The wall 2658 of surrounding is sealed.The operation of battery charger 2660 is similar to the battery charger 2610 shown in Figure 57.One In the case of a little, battery charger 2660 receives the feedback from sensor 2662, and this sensor is located in disinfection room 2654 and leads to Cross cable 2664 and be connected to battery charger 2660.

In all cases, surgery system may include magnet and sensor.Combined, magnet and sensor can coordinate detection The presence in the end effector of surgical instruments of the various situations of fastener cartridge, such as fastener cartridge, it is loaded in end execution The cock of the fastener cartridge of the type of the fastener cartridge in device and/or loading.Referring now to Figure 62, end effector 900, Jaw 902 may include such as magnet 910, and fastener cartridge 920 may include such as sensor 930.In all cases, magnetic Body 910 can be positioned at the distal end 906 of elongated passageway 904 being sized and configured to receive fastener cartridge 920.Additionally, Sensor 930 can be at least partially embedded or be maintained at such as fastener cartridge 920 the distal end 926 of nose 924 in.Each In the case of kind, sensor 924 can carry out signal communication with the microcontroller of surgical instruments.

In all cases, when fastener cartridge 920 is positioned in the elongated passageway 904 of jaw 902, sensor 930 Can detect that magnet 910 whether there is.Sensor 930 can detect that for example fastener cartridge 920 is irrelevantly positioned at elongated passageway In 904 and/or without situation about being downloaded in elongated passageway 904, and storehouse loading condition can be sent to the micro- of such as surgery system Controller.In some cases, magnet 910 can be positioned in such as fastener cartridge 920, and sensor 930 can be positioned on example In end effector 900.In all cases, sensor 930 can detect the fastener cartridge being loaded in end effector 900 920 type.For example, different types of fastener cartridge can have different magnetic arrangement, such as with respect to warehouse or other storehouses The different layout of part, different polarity and/or different magnetic field intensities.In such cases, sensor 930 can be according to detection To field signal detection be positioned at the type in storehouse in jaw 902, such as storehouse length, the number of securing member and/or securing member Highly.In addition or alternatively, sensor 930 can detect whether fastener cartridge 920 rightly rests upon in end effector 900 In.For example, end effector 900 and fastener cartridge 920 may include multiple magnets and/or multiple sensor, and in some feelings Under condition, one or more sensors can for example detect tight according to multiple magnets with respect to the position of one or more of sensors Whether firmware storehouse 920 is oriented properly and/or aligns.

Referring now to Figure 63, in some cases, end effector 3000 may include multiple magnets and multiple sensor.Example As jaw 3002 may include the multiple magnets 3010,3012 being positioned at its distal end 3006.Additionally, fastener cartridge 3020 May include the multiple sensors 3030,3032 being for example positioned at the distal end 3026 of nose 3024.In some cases, pass Sensor 3030,3032 can detect and whether there is fastener cartridge 3020 in the elongated passageway 3004 of jaw 3002.In all cases, Sensor 3030,3032 may include such as hall effect sensor.Various sensors are entitled September in 2008 submission on the 23rd It is described in the United States Patent (USP) 8,210,411 of " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT ".Submit to In the United States Patent (USP) 8 of in September, 2008 entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " of 23 days, 210,411 are incorporated by reference in its entirety herein accordingly.In addition adding one or more sensors can for example provide bigger width Band signal, this can provide other and/or improvement information for the microcontroller of surgical instruments.In addition or alternatively, separately Outer sensor can determine that for example whether fastener cartridge 3020 rightly rests upon in the elongated passageway of jaw 3002.

In all cases, magnet can be positioned on the moveable element of fastener cartridge.For example, magnet can be positioned on fastening On the part of motion during firing schedule in part storehouse.In such cases, the sensor in end effector can detect fastening The cock in part storehouse.For example, referring now to Figure 64, magnet 3130 can be positioned on the sliding part 3122 of fastener cartridge 3120. Additionally, sensor 1110 can be positioned in the jaw 3102 of end effector 3100.In all cases, sliding part 3122 can be Translate during firing schedule.Additionally, in some cases, sliding part 3120 is positively retained at fastener cartridge after firing schedule At 3120 distal end.In other words, after storehouse is by percussion, sliding part 3120 is positively retained at the remote of fastener cartridge 3120 At side end.Therefore, sensor 3110 can detect magnet 3130 and the position of corresponding sliding part 3120, to determine fastener cartridge Whether 3120 be in cock.For example, when sensor 3110 detects magnet 3130 in proximal position, fastener cartridge 3120 can For for example not firing and preparing percussion, and when sensor 3110 detects magnet 3130 in distal position, fastener cartridge 3120 can for example exhaust.Referring now to Figure 65, in all cases, the jaw 3202 of end effector 3200 may include Multiple sensors 3210,3212.For example, proximal sensor 3212 can be positioned in the portions of proximal of jaw 3202, and distally passes Sensor 3210 for example can be positioned in the distal part of jaw 3202.In such cases, for example when sliding part 3122 is in percussion When moving during stroke, sensor 3210,3212 can detect the position of sliding part 3122.In all cases, sensor 3210, 3212 may include such as hall effect sensor.

In addition or alternatively, end effector may include multiple electric contact pieces, and these electric contact pieces can detect fastening Whether part storehouse whether there is and/or be in cock.Referring now to Figure 66, end effector 3300 may include jaw 3302, this jaw limits the passage 3304 being configured to receive fastener cartridge 3320.In all cases, jaw 3302 He Fastener cartridge 3320 may include electric contact piece.For example, elongated passageway 3304 can limit lower surface 3306, and electric contact piece 3310 can be positioned in lower surface 3306.In all cases, multiple electric contact pieces 3310 can be limited to elongated passageway 3304 In.Electric contact piece 3310 can form a part for cock circuit 3340, and this circuit can be entered with the microcontroller of surgery system Row signal communication.For example, electric contact piece 3310 may be electrically coupled to power source and/or with power sources traffic, and can be formed and for example open The electroactive end of formula circuit.In some cases, can be one of electric contact piece 3310 power supply so that voltage potential is in electricity Formed in the middle of contact 3310.In some cases, one of these contacts can be connected to such as microprocessor output lead to Road, voltage potential can be applied to this contact by it.Another contact can be connected to the input channel of such as microprocessor.In some feelings Under condition, electric contact piece 3310 can be insulated with the framework 3306 of jaw 3302.Referring also to Figure 66, fastener cartridge 3320 may also comprise example As electric contact piece 3330 or multiple electric contact piece.In all cases, electric contact piece 3330 can be positioned on fastener cartridge 3320 In moveable element.For example, electric contact piece 3330 can be positioned on the sliding part 3322 of fastener cartridge 3320, therefore, electrical contact Part 3330 can move during firing schedule in fastener cartridge 3320.

In all cases, electric contact piece 3330 may include the metallic rod on such as sliding part 3320 or plate.Fastener cartridge Electric contact piece 3330 in 3320 can be coordinated with such as one or more of end effector 3300 electric contact piece 3310.At certain In the case of a little, when in ad-hoc location or position range that sliding part 3322 is positioned in fastener cartridge 3320, electric contact piece 3330 can contact one or more of electric contact pieces 3310.For example, when sliding part 3322 does not fire and is therefore positioned at fastening When in the proximal position in part storehouse 3320, electric contact piece 3330 can contact electric contact piece 3310.In such cases, electric contact piece 3330 can close the circuit between such as electric contact piece 3310.Additionally, cock circuit 3340 can by closed circuit (i.e., not The storehouse of percussion) indicate the microcontroller being sent to surgery system.In such cases, when sliding part 3322 is during firing schedule Towards distally fire when, electric contact piece 3330 can for example depart from the electrical contact with electric contact piece 3310.Therefore, cock circuit 3340 microcontrollers that open circuit (that is, storehouse of percussion) instruction can be sent to surgery system.In some cases, microcontroller Device only causes firing schedule when such as cock circuit 3340 indicates unspent storehouse.In all cases, electric contact piece 3330 may include dynamo-electric fuse.In such cases, fuse can be for example when sliding part 3322 fires through firing schedule Disconnect or short circuit.

In addition or alternatively, referring now to Figure 67, end effector 3400 may include jaw 3402 and storehouse has electricity Road 3440.In all cases, jaw 3402 for example may include electric contact piece 3410 or multiple electricity in its elongated passageway 3404 Contact 3410.In addition, fastener cartridge 3420 can include electric contact piece 3430 or multiple on the outer surface of fastener cartridge 3420 Electric contact piece 3430.In all cases, electric contact piece 3430 can position and/or be installed on the fixation of such as fastener cartridge 3420 Or on stationary parts.In all cases, the electric contact piece 3430 of fastener cartridge 3420 can for example load in fastener cartridge 3420 The electric contact piece 3410 of end effector 3400 is contacted during in elongated passageway 3404.Elongated being placed on fastener cartridge 3420 Before in passage 3404, it can be such as open circuit that storehouse has circuit 3440.When fastener cartridge 3420 rightly rests upon in jaw When in 3402, there is circuit 3440 in the storehouse that electric contact piece 3410 and 3430 can form closure.In jaw 3402 and/or fastener cartridge In the case that 3420 include multiple electric contact pieces 3410,3430, there is circuit 3440 and may include multiple circuit in storehouse.Additionally, at certain In the case of a little, storehouse exist circuit 3440 can according to the such as number of fastener cartridge 3420 electrical contact member 3430 and/or arrangement with And there is the storehouse type that the corresponding open type of circuit 3440 and/or closed circuit identification are loaded in jaw 3402 in such as storehouse.

Additionally, the electric contact piece 3410 in jaw 3402 can carry out signal communication with the microcontroller of surgery system.Electricity connects Contact element 3410 may be connected to such as power source, and/or it is logical with microcontroller for example to pass through wiredly and/or wirelessly connection Letter.In all cases, storehouse exist circuit 3440 can by storehouse presence or absence of information transmission to surgery system microcontroller Device.In all cases, firing schedule for example can exist in circuit 3440 instruction end effector jaw 3402 in storehouse and exist tightly It is prevented from during firmware storehouse.Additionally, there is fastener cartridge 3420 when storehouse exists in circuit 3440 instruction end effector jaw 3402 When, firing schedule can be allowed to.

As the disclosure is described in the whole text, various sensors, program and circuit can detect and measure surgical instruments and/or its portion Multiple characteristics of part, surgery use or operation and/or tissue and/or operating position.For example, surgical instruments can detect tissue Thickness, the identification of device element, the use from surgical function and feedback data and mistake or indicating fault.In some situations Under, fastener cartridge may include Nonvolatile memery unit, and this unit can for example embed or be removably coupled to fastener cartridge. This Nonvolatile memery unit can be by hardware (all electric contact pieces as described herein), radio frequency or various other suitable shape The data transfer of formula to carry out signal communication with microcontroller.In this case, microcontroller can be by data and feedback transmission Nonvolatile memery unit in fastener cartridge, thus fastener cartridge can storage information.In all cases, information can quilt Safely store, and can will its access is limited to match in light of the circumstances and suitable.

In some cases, Nonvolatile memery unit may include with regard to fastener cartridge characteristic and/or itself and modularization The information of the compatibility of various other parts of surgery system.For example, when being loaded into fastener cartridge in end effector, non- Volatile memory-elements can provide compatibility information to the microcontroller of surgery system.In such cases, microcontroller can Confirm validity or the compatibility of modular assembly.For example, microcontroller can confirm that handle components can fire fastener cartridge, and And/or person's fastener cartridge mates properly into such as end effector.In some cases, microcontroller can be by compatibility or shortage Compatibility sends the operator of surgery system to, and/or can stop surgical function for example when modular member is incompatible.

As described herein, surgical instruments may include sensor, and this sensor can coordinate each of detection surgical instruments with magnet Plant characteristic, operation and operative site.In some cases, sensor may include hall effect sensor, and in other situations Under, sensor may include magnetoresistive transducer, such as shown in such as Figure 68 (A) -68 (C).As described herein, surgical end-effector May include the first jaw and the second jaw, the wherein first jaw is configured to receive fastener cartridge.First jaw and/or Fastener cartridge may include such as magnetic element (such as permanent magnet), and the second jaw may include such as magnetoresistive transducer.At it In the case of him, the first jaw and/or fastener cartridge may include such as magnetoresistive transducer, and the second jaw may include magnetic unit Part.Magnetoresistive transducer can have cited characteristic in the table of such as Figure 68 (C) and/or for example similar specification.In some situations Under, the resistance variations being caused with respect to the motion of magnetoresistive transducer by magnetic element can affect and/or change such as Figure 68 (B) Shown in magnetic circuit characteristic.

In all cases, magnetoresistive transducer can detect the position of magnetic element, and therefore can detect and be clamped in such as phase To the first and second jaws between tissue thickness.Magnetoresistive transducer can carry out signal communication with microcontroller, and magnetic resistance Data can be wirelessly transmitted to the antenna for example carrying out signal communication with microcontroller by sensor.In all cases, passive electrical Road may include magnetoresistive transducer.Additionally, antenna can be positioned in end effector, and can detect for example from magnetoresistive transducer And/or it is operably linked to the wireless signal of the microprocessor of this sensor.In such cases, can avoid for example including sky The electrical connection exposing between the end effector of line and the fastener cartridge for example including magnetoresistive transducer.Additionally, in various situations Under, antenna can carry out limited and/or radio communication with the microcontroller of surgical instruments.

Tissue can comprise fluid, and when tissue is compressed, fluid can be forced out from the tissue of compression.For example, work as tissue When being clamped between the opposed jaws of surgical end-effector, fluid is flowable and/or discharges from the tissue of clamping.Fluid May depend on various characteristics (thickness of such as tissue and/or type) and the example of tissue in the flowing clamping in organizing or discharge Various characteristics (the clamping time of all tissue compression as desired and/or process) as surgical operation.In all cases, end Fluid between the opposed jaws of actuator is discharged and the nail being formed between opposed jaws can be promoted to deform.For example, fluid exists Discharge during and/or after nail shapes can induce the motion that nail bends and/or other are uncontrolled, thus deviating from needed for it Or desired shaping.Therefore, in all cases it may be advantageous to based on relative pincers surgical end-effector is detected There is flow of fluid or do not have flow of fluid to control firing schedule in the middle of mouthful, for example, control percussion speed.

In all cases, clamp the fluid in tissue and discharge and can be measured and/or detectable tissue spy by various Property determine or estimate.For example, the fluid that tissue compression degree may correspond to clamp in tissue discharges degree.In all cases, Such as tissue compression degree is higher, can correspond to more flow of fluids, and such as tissue compression degree is lower, can correspond to fewer Flow of fluid.In all cases, the sensor being positioned in end effector jaw can detect and be applied to pincers by compression organization Power on mouth.In addition or alternatively, when advancing cutting element to pass through and during crosscutting clamping tissue, on cutting element or can The sensor being operatively connected with cutting element can detect the resistance on cutting element.In this case, the cutting detecting And/or percussion resistance may correspond to tissue compression degree.When tissue compression degree is high, for example, cutting element resistance can be larger, And when tissue compression low degree, for example, cutting element resistance can reduce.Accordingly, cutting element resistance may indicate that fluid Discharge rate.

In some cases, the fluid in clamping tissue is discharged and can be passed through to fire the power (i.e. percussion force) needed for cutting element Determine or estimate.Percussion force may correspond to such as cutting element resistance.Additionally, percussion force can be by electronic with drive cutting element Motor carries out the microcontroller measurement of signal communication or estimates.For example, in the case that cutting element resistance is higher, electro-motor Larger current can be needed to carry out drive cutting element and to pass through tissue.Similarly, if cutting element resistance is relatively low, electro-motor can need Want smaller current to carry out drive cutting element and pass through tissue.In such cases, by electricity during microcontroller can determine that firing schedule The magnitude of current that dynamic motor consumes.For example, microcontroller may include current sensor, and this sensor can detect for example to be cut for percussion Cut the electric current that element passes through tissue.

Referring now to Figure 60, surgical instrument assemblies or system are configured to detect the compression stress in clamping tissue. For example, in all cases, electro-motor can drive percussion element, and microcontroller can carry out signal with electro-motor and lead to Letter.When electrical motor driven percussion element, microcontroller can determine that the electric current for example being consumed by electro-motor.In this kind of situation Under, as described above, percussion force may correspond to the electric current being consumed in whole firing schedule by electro-motor.Referring also to Figure 60, Step 3501 place, whether the electric current that the microcontroller of surgical instruments is consumed by electro-motor during can determine that firing schedule increases, If increase, can calculating current increment percentage.

In all cases, the current drain increment during microcontroller may compare firing schedule and predefined threshold value.Example As predefined threshold value can be 5%, 10%, 25%, 50% and/or such as 100%, during microcontroller may compare firing schedule The current increment detecting and predefined threshold value.In other cases, threshold delta can be between the value between 5% and 100% Or value scope, and in other cases, threshold delta can e.g., less than 5% or be more than 100%.For example, if predefined threshold It is worth for 50%, then microcontroller may compare current drain change percentage and such as 50%.In some cases, microcontroller can Whether the electric current being consumed by electro-motor during determining firing schedule exceeds certain percentage of maximum current or baseline value.Example As microcontroller can determine that whether electric current exceeds 5%, 10%, 25%, 50% and/or the 100% of maximum motor current.At it In the case of him, microcontroller may compare the electric current being consumed by electro-motor during firing schedule and for example predefines baseline value.

In all cases, become by the electric current that electro-motor consumes during microcontroller can determine firing schedule using algorithm Change.For example, consumed in time interval not in the same time and/or by electro-motor during current sensor can detect firing schedule Electric current.Current sensor can continuously detect the electric current being consumed by electro-motor, and/or can intermittently detect by electronic horse Reach the electric current of consumption.In all cases, algorithm may compare up-to-date current indication and current indication for example immediately.Except this it Outward or alternatively, algorithm may compare the sample readout X in time period X and current indication before this.For example, algorithm may compare sample Sample readout in reading and time period X (time period X such as immediately) for example before this.In other cases, algorithm can be counted Calculate the current trend mean value being consumed by motor.The average current consuming during algorithm accountable time section X (includes for example up-to-date Current indication), and the comparable average current consuming and the average current consuming for example during time period X immediately.

Referring also to Figure 60, if microcontroller detects current increment and is more than changes of threshold or threshold value, microcontroller Device can advance to step 3503, and the percussion speed of percussion element can reduce.For example, microcontroller can be communicated with electro-motor to subtract The slow percussion speed firing element.For example, percussion speed can be reduced by predefined step-length unit and/or predefined percentage.? In the case of various, microcontroller may include rate control module, and this module can affect the change of cutting element speed, and/or Person can keep cutting element speed.Rate control module may include for example resistor, variable resistance, pulse-width modulation circuit and/ Or frequency adjustment circuit.Referring also to Figure 60, if current increment is less than threshold value, microcontroller can advance to step 3505, its The percussion speed of middle percussion element can for example be kept.In all cases, microcontroller can continue to monitor and be disappeared by electro-motor The electric current of consumption and its change occurring during at least a portion of firing schedule.Additionally, microcontroller and/or its speeds control Module can adjust the percussion element speeds in whole firing schedule according to the current drain detecting.In such cases, root According to the approximate flow of fluid for example clamping in tissue or discharge control percussion speed can reduce follow closely clamping tissue in deformation general Rate.

Referring now to Figure 61, in all cases, microcontroller can by suspend percussion one section of time predefined of element Lai Adjustment percussion element speeds.For example, similar to embodiment shown in Figure 60, if microcontroller detects electricity at step 3511 Stream consumes beyond predefining threshold value, then microcontroller can advance to step 3513, and percussion element can be suspended.For example, if by Current increment measured by microcontroller exceeds threshold value, then microcontroller can suspend the motion of percussion element and/or translate one second Clock.In other cases, firing schedule can be suspended for example less than one second and/or more than one second.It is similar to process described above, If current drain increment is less than threshold value, microcontroller can advance to step 3515, and percussion element can move on through hitting Issue journey and the speed of percussion element need not be adjusted.In some cases, microcontroller is configured in firing schedule Period is suspended and slows down percussion element.For example, for the first increment of current drain, percussion element can be suspended, and for electric current The the second different increments consuming, can reduce the speed of percussion element.In other cases, if current drain is reduced to such as threshold Under value, then microcontroller can order raising percussion element speeds.

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

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

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

It is published in September, 2008 entitled " the MOTOR-DRIVEN SURGICAL CUTTING AND of 9 days 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 "；

The United States Patent (USP) Shen of entitled " SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES " Please sequence number 11/343,803；

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The U.S. Patent Application Serial Number of entitled " MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT " 12/235,782 (now for United States Patent (USP) 8,210,411)；

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According to various embodiments, surgical instruments as herein described may include and is connected to the one or more of various sensors Processor (for example, microprocessor, microcontroller).Additionally, storage (there is operation logic) and communication interface with one or more Processor is coupled to each other.

Processor is configured to execute operation logic.Processor can be multiple monokaryons or many as known in the art Any one of core processor.Storage device may include and is configured to store forever copying with interim (work) of operation logic The volatibility of shellfish and non-volatile memory medium.

In various embodiments, operation logic is configured to process the collected exercise data phase with user The biometric data of association, as mentioned above.In various embodiments, operation logic can be configured to execute initial place Reason, and transfer data to the computer of managed application to determine and to produce instruction.For these embodiments, operation is patrolled Collect and can be further constructed to from trustship computer receive information and feedback can be provided it.In alternative embodiment, Operation logic can be configured to play the part of prior role in receive information and determination feedback.In any one situation Under, either its independently determined instruction being also in response to from trustship computer, operation logic can be further constructed to Feedback can be controlled and provide feedback to user.

In various embodiments, operation logic can be come in fact by the instruction that the instruction set architecture (ISA) of processor is supported Apply, or to be implemented with higher level language, and be compiled into supported ISA.Operation logic may include one or more logics Unit or module.Operation logic can be implemented in OO mode.Operation logic can be configured to multitask Mode and/or multithreading are executing.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 ancillary equipment and computing system Communication.This communication be may include the collected biometric data being associated with position, posture and/or user's body part Exercise data be sent to trustship computer, and the data being associated with touch feedback be sent to periphery from master computer set Standby.In various embodiments, communication interface can be wired or wireless communication interface.The example of wired communication interface may include but not It is limited to USB (USB) interface.The example of wireless communication interface may include but be not limited to blue tooth interface.

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

Various embodiments can herein be described in the general background of computer executable instructions, described computer Executable instruction such as software, program module and/or just by the engine of computing device.In general, software, program module, And/or engine includes being arranged to any software element executing specific operation or realizing particular abstract data type.Software, journey Sequence module and/or engine may include execution particular task or the routine realizing particular abstract data type, program, object, portion Part, data structure etc..Being embodied as of software, program module and/or engine components and technology is storable in some form of meter Transmit on calculation machine computer-readable recording medium and/or by some form of computer-readable medium.Thus, computer-readable is situated between Matter can be any usable medium that can be used for storage information and can be accessed by computing device.Some embodiments can also be in distribution Put into practice in formula computing environment, in described DCE, operation is by one or more remote by communication network links Journey processing equipment executes.In a distributed computing environment, software, program module and/or engine can be located at including memory storage Equipment is in interior local and remote computer-readable storage medium.Can using memory (such as random access memory (RAM) or its His dynamic storage device) carry out storage information and treat by the instruction of computing device.Memory can be additionally used in execution treat by Storage temporary variable or other average informations during the instruction of reason device execution.

Although some embodiments can be illustrated and described as various including functional part, software, engine and/or execution The module of operation but it is to be understood that this base part or module can by one or more hardware componenies, software part and/or Combinations thereof is realized.Functional part, software, engine and/or module can be treated (for example, to be processed by logical device by (such as) Device) logic (for example, instruction, data and/or code) that executes realizes.This logic is storable in positioned at one or more class Inside or outside logical device on the computer-readable recording medium of type.In other embodiments, functional part such as software, Engine and/or module can be realized by hardware element, and described hardware element may include processor, microprocessor, circuit, circuit elements Part (for example, transistor, resistor, capacitor, inductor etc.), integrated circuit, special IC (ASIC), FPGA Equipment (PLD), digital signal processor (DSP), field programmable gate array (FPGA), gate, register, semiconductor set Standby, chip, microchip, chipset, etc..

The example of software, engine and/or module may include software part, program, application, computer program, application journey Sequence, system program, machine program, operating system software, middleware, firmware, software module, routine, subroutine, function, method, Process, software junction surface, application program junction surface (API), instruction set, calculation code, computer code, code snippet, calculating Machine code snippet, word, value, symbol or any combination of them.Determine embodiment whether using hardware element and/or software unit Part realizing to be changed 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 herein described may include and is embodied as firmware, software, hardware or their any group The one or more built-in application programs closing.One or more of module as herein described may include various executable moulds Block, software, program, data, driver, application programming interfaces (API) etc..Firmware be storable in controller 2016 and/or In the memory that may include nonvolatile memory (NVM) of controller 2022, such as bit mask read-only storage (ROM) or sudden strain of a muscle In fast memory.In various being embodied as, firmware is stored in ROM and can protect flash memory.Nonvolatile memory (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 achieve as article of manufacture.Described article of manufacture can include being arranged to Store the computer-readable storage medium of the logic, instruction and/or data of various operations for executing one or more embodiments Matter.In various embodiments, for example, described product may include disk, CD, flash memories or firmware, and these products all contain Have and be suitable to by the computer program instructions of general processor or application specific processor execution.However, embodiment is not limited to that.

Work(in conjunction with the various functions element of presently disclosed embodiment description, logical block, module and component Can implement in the general environment of computer executable instructions, the software that such as executed by processing unit, control module, patrol Collect and/or logic module.In general, software, control module, logic and/or logic module include being arranged to executing specific Any software element of operation.Software, control module, logic and/or logic module may include execution particular task or implement special Determine the routine of abstract data type, program, object, part, data structure etc..Software, control module, logic and/or logic mould Being embodied as being storable on some form of computer-readable medium and/or pass through some form of meter of block and technology Calculation machine computer-readable recording medium transmits.Thus, computer-readable medium can be can be used for storage information and can be visited by computing device Any usable medium asked.Some embodiments can also be put into practice in a distributed computing environment, in described DCE In, operation is by by one or more remote processing devices execution of communication network links.In a distributed computing environment, soft Part, control module, logic and/or logic module can be located at the local and remote computer including memory storage device In storage medium.

Moreover, it will be appreciated that embodiment as herein described illustrate exemplary be embodied as, and functional element, patrol Collect block, module can the various other modes consistent with described embodiment be implemented with component.Additionally, by this class function Property element, the operation of logical block, module and component execution can be combined and/or separate and be embodied as given, and And can be executed by greater number or lesser amount of part or module.As those skilled in the art institute upon reading this disclosure It will be apparent that each in separate embodiments described and illustrated herein has discrete parts and feature, without departing substantially from this public affairs On the premise of the scope opened, character separation or group that described part and feature can easily with any aspect in some other aspects Close.Any methods described can be executed by the order of described event or by any other logically possible order.

It should be noted that any to " embodiment " or " embodiment " refer to all mean in conjunction with the embodiments described Special characteristic, structure or characteristic are included at least one embodiment.The phrase occurring 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 " process ", " computing ", " calculating ", " determination " etc. are The action of finger computer or computing system or similar computing electronics and/or process, described computing electronics are such as general Processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or it Any combinations, it is designed to execute function as herein described, and it manipulates the thing being expressed as in register and/or memory The data of reason amount (for example, electronics) and/or convert thereof into and be similarly expressed as memory, register or other such letters Other data of physical quantity in breath storage device, conveyer or display device.

It should be noted that some embodiments can be retouched using expression " connection " and " connection " and their derivative words State.Being not intended to these terms is synonym for each other.For example, some embodiments can be next using term " connection " and/or " connection " Description, to represent that two or more elements are in direct physical contact with each other or make electrical contact with.However, term " connection " can also refer to two Individual or more elements are not directly contacts each other, but are fitted to each other or interact.For software element, for example, art Language " connection " can refer to interface, message interface, application programming interfaces (API), exchange message etc..

It should be appreciated that the described any patent being incorporated herein by reference, publication or other open materials, no By being full text or part, the definition being only given in the material being incorporated to the disclosure, statement or other open materials are not rushed It is expressly incorporated herein in prominent scope.Therefore, and under necessary degree, the disclosure being expressly recited herein replaces with the side of quoting Any conflict material that formula is expressly incorporated herein.Any it is said that be herein incorporated by reference but with existing definition as herein described, old State or other afoul any material of open material or part thereof, only between the material being incorporated to and existing open material It is expressly incorporated herein under the degree not producing conflict.

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

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

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

It will be recognized by those skilled in the art, elements illustrated herein (for example, operate), device, object and they with Attached discussion is to be used as example for the sake of clear concept, and it is contemplated that multiple configuration modification.Therefore, as herein Used, the specific example of elaboration and the discussion enclosed are intended to represent their more generally classifications.Generally, the making of any specific example With being intended to represent its classification, and concrete part (for example, operating), device and not including of object partly should not take restriction.

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

Theme as herein described elaborates the different parts being included in other different parts or portion different from other sometimes The different parts that part connects.It should be appreciated that the framework of such description is only example, and in fact can implement to realize obtaining phase Other frameworks of the many of congenerous.On conceptual sense, any arrangement obtaining the part of same functionality all has Effect " associated ", thus obtain required feature.Therefore, be combined together for obtaining particular functionality herein appoints What two assembly all can be considered " to be associated " each other, thus obtaining required feature, regardless of whether structure or intermediate module are such as What.Equally, so associated any two part also can be considered " to be operably connected " each other or " being operatively coupled ", To obtain required feature, and any two part that can be so associated all can be considered " operationally to join each other Connect ", to obtain required feature.The specific example being operatively coupled including but not limited to can Physical Match and/or thing Reason interactive feature, and/or can wireless interaction and/or wireless interactive part, and/or can logic interaction and/or logic Interactive feature.

Some aspects can be described using expression " connection " and " connection " and their derivative words.It should be appreciated that simultaneously Being not meant to term is synonym for each other.For example, some aspects can using term " connection " describing, with represent two or More elements are in direct physical contact with each other or make electrical contact with.In another example, some aspects can be come using term " connection " Description, to represent two or more element direct physical contacts or electrical contact.However, term " connection " can also refer to two or More elements are not directly contacts each other, but are fitted to each other or interact.

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

Although having shown that and describe the particular aspects of invention as described herein theme, the technology to this area Personnel are evident that, based on teaching herein, can make in the case of without departing from theme as herein described change and Modification, and as in the true scope of theme as herein described, its broader aspect therefore claims are by institute Such change is had to include in the range of it with modification.It will be understood by those of skill in the art that in general, herein particularly with Term used in attached claim (for example, the text of appended claims) is typically aimed at as open to the outside world term (for example, art Language " inclusion " should be interpreted that " including but not limited to ", and term " having " should be interpreted that " at least having ", term "comprising" should be explained For " including but not limited to " etc.).Those skilled in the art is also understood that when the specific number of introduced claim narration For expected when, then such intention will clearly describe in the claims, and do not exist such narration in the case of, There is not such intention.For example, for helping understand, following appended claims can contain to introductory phrase " at least one " " one or more " using introduce claim narration.However, it is logical that the use of such phrase is not construed as with hint Cross indefinite article " one " or " a kind of " introducing claim narration will introduce any specific of claim narration containing such Claim is limited in the claim containing the such narration of only one, in addition when same claim include introductory short (for example, " one " and/or " a kind of " generally should solve for language " one or more " or " at least one " and such as " one " or " a kind of " Be interpreted as meaning " at least one " or " one or more ") indefinite article when；This is also applied for chatting to for introducing claim The use of the definite article stated.

Even if in addition, when clearly describing the given number introducing claim narration, those skilled in the art should Recognize, this narration generally should be construed as meaning that the number at least being described (for example, is not having the situation of other modifiers Under, the naked narration to " two narrations " generally means that at least two narrations or two or more narrations).Additionally, making wherein With in the case of the convention similar to " at least one of A, B and C etc. " it is however generally that, this structure is intended to there is this The technical staff in field will be understood that the meaning of described convention (for example, " has the system of at least one of A, B and C " will include But be not limited to have only A, only B, only C, A together with B, together with A with C, together with B with C and/or A, B are together with C etc. system).? Wherein use similar in the case of the convention of " at least one of A, B or C etc. " it is however generally that, this structure is intended to Have it should be appreciated by those skilled in the art that the meaning of described convention (for example, " has the system of at least one of A, B or C " Including but not limited to had only A, only B, only C, A together with B, together with A with C, together with B with C and/or A, B are together with C etc. is System).Those skilled in the art is also understood that generally, unless the context indicates otherwise, otherwise no matter in specific embodiment party Assume the turning word of two or more alternative terms in formula, claim or accompanying drawing and/or phrase is interpreted as covering Possibility including any one of one of described term, described term or this two terms.For example, phrase " A or B " leads to Often will be understood to comprise " A " or the possibility of " B " or " A and B ".

For appended claim, it will be appreciated by those skilled in the art that the operation wherein listed generally can be appointed What is sequentially carried out.Although in addition, multiple operating processes are listed with certain order, it is to be understood that, can be differently configured from shown suitable Other of sequence sequentially carry out described multiple operation, or can carry out described multiple operation simultaneously.Unless the context requires otherwise, Otherwise such example substituting sequence may include overlap, staggered, interruption, rearrangement, increment, preparation, supplement, simultaneously, reversely, Or the sequence of other changes.Additionally, unless the context requires otherwise, otherwise as " in response to ", " related " term 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 the many beneficial effects being produced using concept as herein described.In order to illustrate and The purpose of description, there has been provided the described above of one or more embodiments.Described explanation be not intended to as in detail or It is limited to precise forms disclosed in this invention.The present invention can be modified or modification according to above-mentioned teachings.Selected The one or more embodiments selected and describe are to illustrate the principle of the present invention and practical use, thus allowing this area Those of ordinary skill can utilize multiple embodiments, and carries out various repairing in the case of the concrete application of suitable imagination Change.It is intended to limit four corner with claims that this together submits to.

Claims

1. a kind of surgical instruments, including：

Shell；

The interchangeable shaft assembly of described shell can be removably coupled to, described interchangeable shaft assembly includes thering is following part End effector：

First end actuator part, described first end actuator part is operationally responsive to be applied to its first driving Action；With

The second end actuator part, described the second end actuator part is operationally responsive to be applied to its second driving Action, and wherein said surgical instruments also includes：

The first drive system being operably supported by described shell, described first drive system can be from the first unactuated position Move to the second actuated position, described first drive system is configured to be in described second in described first drive system During actuated position, described first drive actions are applied to the described interchangeable shaft assembly being operably linked to described shell；

The second drive system being operably supported by described shell, described second drive system being capable of never firing position motion To firing position, described second drive system is configured to when described second drive system is in described firing position will Described second drive actions are applied to described interchangeable shaft assembly；And

Latch system, described latch system be used for for described interchangeable shaft assembly being removably coupled to described shell so that When described first drive system is in described first unactuated position, described interchangeable shaft assembly can depart from from described shell, And when described first drive system is in described second actuated position, described latch system prevents described interchangeable shaft assembly Depart from from described shell.

2. surgical instruments according to claim 1, wherein, described interchangeable shaft assembly also include being configured to described The substructure member that shell removedly engages, and wherein said latch system includes locking component, and described locking component can Optionally move between locked and unlocked positions so that when being in described latched position, described locking component is protected Hold and described substructure member is connected to described shell, and when described locking component is in described unlocked position, described base Can depart from from described shell.

3. surgical instruments according to claim 2, wherein, described interchangeable shaft assembly also includes：

First shaft assembly, described first shaft assembly is configured to operationally to be transferred to described first drive actions described First end actuator part；With

First axle yoke, described first axle yoke is operably supported described first shaft assembly and is configured to be releasably engaged to The corresponding part of described first drive system, described first axle yoke is configured to be in described first drive system described Prevent described locking component from moving to described unlocked position during the second actuated position.

4. surgical instruments according to claim 3, wherein, described end effector includes being configured to wherein may be used It is operatively supported the passage of surgery nail bin, and wherein said Part I includes movingly being propped up with respect to described passage The anvil block of support, described anvil block can in response to be applied to its described first drive actions and with respect to described passage in open position Put motion and closing position between.

5. surgical instruments according to claim 4, wherein, described first drive system includes closing connector, described closes Close connector be supported in response to be applied to its actuation motion and in described inside the shell axially-movable, described closure connector It is configured to removedly engage with described first axle yoke.

6. surgical instruments according to claim 5, wherein, described first drive system also includes closure trigger, described Closure trigger is movingly supported for optionally not activating trigger position and activating trigger position by described shell Between advance, described closure trigger is operably linked to described closure connector.

7. surgical instruments according to claim 2, wherein, described shell limits longitudinal axis axis, and wherein said bottom Seat can be engaged along the mounting axis perpendicular to described longitudinal axis axis with described shell.

8. surgical instruments according to claim 7, wherein, described base includes at least one tapered attachment part, described At least one tapered attachment part is configured to be slidably received in the corresponding swallow-tail form slit in described shell In.

9. surgical instruments according to claim 1, wherein, described shell includes shank.

10. surgical instruments according to claim 4, wherein, described the second end actuator part includes knife bar, described knife Bar is supported in the described surgery nail bin in being supported in described passage axially advancing.

A kind of 11. surgery cuts and fastening instrument, including：

Shell；

Passage, described passage is configured to be operably supported wherein surgery nail bin；

Anvil block, described anvil block is movingly supported with respect to described passage and can be with respect to described passage in open position Move and closing position between；With

Knife bar, described knife bar be supported in response to be applied to its firing action and in the surgical staples being supported in described passage Axially advance in storehouse, and wherein said surgical instruments also includes：

The closed-system being operably supported by described shell, described closed-system can move to from the first unactuated position Two actuated positions, described closed-system is configured to when described closed-system is in described first actuated position pass through institute State interchangeable shaft assembly and the first closed action is applied to described anvil block；

Trigger system is driven by the motor that described shell is operably supported, described motor drives trigger system can never fire Position moves to firing position, and described motor drives trigger system to be configured to drive trigger system to be in described motor During described firing position, described firing action is applied to by described knife bar by described interchangeable shaft assembly；With

Latch system, described latch system be used for for described interchangeable shaft assembly being removably coupled to described shell so that When described closed-system is in described first unactuated position, described interchangeable shaft assembly can depart from from described shell, and When described closed-system is in described second actuated position and described anvil block closure, described latch system prevents described interchangeable Shaft assembly is departed from described shell.

12. surgery cuts according to claim 11 and fastening instrument, wherein, described interchangeable shaft assembly is also included by structure Make the substructure member for removedly engaging with described shell, and wherein said latch system includes locking component, described Locking component can optionally move so that when being in described latched position between locked and unlocked positions, institute State locking component to keep for described substructure member being connected to described shell, and be in described unlocked position in described locking component When, described base can depart from from described shell.

13. surgery cuts according to claim 12 and fastening instrument, wherein, described interchangeable shaft assembly also includes：

Closure pipe, described closure pipe includes being configured to described closed action is applied to the distal end portion of described anvil block Point；With

Closure spindle moving part, described closure spindle moving part is movingly supported by described base and is operably supported described closure pipe Proximal end, described closure spindle moving part is configured to be releasably engaged to the corresponding part of described closed-system, described closes Close spindle moving part to be configured to when described closed-system is in described second actuated position prevent described locking component motion To described unlocked position.

14. surgery cuts according to claim 11 and fastening instrument, wherein, described closed-system also includes closure triggering Device, described closure trigger is movingly supported for optionally not activating trigger position and activating tactile by described shell Send out and advance between position, and the described corresponding part of wherein said closed-system includes being operably linked to described closure and touches Send out the closure connector of device.

15. surgery cuts according to claim 12 and fastening instrument, wherein, it is tapered attached that described base includes at least one Socket part is divided, and at least one tapered attachment part described is configured to be slidably received in the correspondence in described shell In swallow-tail form slit.

16. surgery cuts according to claim 11 and fastening instrument, wherein, described shell includes shank.

17. surgery cuts according to claim 12 and fastening instrument, wherein, described shell limits longitudinal axis axis, and And wherein said base removedly can be engaged along the mounting axis perpendicular to described longitudinal axis axis with described shell.

18. surgery cuts according to claim 11 and fastening instrument, wherein, described motor drives trigger system described Closed-system is in and can not activate during described first unactuated position.

A kind of 19. surgical instruments, including：

Shell；

The second motor-driven system being operably supported by described shell, described second motor-driven system can never fire Position moves to firing position, and described second motor-driven system is configured to be in described second motor-driven system During described firing position, described second drive actions are applied to described interchangeable shaft assembly；With

For described interchangeable shaft assembly being removably coupled to the device of described shell so that in described first drive system When being in described first unactuated position, described interchangeable shaft assembly can depart from from described shell, and in the described first drive When dynamic system is in described second actuated position, the described device for removedly coupling prevent described interchangeable shaft assembly with Described shell departs from.

20. surgical instruments according to claim 19, wherein, described shell includes shank.