CN107920820A - The surgical end-effector of jaw closure feature structure with double cam actuating - Google Patents

Abstract

The invention discloses a kind of surgical instruments including Slender axles assembly, the Slender axles assembly limits axis axis.End effector mounting assembly can be movably coupled to the Slender axles assembly with around joint motions axis the making choice property joint motions transverse to the axis axis.First jaw and the second jaw can be movably coupled to the end effector mounting assembly so that first jaw and the second jaw can each move between the open position and the closed position with the axis axis around common pivot axis relative to each other.First jaw and the second jaw can be closed when applying closed action at the same time to it with different closure speed.

Description

The surgical end-effector of jaw closure feature structure with double cam actuating

Background technology

The present invention relates to surgical instruments, and in various embodiments, be related to surgical stapling and cutting device and with Its nail bin being used together.

Suture instruments may include the elongated nip component of a pair of of collaborative work, wherein each jaw member is adapted for insertion into patient Position in vivo and relative to be stapled and/or incision tissue.In various embodiments, one of jaw member can prop up Support wherein accommodates the nail bins of at least two staples laterally separated, and another jaw member can support and have and nail bin In staple alignment nail shapes pit anvil block.In general, suture instruments may also include push rod and blade, the push rod and knife Piece can be slided relative to jaw member with via on the cam face on push rod and/or the wedge-shaped slides by push rod promotion Cam face will be followed closely and projected successively from nail bin.In at least one embodiment, cam face is configured to start By storehouse carrying and the multiple staple drivers associated with nail, to promote nail to be resisted against on anvil block and to be held on jaw member Between tissue in form laterally spaced deformation staple.In at least one embodiment, blade can follow cam face simultaneously And cut tissue along the route between staple.

The current each aspect of correlation technique in the field of the invention only for the purpose of illustration discussed above, without should It is considered as the negative to right.

Brief description of the drawings

The various features structure and its advantage of the embodiment described herein can with reference to drawings described below according to be described below come Understood：

Fig. 1 is surgical instruments and the perspective view of Slender axles assembly embodiment；

Fig. 2 is the shank of surgical instruments or the decomposition component view of casing part of Fig. 1；

Fig. 3 is the decomposition component view of a part for Slender axles assembly；

Fig. 4 is another decomposition component view of another part of the Slender axles assembly of Fig. 3；

Fig. 5 is surgical end-effector embodiment and closes the decomposition component view of a part for casing embodiment；

The surgical end-effector and the partial sectional view of a part for closure casing construction that Fig. 6 is Fig. 5；

The surgical end-effector and the perspective view of closure casing construction that Fig. 7 is Fig. 5 and Fig. 6, its anvil block are in open position Put or configuration；

The surgical end-effector and another perspective view of closure casing construction that Fig. 8 is Fig. 5 to Fig. 7, its anvil block are in and close Close position or configuration；

Fig. 9 is the perspective view of surgical end-effector and Slender axles assembly embodiment, wherein eliminating for clarity Its some；

The surgical end-effector and the top view of the part of Slender axles assembly embodiment that Figure 10 is Fig. 9, its Chinese and foreign department End effector is in articulated position or configuration；

The surgical end-effector and the exploded group of the part of Slender axles assembly embodiment that Figure 11 is Fig. 9 and Figure 10 Part view；

The surgical end-effector and the top view of the part of Slender axles assembly that Figure 12 is Fig. 9 to Figure 11；

The surgical end-effector and the perspective view of the part of Slender axles assembly embodiment that Figure 13 is Fig. 9 to Figure 12, its Chinese and foreign department end effector is in articulated position or configuration；

The surgical end-effector and the top view of the part of Slender axles assembly embodiment that Figure 14 is Fig. 9 to Figure 13, its Chinese and foreign department end effector is in joint motions configuration, and for clarity, wherein some components are shown with section；

Figure 15 is the perspective view of a part for another Slender axles assembly embodiment；

Figure 16 be Figure 15 Slender axles assembly embodiment another perspective view, for the sake of clarity eliminate closed tube and Close collar tube sub-assembly；

Figure 17 is the top view of the part of the Slender axles assembly embodiment of Figure 15 and Figure 16；

Figure 18 is the sectional side view of the Slender axles assembly embodiment of Figure 15 to Figure 17, and wherein surgery nail bin is installed on outer In section's end effector portion；

Figure 19 is another sectional side view of the Slender axles assembly of Figure 15 to Figure 18, and wherein surgery nail bin is installed on surgery end In portion actuator part；

The surgical end-effector and the top view of the part of Slender axles assembly that Figure 20 is Figure 15 to Figure 19, its Chinese and foreign department end Portion's actuator is in articulated position or configuration；

Figure 20 A are another surgical end-effector and close the side view of a part for casing embodiment；

Figure 21 is the perspective view of another surgical end-effector and Slender axles assembly embodiment, wherein saving for clarity Its some is omited；

The surgical end-effector and the decomposition component view of the part of Slender axles assembly embodiment that Figure 22 is Figure 21；

The surgical end-effector and the top view of the part of Slender axles assembly embodiment that Figure 23 is Figure 21 and Figure 22；

The surgical end-effector and another top view of the part of Slender axles assembly embodiment that Figure 24 is Figure 21 to Figure 23 Figure, wherein omitted for the sake of clarity；

The surgical end-effector and another top view of the part of Slender axles assembly embodiment that Figure 25 is Figure 21 to Figure 24 Figure, wherein surgical end-effector is in articulated position or configuration；

Figure 26 is the decomposition diagram of a part for another Slender axles assembly embodiment；

Figure 27 is the decomposition component view of the part of another surgical end-effector and Slender axles assembly embodiment；

Figure 28 is the fragmentary, perspective view of a part for the Slender axles assembly embodiment of Figure 27, wherein omitting for clarity Its some；

Figure 29 is another fragmentary, perspective view of the part of the Slender axles assembly embodiment of Figure 27 and Figure 28, wherein to be clear For the sake of eliminate its some；

Figure 30 is another fragmentary, perspective view of the part of the Slender axles assembly embodiment of Figure 27 to Figure 29, wherein to be clear For the sake of eliminate its some；

The surgical end-effector and the top view of the part of Slender axles assembly embodiment that Figure 31 is Figure 27 to Figure 30, its In omitted for the sake of clarity；

The surgical end-effector and another top view of the part of Slender axles assembly embodiment that Figure 32 is Figure 27 to Figure 31 Figure, wherein omitted for the sake of clarity, and surgical end-effector is in articulated position or configuration；

The surgical end-effector and the side view of the part of Slender axles assembly embodiment that Figure 33 is Figure 27 to Figure 32, its In omitted for the sake of clarity；

The surgical end-effector and the perspective view of the part of Slender axles assembly embodiment that Figure 34 is Figure 27 to Figure 33, its In omitted for the sake of clarity；

The surgical end-effector and another part of the part of Slender axles assembly embodiment that Figure 35 is Figure 27 to Figure 34 Perspective view, wherein omitted for the sake of clarity；

Figure 36 is the decomposition group of the part of distal side percussion beam assembly embodiment and side load bearing carrier embodiment Part view；

Figure 37 is that the distal side of Figure 36 fires the perspective view of beam assembly and side load bearing carrier；

Figure 38 is the amplification view that the distal side of Figure 36 and Figure 37 fires the part of beam assembly and side load bearing carrier；

Figure 39 is that the distal side of Figure 36 to Figure 38 fires another sectional view of beam assembly and side load bearing carrier；

Figure 40 is attached to the side view of a part for the distal side percussion beam assembly embodiment of firing member embodiment；

Figure 41 is the top view that the distal side of Figure 40 fires a part for beam assembly embodiment and firing member embodiment；

Figure 42 is the sectional view that the distal side of Figure 40 and Figure 41 fires a part for beam assembly embodiment, passes through axle journal thereon Side load bearing carrier is connected with, and distal side percussion beam assembly embodiment is in deflected position or configuration；

Figure 43 is that the distal side of Figure 42 fires the perspective view of beam assembly embodiment and side load bearing carrier embodiment；

Figure 44 is the perspective view of the part of another surgical end-effector embodiment and Slender axles assembly embodiment, its In omitted for the sake of clarity, and surgical end-effector is in articulated position or configuration；

Figure 45 is the surgical end-effector embodiment of Figure 44 and the top view of Slender axles assembly embodiment；

Figure 46 be Figure 45 surgical end-effector embodiment and Slender axles assembly embodiment another top view, its The part of pivot connector is shown with section；

Figure 47 is the partial perspective of the part of another surgical end-effector embodiment and Slender axles assembly embodiment Figure, wherein omitted for the sake of clarity；

The surgical end-effector embodiment and the top view of the part of Slender axles assembly embodiment that Figure 48 is Figure 47, Wherein omitted for the sake of clarity；

Figure 49 is the surgical end-effector embodiment of Figure 48 and another top view of Slender axles assembly embodiment；

The surgical end-effector embodiment and the part of Slender axles assembly embodiment that Figure 50 is Figure 47 to Figure 49 Top perspective, wherein omitted for the sake of clarity, and surgical end-effector is in articulated position Or configuration；

The surgical end-effector embodiment and another top of the part of Slender axles assembly embodiment that Figure 51 is Figure 50 Portion's perspective view；

The surgical end-effector embodiment and the amplification of the part of Slender axles assembly embodiment that Figure 52 is Figure 51 are saturating View；

Figure 53 is the top view of the part of another surgical end-effector embodiment and Slender axles assembly embodiment, its In omitted for the sake of clarity, and show in non-articulated position or configuration and transported in joint Dynamic position or the surgical end-effector of configuration；

Figure 54 is the top view of a part for the Slender axles assembly embodiment of Figure 53, during wherein articulation system is in Between or non-articulated position or configuration, and for the sake of clarity the part of Slender axles assembly is removed；

Figure 55 is another top view of a part for the Slender axles assembly embodiment of Figure 54, wherein at articulation system In the first articulated position or configuration；

Figure 56 be Figure 54 and Figure 55 Slender axles assembly embodiment a part another top view, wherein joint motions System is in second joint movement position or configuration；

Figure 57 is for the other parts of the Slender axles assembly embodiment of Figure 53 to Figure 56 and in non-articulated position Or the fragmentary, perspective view of the part of the surgical end-effector embodiment of configuration, wherein eliminating its multiple portion for clarity Point；

Figure 58 is the surgical end-effector embodiment of Figure 57 and another partial perspective of Slender axles assembly embodiment Figure, wherein omitted for the sake of clarity；

Figure 59 is the top view of a part for another Slender axles assembly embodiment, wherein it is more to eliminate it for clarity A part；

Figure 60 is the top view of the part of another articulation system embodiment in middle or non-articulated position Figure；

Figure 61 is the top view of the driver joint motions disk embodiment of the articulation system of Figure 60；

Figure 62 is the top view of the driven joint moving coil embodiment of the articulation system of Figure 60；

Figure 63 is another top view of the articulation system embodiment of Figure 60, at the articulation system embodiment Position or configuration after joint motions controlled motion to be initially applied to it；

Figure 64 is another top view of the articulation system embodiment of Figure 63, at the articulation system embodiment In the first articulated position or configuration；

Figure 65 is another top view of the articulation system embodiment of Figure 63 and Figure 64, which implements Scheme is in second joint movement position or configuration；

Figure 66 is another surgical end-effector and the perspective view for closing casing embodiment, its jaw is in the close position Or configuration；

The surgical end-effector and another perspective view of closure casing embodiment that Figure 67 is Figure 66, its jaw are in and beat Open position or configuration；

The surgical end-effector and the side view of closure casing embodiment that Figure 68 is Figure 66 and Figure 67, wherein stall Pipe shows with section, its jaw is in an open position or configuration；

Figure 69 is the side view with the surgical end-effector of Figure 66 shown in section to Figure 68 and closure casing embodiment Figure, its jaw is in an open position or configuration；

The surgical end-effector and the decomposition component view of closure casing embodiment that Figure 70 is Figure 66 to Figure 69；

Figure 71 is another surgical end-effector and the decomposition component view for closing casing embodiment；

Figure 72 is another surgical end-effector and the perspective view for closing casing embodiment, its jaw is in an open position Or configuration；

The surgical end-effector and another perspective view of closure casing embodiment that Figure 73 is Figure 72, its jaw are in and close Close position or configuration；

The surgical end-effector and the exploded perspective component drawings of closure casing embodiment that Figure 74 is Figure 72 and Figure 73；

The surgical end-effector and the side view of closure casing embodiment that Figure 75 is Figure 72 to Figure 74, its jaw are in Closing position or configuration；

Figure 76 is the rear view of the surgical end-effector embodiment of Figure 72 to Figure 75, for the sake of clarity, with void Line shows that it closes casing embodiment；

The surgical end-effector and the sectional view of closure casing embodiment that Figure 77 is Figure 72 to Figure 76, at its jaw In closing position or configuration；

Figure 78 is one and closure casing embodiment party in the lobe plate for the surgical end-effector for including Figure 72 to Figure 77 Another sectional view of case, its jaw is in the close position or configuration；

Figure 79 is one and closure casing embodiment party in the lobe plate for the surgical end-effector for including Figure 72 to Figure 78 Another sectional view of case, its jaw is in an open position or configuration；

Figure 80 is another surgical end-effector and the fragmentary, perspective view for closing casing embodiment, its jaw, which is in, to be opened Position or configuration；

The surgical end-effector and the fragmentary, perspective view of closure casing embodiment, its jaw that Figure 81 is Figure 80 are in and close Close position or configuration；

The surgical end-effector and the exploded perspective component drawings of closure casing embodiment that Figure 82 is Figure 80 and Figure 81；

The surgical end-effector and the side view of closure casing embodiment that Figure 83 is Figure 80 to Figure 82, its jaw are in Closing position or configuration；

The surgical end-effector and the side view of closure casing embodiment that Figure 84 is Figure 80 to Figure 83, wherein stall A part for pipe shows with section, its jaw is in an open position or configuration；

Figure 85 is another surgical end-effector and the schematic diagram illustrating perspective view for closing casing embodiment；

The surgical end-effector and the side view of closure casing embodiment that Figure 86 is Figure 85, its jaw are in closure position Put or configuration；

The surgical end-effector and the side view of closure casing embodiment that Figure 87 is Figure 85 and Figure 86, its jaw are in Open position or configuration, and the part for closing casing is shown with section；

Figure 88 is the perspective view of a part for another Slender axles assembly embodiment；

Figure 89 is another perspective view of the Slender axles assembly embodiment of Figure 88, wherein eliminating some for clarity Component；

Figure 90 is another perspective view of the Slender axles assembly of Figure 88 and Figure 89, and wherein surgical end-effector is in joint fortune Dynamic position or configuration；

Figure 91 is the decomposition component view of the Slender axles assembly of Figure 88 to Figure 90；

Figure 92 is the top view of the Slender axles assembly of Figure 88 to Figure 91, eliminates some components, and its for clarity Surgical end-effector carries out joint motions in one direction；

Figure 93 is another top view of the Slender axles assembly of Figure 88 to Figure 92, eliminates some components for clarity, And surgical end-effector carries out joint motions in the other directions；

Figure 94 is the perspective view of surgery nail bin embodiment；And

Figure 95 is the perspective view of another surgery nail bin embodiment.

In some views, corresponding reference symbol indicates corresponding component.Exemplifications set out herein is with a kind of shape Formula shows various embodiments of the present invention, and this example is not necessarily to be construed as the model that limit the invention in any way Enclose.

Embodiment

Present applicant possesses following patent application, and the patent application is submitted and each with the application in same date From being incorporated by reference being incorporated herein：

- entitled " SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING The U.S. Patent Application Serial Number of ARRANGEMENTS " _ _ _ _ _ _ _ _ _ _, attorney END7675USNP/150110；

- entitled " SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR U.S. of PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE IS SPENT OR MISSING " State's patent application serial number _ _ _ _ _ _ _ _ _ _, attorney END7676USNP/150111；

- entitled " MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE The U.S. Patent Application Serial Number of SURGICAL INSTRUMENTS " _ _ _ _ _ _ _ _ _ _, attorney END7674USNP/ 150109；

- entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM The U.S. of STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT " Patent application serial number _ _ _ _ _ _ _ _ _ _, attorney END7673USNP/150108；

- entitled " DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE The U.S. Patent Application Serial Number of SURGICAL INSTRUMENTS " _ _ _ _ _ _ _ _ _ _, attorney END7672USNP/ 150107；And

- entitled " PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE The U.S. Patent Application Serial Number of SURGICAL INSTRUMENTS " _ _ _ _ _ _ _ _ _ _, attorney END7671USNP/ 150106。

Present applicant possesses what is submitted on March 6th, 2015 and be each hereby incorporated herein by full Following patent application：

- entitled " the U.S. Patent Application Serial Number 14/640,746 of POWERED SURGICAL INSTRUMENT "；

- entitled " MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED The U.S. Patent Application Serial Number 14/640,795 of SURGICAL INSTRUMENTS "；

- entitled " ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE The U.S. Patent Application Serial Number 14/640,832 of RATES FOR MULTIPLE TISSUE TYPES ", attorney END7557USNP/140482；

- entitled " OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO The U.S. Patent Application Serial Number 14/640,935 of MEASURE TISSUE COMPRESSION "；

- entitled " MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR The U.S. Patent Application Serial Number 14/640,831 of FOR POWERED SURGICAL INSTRUMENTS "；

- entitled " TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE The U.S. Patent Application Serial Number 14/ of STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES " 640,859；

- entitled " INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 14/640,817；

- entitled " CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR The U.S. Patent Application Serial Number 14/640 of SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE ", 844；

- entitled " the U.S. Patent Application Serial of SMART SENSORS WITH LOCAL SIGNAL PROCESSING " Number 14/640,837；

- entitled " SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE The U.S. Patent Application Serial Number 14/640,765 of INTO A SURGICAL STAPLER "；

- entitled " SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A The U.S. Patent Application Serial Number 14/640,799 of ROTATABLE SHAFT "；

- it is entitled " SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING's " U.S. Patent Application Serial Number 14/640,780.

Present applicant possesses what is submitted and be each hereby incorporated herein by full within 2 27th, 2015 Following patent application：

- entitled " SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION " U.S. Patent Application Serial Number 14/633,576；

- entitled " SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND” U.S. Patent Application Serial Number 14/633,546；

- entitled " SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE The U.S. Patent Application Serial Number 14/633,576 of OR MORE BATTERIES "；

- entitled " CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY " U.S. Patent Application Serial Numbers 14/633,566；

- entitled " SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO The U.S. Patent Application Serial Number 14/633,555 of BE SERVICED "；

- entitled " the U.S. Patent application sequence of REINFORCED BATTERY FOR A SURGICAL INSTRUMENT " Row number 14/633,542；

- entitled " the U.S. Patent Application Serial Number of POWER ADAPTER FOR A SURGICAL INSTRUMENT " 14/633,548；

- entitled " the U.S. Patent Application Serial Number 14/ of ADAPTABLE SURGICAL INSTRUMENT HANDLE " 633,526；

- entitled " the U.S. Patent Application Serial Number 14/633,541 of MODULAR STAPLING ASSEMBLY "；And

- entitled " SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE The U.S. Patent Application Serial Number 14/633,562 of PARAMETER "；

Present applicant possesses to be submitted and is each hereby incorporated herein by full on December 18th, 2014 Following patent application：

- entitled " SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END The U.S. Patent application of EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING " Sequence number 14/574,478；

- entitled " U.S. of SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS " State's patent application serial number 14/574,483；

- it is entitled " DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS's " U.S. Patent Application Serial Number 14/575,139；

- entitled " LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH The U.S. Patent Application Serial Number 14/575,148 of ARTICULATABLE SURGICAL END EFFECTORS "；

- entitled " SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE The United States Patent (USP) Shen of ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE " Please sequence number 14/575,130；

- entitled " U.S. of SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS " State's patent application serial number 14/575,143；

- entitled " SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND The U.S. Patent Application Serial Number 14/575,117 of MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS "；

- entitled " SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND The U.S. Patent Application Serial Number 14/575,154 of IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS "；

- entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE The U.S. Patent Application Serial Number 14/574,493 of ARTICULATION SYSTEM "；And

- entitled " SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE The U.S. Patent Application Serial Number 14/574,500 of ARTICULATION SYSTEM ".

Present applicant, which possesses, to be filed on March 1st, 2013 and is each incorporated by reference what is be incorporated herein Following patent application：

- entitled " ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS The U.S. Patent Application Serial Number 13/782,295 of FOR SIGNAL COMMUNICATION ", is now U.S. Patent Application Publication 2014/0246471；

- entitled " ROTARY Powered ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS " U.S. Patent Application Serial Number 13/782,323, be now U.S. Patent Application Publication 2014/0246472；

- entitled " U.S. of THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS " State's patent application serial number 13/782,338, is now U.S. Patent Application Publication 2014/0249557；

- entitled " ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY The U.S. Patent Application Serial Number 13/782,499 of ARRANGEMENT ", is now U.S. Patent Application Publication 2014/0246474；

- entitled " MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/782,460 of Instruments ", is now U.S. Patent Application Publication 2014/0246478；

- it is entitled that " U.S. of JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS " is special Sharp patent application serial numbers 13/782,358, are now U.S. Patent Application Publication 2014/0246477；

- entitled " SENSOR Straightened END EFFECTOR DURING REMOVAL THROUGH The U.S. Patent Application Serial Number 13/782,481 of TROCAR ", is now U.S. Patent Application Publication 2014/0246479；

- entitled " CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE The U.S. Patent Application Serial Number 13/782,518 of Implement PORTIONS ", is now U.S. Patent Application Publication 2014/ 0246475；

- entitled " ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF The U.S. Patent Application Serial Number 13/782,375 of FREEDOM ", is now U.S. Patent Application Publication 2014/0246473；And

- entitled " U.S. Patent Application Serial Number 13/782,536 of SURGICAL INSTRUMENT SOFT STOP ", It is now U.S. Patent Application Publication 2014/0246476.

Present applicant also possesses the following patent application submitted on March 14th, 2013, these patent applications are each It is incorporated by reference being incorporated herein：

- entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE " U.S. Patent Application Serial Number 13/803,097, be now U.S. Patent Application Publication 2014/0263542；

- entitled " CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL The U.S. Patent Application Serial Number 13/803,193 of INSTRUMENT ", is now U.S. Patent Application Publication 2014/0263537；

- entitled " INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL The U.S. Patent Application Serial Number 13/803,053 of INSTRUMENT ", is now U.S. Patent Application Publication 2014/0263564；

- entitled " ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION The U.S. Patent Application Serial Number 13/803,086 of LOCK ", is now U.S. Patent Application Publication 2014/0263541；

- entitled " SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR The U.S. Patent Application Serial Number 13/803,210 of SURGICAL INSTRUMENTS ", is now U.S. Patent Application Publication 2014/ 0263538；

- entitled " the U.S. Patent application of MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT " Sequence number 13/803,148, is now U.S. Patent Application Publication 2014/0263554；

- entitled " DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,066 of INSTRUMENTS ", is now U.S. Patent Application Publication 2014/0263565；

- entitled " ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL The U.S. Patent Application Serial Number 13/803,117 of INSTRUMENTS ", is now U.S. Patent Application Publication 2014/0263553；

- entitled " DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL The U.S. Patent Application Serial Number 13/803,130 of INSTRUMENTS ", is now U.S. Patent Application Publication 2014/0263543； And

- entitled " U.S. of METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT " Patent application serial number 13/803,159, is now U.S. Patent Application Publication 2014/0277017.

Present applicant also possess be filed in be incorporated herein on March 7th, 2014 and being incorporated by reference with Lower patent application：

- entitled " the U.S. Patent Application Serial Number of CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS " 14/200,111, it is now U.S. Patent Application Publication 2014/0263539.

Present applicant, which also possesses, to be filed on March 26th, 2014 and is each incorporated by reference being incorporated herein Following patent application：

- it is entitled " POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS's " U.S. Patent Application Serial Number 14/226,106；

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

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

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

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

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

- entitled " the United States Patent (USP) Shen of SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION " Please sequence number 14/226,116；

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

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

- it is entitled that " U.S. of INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS " is special Sharp patent application serial numbers 14/226,126；

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

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

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

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

- entitled " the United States Patent (USP) Shen of SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT " Please sequence number 14/226,125.

Present applicant also possesses September in 2014 and submits and be each hereby incorporated herein by full for 5th Following patent application：

- entitled " the United States Patent (USP) Shen of CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE " Please sequence number 14/479,103；

- entitled " ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE The U.S. Patent Application Serial Number 14/479,119 of COMPRESSION "；

- entitled " MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION " U.S. Patent Application Serial Number 14/478,908；

- entitled " MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S The U.S. Patent Application Serial Number 14/478,895 of OUTPUT OR INTERPRETATION "；

- entitled " USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED The U.S. Patent Application Serial Number 14/479,110 of CARTRIDGE "；

- it is entitled that " U.S. of SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION " is special Sharp patent application serial numbers 14/479,098；

- entitled " the United States Patent (USP) of MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE " Patent application serial numbers 14/479,115；And

- entitled " the United States Patent (USP) Shen of LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION " Please sequence number 14/479,108.

Present applicant also possesses to be submitted and is each hereby incorporated herein by full on April 9th, 2014 Following patent application：

- entitled " MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE The U.S. Patent Application Serial Number 14/248,590 of SHAFTS ", is now U.S. Patent Application Publication 2014/0305987；

- entitled " SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING The U.S. Patent Application Serial Number 14/248,581 of DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT ", It is now U.S. Patent Application Publication 2014/0305989；

- entitled " SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING The U.S. Patent Application Serial Number 14/248,595 of THE OPERATION OF THE SURGICAL INSTRUMENT ", now for U.S. Patent Application Publication 2014/0305988；

- entitled " U.S. Patent Application Serial Number 14/248 of POWERED LINEAR SURGICAL STAPLER ", 588, it is now U.S. Patent Application Publication 2014/0309666；

- entitled " the United States Patent (USP) of TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT " Patent application serial numbers 14/248,591, are now U.S. Patent Application Publication 2014/0305991；

- entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS” U.S. Patent Application Serial Number 14/248,584, be now U.S. Patent Application Publication 2014/0305994；

- it is entitled " U.S. Patent Application Serial Number 14/248,587 of POWERED SURGICAL STAPLER ", now for U.S. Patent Application Publication 2014/0309665；

- entitled " DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL The U.S. Patent Application Serial Number 14/248,586 of INSTRUMENT ", is now U.S. Patent Application Publication 2014/0305990；With And

- entitled " MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS The U.S. Patent Application Serial Number 14/248,607 of INDICATION ARRANGEMENTS ", is now U.S. Patent Application Publication 2014/0305992。

Present applicant also possesses to be submitted and is each hereby incorporated herein by full on April 16th, 2013 Following patent application：

- entitled " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A The U.S. Provisional Patent Application Serial No. 61/812,365 of SINGLE MOTOR "；

- entitled " the U.S. Provisional Patent Application Serial No. 61/812,376 of LINEAR CUTTER WITH POWER "；

- entitled " the U.S. Provisional Patent Application sequence of LINEAR CUTTER WITH MOTOR AND PISTOL GRIP " Row number 61/812,382；

- entitled " SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND The U.S. Provisional Patent Application Serial No. 61/812,385 of MOTOR CONTROL "；And

- entitled " SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A The U.S. Provisional Patent Application Serial No. 61/812,372 of SINGLE MOTOR ".

Many details are listed herein, to provide to the whole of the embodiment described in specification and shown in attached drawing Body structure, function, the thorough understanding of manufacture and purposes.Well known operation, component and element are not described in, in order to avoid make explanation Embodiment described in book is smudgy.Reader will appreciate that embodiment described and illustrated herein is shown to be non-limiting Example, so that it can be appreciated that, specific structural and functional details disclosed herein can be representative and illustrative.Power is not being departed from In the case of the scope that profit requires, variations and modifications can be carried out to these embodiments.

Term " comprising " (and any form of " comprising ", such as " including (comprises) " and " including (comprising) "), with (and any form of " with ", such as " with (has) " and " with (having) "), " bag Containing " (and any form of "comprising", such as " include (includes) " and " including (including) " and " containing " (and Any form of " containing ", such as " contain (contains) " and " containing (containing) ") be open link-verb.Cause This, " comprising ", " with ", "comprising" or " containing " one or more elements surgery system, device or equipment with these one A or multiple element, but it is not limited to that only there are these one or more elements.Equally, " comprising ", " having ", "comprising" or " contain Having " element of the systems of one or more features, device or equipment has those one or more features, but is not limited to only have There are those one or more features.

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

Various exemplary means and method are provided for performing laparoscopic type and minimally invasive surgical procedures.However, read Person will readily appreciate that, various method and apparatus disclosed herein can be used in a variety of surgical operations and application, including for example with Open surgery combines.With continued reference to present embodiment, reader will be further understood that, various devices disclosed herein Tool by natural cavity, can pass through the notch being formed in tissue or puncturing hole etc. in any way in insertion body.Device The working portion or end effector portion of tool can be inserted directly into patient's body or can be filled by entering with service aisle Insertion is put, the end effector and slender axles of surgical instruments can be promoted by the service aisle.

Surgical stapling system may include axis and the end effector from axis extension.End effector includes the first jaw and the Two jaws.First jaw includes nail bin.Nail bin is inserted into the first jaw and can be removed from the first jaw；However it is contemplated that Wherein nail bin can not remove or at least be not easy to the other embodiments replaced from the first jaw from the first jaw.Second jaw Including the anvil block for being configured to deform the nail projected from nail bin.Second jaw can surround closure axis relative to the first pincers Mouth pivots；However it is contemplated that other embodiments that wherein the first jaw can be pivoted relative to the second jaw.Surgical stapling system System further includes the actuated articulation joints for being configured to allow end effector that joint motions are rotated or carried out relative to axis.End Portion's actuator can surround the joint motions axis rotation for extending through actuated articulation joints.Contemplate and do not connect including joint motions Other embodiments of head.

Nail bin includes warehouse.Warehouse includes proximal end, distal end and extends between proximal end and distal end Platform.In use, nail bin is positioned on the first side of tissue to be stapled, and anvil positioning is in the second side of tissue On.Anvil block is towards cartridge movement by tissue compression and to clamp against platform.Then, the nail being removedly stored in warehouse can It is deployed in tissue.Warehouse includes being defined in nail cavity therein, is removedly stored in wherein following closely in nail cavity.Nail cavity is arranged to Six longitudinal direction rows.Three nail chambers are positioned on the first side of longitudinal slit and three nail chambers are positioned on the second side of longitudinal slit. Other arrangements of nail cavity and nail are also possible.

Nail is supported by the staple drivers in warehouse.Driver can be in the first or non-firing position and second or firing position Between move, with from nail bin project follow closely.Driver is retained in warehouse by retainer, and retainer extends around the bottom of warehouse And including being configured to clamping warehouse and keeping retainer to the elastic component of warehouse.Driver can pass through cunning Moving part moves between its non-firing position and firing position.Sliding part can the proximal position adjacent with proximal end and with Moved between the adjacent distal position of distal end.Sliding part includes multiple ramped surfaces, which is configured to Driver is slided and lifted below driver towards anvil block, and follows closely and is supported on a drive.

Than that described above, sliding part can also be by firing member in distal movement.Firing member is configured to contact Sliding part simultaneously promotes sliding part towards distal end.The longitudinal slit being defined in warehouse is configured to receive percussion structure Part.Anvil block further includes the slit for being configured to receive firing member.Firing member further includes the first of the first jaw of engagement Second cam of the second jaw of cam and engagement.When firing member promotes in distal side, the first cam and the second cam can control The distance between platform and anvil block of nail bin or tissue space.Firing member, which further includes, is configured to incision in nail bin and anvil The blade of the tissue of trapping among seat.Wish blade positioning at least part close to ramped surfaces so that nail is projected prior to blade.

Fig. 1 to Fig. 4 shows recycling or non-reusable motor driving surgery cuts and fastening instrument 10.Showing In the embodiment gone out, apparatus 10 includes shell 12, which includes being configured to be grasped, manipulate and cause by clinician Dynamic shank 14.Shell 12 is configured for being operably attached to Slender axles assembly 200, which has and can grasp It is connected to its surgical end-effector 300 with making, which is configured to perform one or more hands Art task or surgical operation.For example entitled " MODULAR POWERED SURGICAL INSTRUMENT WITH can be used Various modes disclosed in the U.S. Patent Application Serial Number 14/226,075 of DETACHABLE SHAFT ASSEMBLIES " will Slender axles assembly 200 is exchanged with other shaft assemblies, and the complete disclosure of the patent application is hereby incorporated by reference. In other constructions, Slender axles assembly possibly can not be exchanged with other shaft assemblies, and consist essentially of the special of apparatus can not Remove part.

With continued reference to present embodiment, it will be understood that various forms of interchangeable shaft assemblies disclosed herein The surgery system that can be effectively controlled with robot is used in combination.Therefore, term " shell " can also cover robot system The shell or similar portions of at least one drive system are accommodated or are operably supported in other ways, wherein described at least one Drive system, which is configured to generate and applies, can be used for activating Slender axles assembly disclosed herein and its is equal accordingly At least one controlled motion of thing.Term " frame " can refer to a part for hand-held surgical instrument.Term " frame " can also represent A part for the surgical instruments of robot control and/or one that is operatively controlled surgical instruments of robot system Point.For example, shaft assembly disclosed herein can be with 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 2012/0298719) disclosed in various robot systems, apparatus, component be used together with method, The patent application is incorporated by reference being incorporated herein accordingly.

The Slender axles assembly 200 that the combination of shell 12 shown in Fig. 1 includes surgical end-effector 300 is shown, described outer Section's end effector includes being configured to the surgery cuts for being operably supported surgery nail bin 304 therein and fastening fills Put.Shell 12 is configurable to be used to be used in combination with shaft assembly, which includes end effector, which fits In the nail bin for supporting different sizes and type, there is different shaft lengths, size and type etc..In addition, shell 12 may be used also A variety of other shaft assemblies are efficiently used for, it includes being configured to (such as penetrate the energy of other movements and form Frequently (RF) energy, ultrasonic energy and/or movement) it is applied to suitable for applying and performing the operation the end being used in combination to perform with various surgeries Those components of device arrangement.In addition, the end effector, shaft assembly, shank, surgical instruments and/or surgical instrument system can profits With any one or more of suitable fastener come fastening tissue.E.g., including it is multiple be removedly stored in it is therein more The fastener cartridge of a fastener can be removably inserted into the end effector of shaft assembly and/or be attached to the end of shaft assembly Actuator.

Fig. 1 shows the shell 12 and shank 14 of surgical instruments 10, which, which has, is operably coupled to its Interchangeable Slender axles assembly 200.As can be seen in Figure 1, shank 14 may include a pair of handle shell section 16 that can be interconnected With 18, this can interconnect handle shell section by screw, snap feature structure, adhesive etc..In the construction shown, outside shank Shell section 16 and 18 coordinates to form the pistol grip portion 19 that can be grasped and be manipulated by clinician.As will be detailed further below Carefully discuss, shank 14 is operably supported multiple drive systems therein, and it is each that these drive systems are configured to generation These control actions are simultaneously applied to the corresponding part for being operably attached to interchangeable shaft assembly thereon by kind control action.

Referring now to Fig. 2, shank 14 may also include the frame 20 for being operably supported multiple drive systems.For example, frame 20 can be operably supported be generally denoted as 30 " first " or closure drive system, should " first " or closure drive system can Its Slender axles assembly 200 is operationally attached or coupled to for closure and opening action to be applied to.In at least one shape In formula, closure drive system 30 may include the actuator for 32 form of closure trigger being pivotally supported by frame 20.More Body, as shown in Fig. 2, closure trigger 32 is pivotally coupled to shell 14 via pin 33.This construction makes closure trigger 32 It can be manipulated by clinician so that when clinician grasps the pistol grip portion 19 of shank 14, closure trigger 32 can " actuating " position is pivoted to from starting or " not activating " position by it easily, and more specifically, be pivoted to compress completely or Fully actuated position.Closure trigger 32 can be biased into unactuated position by spring or other bias arrangement (not shown). In various forms, closure drive system 30 further includes the closed connecting rod component 34 for being pivotally coupled to closure trigger 32.Such as As can be seen in Fig. 2, closed connecting rod component 34 may include that being pivotally coupled to the first of closure trigger 32 by pin 35 closes Close 36 and second closed connector 38 of connector.Second closed connector 38 is alternatively referred to as " attachment members " herein, and Including horizontal attachment pin 37.

Referring also to Fig. 2, it can be observed, the first closed connector 36 can have latch wall or locking end portions 39 on it, should The closure release component 60 that latch wall or locking end portions were configured to and were pivotally coupled to frame 20 coordinates.At least one In kind form, closure release component 60 may include the release button with the locking pawl 64 towards distal side projection being formed on Component 62.Release button component 62 can be released spring (not shown) and pivot in the counterclockwise direction.Clinician will close and trigger When pistol grip portion 19 of the device 32 from its unactuated position towards shank 14 presses, the first closed connector 36 be pivoted up to Some point, wherein lock pawl 64 are fallen into be remained engaged with the latch wall 39 in the first closed connector 36 in the point, so as to hinder Only closure trigger 32 returns to unactuated position.Therefore, closure release component 60 is used for closure trigger 32 being locked in completely Actuated position.When clinician it is expected to unlock closure trigger 32 to allow it to be biased into unactuated position, clinic doctor Life only needs pivoted closed release button component 62 so that lock pawl 64 moves into and the latch wall 39 in the first closed connector 36 It is disengaged.When locking pawl 64, which has been moved into, to be disengaged with the first closed connector 36, closure trigger 32 is pivotable Return to unactuated position.Also other closure trigger locked configurations and release can be used to construct.

When closure trigger 32 is moved to its actuated position from its unactuated position, closure release button 62 is first Pivoted between position and the second place.The rotation of closure release button 62 can be described as rotating up, however, closure release button 62 At least a portion rotated towards circuit board 100.Referring still to Fig. 2, closure release button 62 may include the arm 61 from its extension With the magnetic element 63 (such as permanent magnet) for being installed to arm 61.When closure release button 62 by from its first position rotate to its During two positions, magnetic element 63 can be moved towards circuit board 100.Circuit board 100 may include at least one sensor, described at least one A sensor is configured to the movement of detection magnetic element 63.In at least one embodiment, " Hall effect " senses Device may be mounted to the lower surface of circuit board 100.Hall effect transducer is configured to detection by magnetic element 63 The change in the magnetic field around the caused circular Hall effect transducer of movement.Hall effect transducer can be with such as microcontroller Carry out signal communication, which can determine that whether closure release button 62 in it does not activate position with closure trigger 32 The first position being associated with the open configuration of end effector, itself and the actuated position of closure trigger 32 and end is put to perform Any position between the second place, and/or first position and the second place that the closed configuration of device is associated.

Equally in shown construction, shank 14 and frame 20 are operatively supported at herein referred to as percussion driving Another drive system of system 80, the drive system be configured to firing action being applied to be attached to thereon can be mutual Change the corresponding part of shaft assembly.Percussion drive system 80 also can referred to herein as " the second drive system ".Fire drivetrain System 80 can use the electro-motor 82 in the pistol grip portion 19 of shank 14.In various forms, motor 82 is for example Can be that the maximum rotating DC with about 25,000RPM has brush drive motor.In other constructions, motor may include brushless horse Reach, wireless motor, syncmotor, stepper motor or any other suitable electro-motor.Motor 82 can be supplied by power source 90 Electricity, in one form, the power source may include removable power source group 92.As can be seen in Fig. 2, for example, power supply group 92 may include nearside casing part 94, which is configured for being attached to distal side casing part 96.Outside nearside Shell parts 94 and distal side casing part 96 are configured to be operably supported multiple batteries 98 therein.Battery 98 can be respective Including such as lithium ion (" LI ") or other suitable batteries.Distal side casing part 96 is configured for removably may be used It is operatively attached to equally be operably linked to the control board component 100 of motor 82.Can be used can be connected in series it is more Power source of a battery 98 as surgical instruments 10.In addition, power source 90 can be interchangeable and/or rechargeable 's.

As summarized above with respect to other various forms, electro-motor 82 includes operable with The gear deceleration device assembly 84 The rotatable shaft (not shown) of ground handing-over, the The gear deceleration device assembly be installed into can be in the drive member 120 of lengthwise movement One group or the sliding tooth 122 of a rack engage.In use, the polarity of voltage that power source 90 is provided can be along clockwise Direction operation electro-motor 82, wherein the polarity of voltage that electro-motor is applied to by battery can be inverted, so as to along side counterclockwise To operation electro-motor 82.When electro-motor 82 rotates in one direction, drive member 120 will be in distal direction " DD " Axially drive.When motor 82 is driven in the opposite rotation direction, drive member 120 will in proximal direction " PD " axis Driven to ground.Shank 14 may include to switch, which is configured to make to be applied to the pole of electro-motor 82 by power source 90 Sex reversal.As other forms as described herein, shank 14 may also include sensor, which is configured to detect The direction that the position of drive member 120 and/or drive member 120 are being moved.

The actuating of motor 82 is controlled by the firing trigger 130 being pivotably supported on shank 14.Percussion is touched Hair device 130 can pivot between unactuated position and actuated position.Firing trigger 130 can be by spring 132 or other bias structures Make and be biased into unactuated position so that when clinician discharges firing trigger 130, firing trigger can be by spring 132 Or biasing arrangement pivots or returns in other ways unactuated position.In at least one form, firing trigger 130 can be such as Upper " outside " for being positioned in closure trigger 32.In at least one form, firing trigger safety switch 134 can be by Pin 35 is pivotally mounted to closure trigger 32.Safety switch 134 can be positioned on firing trigger 130 and closure trigger 32 it Between, and with the pivotal arm 136 from its projection.Referring to Fig. 2.When closure trigger 32 is in unactuated position, safety switch 134 are accommodated in shank 14, and clinician possibly can not touch the button easily at this time, can not also prevent the button pair Moved between the firing position that the home and firing trigger 130 that firing trigger 130 activates can be fired.Clinician When pressing closure trigger 32, safety switch 134 and firing trigger 130 pivot downwards, can then be manipulated by clinician.

As discussed above, shank 14 includes closure trigger 32 and firing trigger 130.Firing trigger 130 can It is pivotally mounted to closure trigger 32.It is as outlined above, when closure trigger 32 is activated from its unactuated position to it When position is moved, firing trigger 130 can decline downwards.After safety switch 134 has been moved to its firing position, pressable Firing trigger 130, to operate the motor of surgical instruments trigger system.In all cases, shank 14 may include tracking system, The tracking system is configured to determine the position and/or the position of firing trigger 130 of closure trigger 32.

As described above, at least one form, can the drive member 120 of lengthwise movement there is the tooth being formed on The sliding tooth 122 of bar, is engaged for the respective drive gear 86 with The gear deceleration device assembly 84.At least one form further includes It is manually actuable be configured to allow the clinician in the case where motor 82 becomes failure conditions manually retract can " relief " component 140 of the drive member 120 of lengthwise movement.Emergent component 140 may include lever or emergent shank assembly 142, The lever or emergent shank assembly are configured to manually be pivoted 124 ratchets engage.Therefore, emergent shank assembly 142 manually retraction drive member 120 can be used in clinician, so that driving Component 120 does ratcheting motion along proximal direction " PD ".U.S. Patent Application Publication No. 2010/0089970 discloses emergent construction, And other components, construction and the system that can be also 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 (being now United States Patent (USP) 8,608,045) of SYSTEM " is accordingly in full with the side of reference Formula is incorporated to.

Turning now to Fig. 1 and Fig. 3, Slender axles assembly 200 includes surgical end-effector 300, and the surgical end performs Device includes the elongated passageway 302 for being configured to be operably supported nail bin 304 wherein.End effector 300 can also wrap Include the anvil block 310 being pivotably supported relative to elongated passageway 302.As that will discuss in further detail below, surgery end Portion's actuator 300 can surround actuated articulation joints 270 and carry out joint motions relative to Slender axles assembly.As can in Fig. 3 and Fig. 4 As seeing, shaft assembly 200 may also include the nearside shell or nozzle 201 being made of nozzle segment 202 and 203.Shaft assembly 200 further include closed tube 260, which can be used for the anvil block 310 for closing and/or opening end effector 300.In Fig. 4 As it can be seen that, shaft assembly 200 includes the axis frame part for being configured to be fixedly supported articulation lock 350 212 ridge 210.The structure and the details of operation for being related to articulation lock 350 are set forth in entitled " ARTICULATABLE The U.S. Patent Application Serial Number 13/ of SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK " It is now U.S. Patent Application Publication 2014/0263541, the disclosure of which is hereby incorporated by reference in 803,086. Ridge 210 is configured to：First, slidingly support firing member 220 therein；Second, slidingly support around ridge The closed tube 260 of 210 extensions.Ridge 210 can also support proximal joint motion drive 230 in sliding manner.Proximal joint is transported Dynamic driver 230 has distal end 231, which is configured to be operatively engaged articulation lock 350. In one kind construction, articulation lock 350 joins with articulation frame 352, which is suitable for being operatively engaged Drive pin (not shown) on end effector frame (not shown).

In shown construction, ridge 210 includes the proximal end 211 being pivotally supported in base 240.In one kind In construction, for example, the proximal end 211 of ridge 210 has the screw thread 214 being formed on, it is threadedly attached to will pass through by structure Cause the ridge bearing 216 that can be supported in base 240.Referring to Fig. 3.It is this to be configured with beneficial to ridge 210 is rotatably attached It is connected to base 240 so that ridge 210 can optionally be rotated relative to base 240 around axis axis SA-SA.Shaft assembly 200 is also Including being slidably supported in chassis 240 so that closure spindle moving part can be relative to the closure spindle moving part that chassis is axially movable 250.As can be seen in Fig. 3, closure spindle moving part 250 includes being configured for being attached to a pair of towards near of attachment pin 37 The hook 252 of lateral process, the attachment pin are attached to the second closed connector 38, by as described in more detail below.Referring to Fig. 2. The proximal end 261 of closed tube 260 is connected to closure spindle moving part 250, with relative to closure spindle moving part rotation.For example, U-shaped is connected Connect device 263 to be inserted into the narrow annular slot 262 in the proximal end 261 of closed tube 260, retain it in closure spindle moving part 250 Vertical slit 253 in.Referring to Fig. 3.Such construct is used to closed tube 260 being attached to closure spindle moving part 250, with closing shuttle Moving part is axially advanced together, while closed tube 260 is rotated around axis axis SA-SA relative to closure spindle moving part 250. 268 axle journal of closing spring is connected in closed tube 260, for biasing closed tube 260 along proximal direction " PD ", when shaft assembly 200 When being operably linked to shank 14, which can be used to closure trigger being pivoted to unactuated position.

Similarly, as described above, Slender axles assembly 200 further includes firing member 220, which is supported in axis Axially advance in ridge 210.Firing member 220 includes being configured for being attached in distal incision part or percussion beam 280 Between fire shaft portion 222.Firing member 220 is also referred to as " the second axis " and/or " the second shaft assembly " herein.Such as Fig. 4 In it can be seen that as, centre percussion shaft portion 222 may include to be configured to the proximal end for receiving distal side percussion beam 280 Longitudinal slit 223 in its distal end of protuberance 284 in portion 282.Longitudinal slit 223 and proximal end 282 can be set It is sized and is configured to allow the relative motion between them and may include slip joint 286.Slip joint 286 can Allowing the middle percussion shaft portion 222 for firing driver 220 to move into makes surgical end-effector 300 carry out joint motions, and Do not move or do not move percussion beam 280 at least substantially.Once surgical end-effector 300 has been properly oriented, then middle to hit Hair shaft portion 222 can be promoted towards distal side, until proximal sidewall and the tab 284 of longitudinal slit 223 are in contact, be hit to promote The nail bin supported in hair beam 280 and fighting end actuator 300.As in Fig. 4 can it is further seen that as, axle ridge 210 There is elongated opening or window 213 wherein, in favor of assembling and being inserted into axis frame 210 by centre percussion shaft portion 222 In.Once centre percussion shaft portion 222 has been plugged into, then top frame fragment 215 can be engaged with axis frame 212, will Centre percussion shaft portion 222 and percussion beam 280 are encapsulated wherein.Further describing for operation in relation to firing member 220 is visible It is now U.S. Patent Application Publication 2014/0263541 in U.S. Patent Application Serial Number 13/803,086.

Apart from the above, shown shaft assembly 200 includes clutch pack 400, which is configured to Articulation drive 230 is selectively and releasably connected to firing member 220.In one form, clutch group Part 400 includes the locking lining ring positioned around firing member 220 or locking casing 402, wherein locking casing 402 can be in engagement position Put and rotated between disengaging configuration, in the bonding station, articulation drive 360 is connected to percussion by locking casing 402 Component 220, in the disengaging configuration, articulation drive 360 is not operably linked to firing member 200.Work as locking When casing 402 is in its bonding station, the distal movement of firing member 220 can move toward the far side articulation drive 360, Correspondingly, the proximal movement of firing member 220 can be such that proximal joint motion drive 230 proximally moves.When locking casing 402 During in its disengaging configuration, the movement of firing member 220 is not delivered to proximal joint motion drive 230, therefore, firing member 220 can move independently of proximal joint motion drive 230.In all cases, when firing member 220 does not make proximal joint For motion drive 230 when being moved on nearside or distal direction, proximal joint motion drive 230 can be by articulation lock 350 It is held in place.

As in Fig. 4 can it is further seen that as, locking casing 402 may include cylindrical or at least substantially cylindrical Main body, the main body include be defined in wherein, be configured to receive firing member 220 longitudinal perforate 403.Lock casing 402 may include diametrically, face in locking projection 404 and the locking component 406 that faces outwardly.Locking projection 404 can It is configured to be selectively engaged with firing member 220.More particularly, when locking casing 402 is in its bonding station When, locking projection 404, which is located at, to be defined in the driving recess 224 in firing member 220 so that distal side thrust and/or nearside push away Power can be transferred to locking casing 402 from firing member 220.When locking casing 402 is in its bonding station, the second locking component 406 are received within the driving recess 232 limited in proximal joint motion drive 230 so that are applied to locking casing 402 Distal side thrust and/or proximal pulling force can be delivered to proximal joint motion drive 230.In fact, when locking casing 402 is in it During bonding station, firing member 220, locking casing 402 and proximal joint motion drive 230 will move together.On the other hand, When locking casing 402 is in its disengaging configuration, locking projection 404 can not be located in the driving recess 224 of firing member 220； And therefore, distal side thrust and/or nearside thrust can not be transferred to locking casing 402 from firing member 220.Correspondingly, distal side Thrust and/or proximal pulling force can be not passed to proximal joint motion drive 230.In such cases, firing member 220 can Proximally and/or towards distal side slided relative to locking casing 402 and proximal joint motion drive 230.

As can also see that in Fig. 4, Slender axles assembly 200, which may also include, is rotatably received closed tube 260 On switching cylinder 500.Switching cylinder 500 includes hollow shaft part 502, which has the crown of roll platform 504 being formed on, with For outwardly protruding actuating pin 410 to be received wherein.In all cases, actuating pin 410 extends through slit 267 and enters The longitudinal slit 408 being arranged in locking casing 402, to be engaged in locking casing 402 with proximal joint motion drive 230 When, axially move beneficial to the locking casing.Rotation torsional spring 420 is configured to the crown of roll platform 504 on engagement switching cylinder 500 With a part for nozzle housing 203, biasing force is applied to switching cylinder 500.Referring to Fig. 5 and Fig. 6, switching cylinder 500 can also wrap The opening 506 at least partially circumferentially wherein limited is included, these openings are configured to receive from nozzle segment 202,203 The circumferential mounting bracket of extension, and allow to switch and rotated against between cylinder 500 and nearside nozzle 201 rather than relative translation.Installation Seat extends also through the opening 266 in the closed tube 260 in the groove to be positioned in axle ridge 210.However, nozzle 201 to its The rotation that middle mounting base reaches the point of the end of its respective slots 506 in cylinder 500 is switched will cause switching cylinder 500 to surround axis The rotation of axis SA-SA.The rotation of switching cylinder 500 most cause to activate pin 410 at last and lock casing 402 in its bonding station and Rotation between disengaging configuration.Therefore, substantially, nozzle 201 can be used for in U.S. Patent Application Serial Number 13/803,086 Various in greater detail modes make joint motion drive system in (being now U.S. Patent Application Publication 2014/0263541) Operatively it is engaged and disengaged from percussion drive system.

Also as shown in Figure 3 to Figure 4, Slender axles assembly 200 may include slip ring assembly 600, for example, the slip ring assembly can be by structure Cause that end effector 300 can be conducted power to and/or from the end effector conduct power, and/or by signal It is sent to surgical end-effector 300 and/or receives signal from the surgical end-effector.Slip ring assembly 600 may include nearside Connector flange 604 and distal connector flange 601, the proximal connector flange be installed to from base 240 extend base it is convex Edge 242, the distal connector flange are positioned in the slit limited in shaft housing 202,203.Proximal connector flange 604 can wrap The first face is included, and distal connector flange 601 may include the second face, wherein the second face and the first face adjacent positioned, and can Moved relative to the first face.Distal connector flange 601 can be revolved around axis axis SA-SA relative to proximal connector flange 604 Turn.Proximal connector flange 604 may include the multiple concentric or at least substantially concentric conductor being limited in its first face 602.Connector 607 can be installed on the proximal side of distal connector flange 601, and can have multiple contact (not shown), Wherein each contact simultaneously electrical contact corresponding with one of conductor 602.This construction is keeping proximal connector flange 604 While electrical contact between distal connector flange 601, it is allowed to rotated against between the two flanges.For example, nearside connects Device flange 604 may include electric connector 606, which can make conductor 602 and be installed to the axis circuit board of axis base 240 610 carry out signal communication.In the case of at least one, including the harness of multiple conductors can be in electric connector 606 and axis circuit board Extend between 610.The connector opening 243 that electric connector 606 limits in can extending proximally through floor installation flange 242. Referring to Fig. 7.It is filed in entitled " the STAPLE CARTRIDGE TISSUE THICKNESS SENSOR on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,067 of SYSTEM " is now U.S. Patent Application Publication 2014/0263552 with reference Mode be incorporated by herein.It is filed in entitled " the STAPLE CARTRIDGE TISSUE on March 13rd, 2013 The U.S. Patent Application Serial Number 13/800,025 of THICKNESS SENSOR SYSTEM ", is now U.S. Patent Application Publication 2014/0263551 is incorporated by herein by reference.It is special that further detail below in relation to slip ring assembly 600 is found in the U.S. Sharp patent application serial numbers 13/803,086, are now U.S. Patent Application Publication 2014/0263541.

As discussed above, Slender axles assembly 200 may include the portions of proximal that can be fixedly secured to shank 14, Yi Jike Around the rotating distal parts of longitudinal axis axis SA-SA.Rotatable distal shaft part can be as described above around slip ring assemblies 600 Rotated relative to portions of proximal.The distal connector flange 601 of slip ring assembly 600 can be positioned on rotatable distal shaft part It is interior.Moreover, apart from the above, switching cylinder 500 is alternatively positioned in rotatable distal shaft part.When rotatable distal shaft portion When dividing rotation, distal connector flange 601 and switching cylinder 500 can rotate synchronously with one another.In addition, switching cylinder 500 can be relative to Distal connector flange 601 rotates between the first location and the second location.When switching cylinder 500 is in its first position, close Section motion driving system (that is, proximal joint motion drive 230) can be operatively disengaged from percussion drive system to be engaged, because This, the operation of percussion drive system can not make the end effector 300 of shaft assembly 200 carry out joint motions.At switching cylinder 500 When its second place, joint motion drive system (that is, proximal joint motion drive 230) can operationally drive with percussion Dynamic system engagement, therefore, the operation of percussion drive system can make the end effector 300 of shaft assembly 200 do joint motions.When When switching cylinder 500 moves between its first position and its second place, switching cylinder 5500 is relative to distal connector flange 601 Movement.In all cases, shaft assembly 200 may include at least one biography for being configured to the position of detection switching cylinder 500 Sensor.

Referring again to Fig. 4, closure tube assembly 260 includes double pivot closure sleeve assembly 271.According to various forms, double pivots Axis closure sheath assembly 271 includes closing casing with the upper tang 273 protruded towards distal side and the end effector of lower tang 274 272.Top double pivot links 277 include the distal pivot pin and proximal pivot pin projected upwards, these pivot pins connect respectively Close the top distal side pin hole in the proximally prominent upper tang 273 in closed tube 260 and the upper tang 264 protruded towards distal side In top nearside pin hole.Lower double pivot link 278 includes the distal pivot pin and proximal pivot pin projected upwards, these Pivot pin engages the lower distal pin hole in proximally prominent lower tang 274 and the lower tang 265 protruded towards distal side respectively In lower part nearside pin hole.Referring further to Fig. 6.

Fig. 5 to Fig. 8 illustrates a kind of form of surgical end-effector 300, it is configured to operationally be attached To the Slender axles assembly of the surgical instruments of the above-mentioned type or other surgical instruments including closed-system construct, the closed-system It is configured to produce control action for being axially movable enclosed member, which is configured to surgery end The some parts of portion's actuator apply closure and open movement.In an illustrated embodiment, will such as beg in further detail below Opinion, surgical end-effector is configured to surround the actuated articulation joints for being generally denoted as 339 relative to slender axles group The portions of proximal of part carries out joint motions.However, other constructions may not carry out joint motions.As can be seen in Fig. 6 Like that, actuated articulation joints 339 define joint motions axis B-B, and surgical end-effector 300 can surround the articulating shaft Carry out joint motions to line options.In an illustrated embodiment, joint motions axis B-B extends substantially transversely to Slender axles assembly Axis axis SA-SA.

The surgical end-effector 300 of diagram includes the first jaw 308 and the second jaw 309, which being capable of phase Optionally moved between open position (Fig. 7) and various closing positions (Fig. 8) for the first jaw 308.Implement in diagram In scheme, the first jaw 308 includes elongated passageway 302, which is configured in elongated passageway operationally Surgery nail bin 304 is supported, and the second jaw 309 includes anvil block 310.However, the spirit and scope of the present invention are not being departed from In the case of, other surgical forceps outlet structures can also be used.As can be seen in Fig. 5, support plate 305 can be attached to surgery Nail bin 304, to provide it extra support, so as to be supported in the nail pit 306 for being also prevented from being formed in surgery nail bin 304 Staple drivers (not shown) dropped out before the use from surgery nail bin.As can be seen in Fig. 5, elongated passageway 302 With the proximal end part 320 for including two upstanding sidewalls 322.Anvil block 310 includes anvil body 312, on the anvil body Formed with nail shaped bottom 313.The proximal end 314 of anvil body is divided for two parts by firing member slit 315, so as to limit A pair of of anvil block attachment arm 316.Each anvil block attachment arm 316 includes inclined upper surface 321, and the anvil including lateral protrusion Seat gudgeon 317 and the cam slot 318 for limiting cam face or " grooved cam surface " 319.Referring to Fig. 5.One of cam Slit 318 can be described as " the first cam slot " herein, its cam face is referred to as " the first cam face ".Similarly, separately One cam slot 318 can be described as " the second cam slot ", its cam face is referred to herein as " the second cam face ".Gudgeon Hole 324 is arranged in each side wall 322 of elongated passageway 302, for being received in it by one of corresponding in anvil trunion 317 In.It is this to be configured to anvil block 310 being movably attached to elongated passageway 302, for around limiting and horizontal by gudgeon hole 324 Traveling is optionally pivoted to the anvil block axis A-A in axis axis SA-SA.Referring to Fig. 6.

In illustrated configuration, anvil block 310 relative to elongated passageway 302 and is supported wherein by a pair of openings cam 354 Surgery nail bin 304 and be pivotally moved to open position, this pair of openings cam can removedly be supported on anvil block actuating In device component, either it is removably attached to anvil actuator component or is permanently attached to anvil actuator component, and or Person is integrally formed in anvil actuator component.In the illustrated embodiment, anvil actuator component includes end effector Close casing 272.Referring to Fig. 5.Each shedding cam 354 includes outer main part 356, which has inside from its The cam tab 358 of projection.In at least one constructs, outer main part 356 is configured to by being buckled in end effector Close in the junction surface that can be removed in the correspondence cam hole 355 formed in casing 272.For example, outer main part 356 may include The stop portion 357 at bevel angle, the end which is configured to the engagement restriction cam hole 355 in the form of snap-fastener are held Row device closes the appropriate section of casing wall.Another part of outer main part 356 can have the fold-line-shaped feature being formed thereon Structure 359, it is configured to the part for being received within the end effector closure casing 272 adjacent with cam hole 355 It is interior.It can also use other snap-fastener tabs construction that outer main part 356 is removably attached to end effector closure casing 272.In other constructions, for example, outer main part can be not structured to close casing with end effector with being used for snap-fastener 272 engagements.In such construct, outer main part can be kept in place by annular crimped loops, which is opening Around the outer perimeter extension of end effector closure casing in the whole outer main part of mouth cam, and it is crimped on appropriate position Put.The crimped loops are used for the outer surface that outer body portion is clamped in end effector closure casing.In order to be held to end Row device closure casing provide relative smooth or continual outer surface (this can advantageously avoid adjacent tissue be damaged and/ Or tissue/fluid etc. is collected between these components), actually crimped loops, which can be crimped onto, is formed at end effector stall In annular recess in pipe.

When shedding cam 350 is installed in end effector closure casing 272, each cam tab 358 extends through Elongated slot 326 in the correspondence side wall 322 of elongated passageway 302, the elongated passageway are received within the correspondence cam in anvil block 310 In slit 318.Referring to Fig. 6.In such construct, the diametrically phase each other in end effector closes casing of shedding cam 350 It is right.In use, closed tube 260 towards distal side (direction " DD ") translate, with (such as) in response to closure trigger 32 actuating and Closed anvil 310.When closed tube 260 is translated along distal direction " DD ", anvil block 310 closes, so that end effector closes The distal end 275 of casing 272 is contacted with the closure antelabium 311 on anvil body 312.Specifically, with closed tube 260 to To start to make anvil block 310 to be pivoted to closing position, the distal end 275 of end effector closure casing 272 bridges distal movement On the upper surface 321 of anvil block attachment arm 316.For example, in one kind constructs, the closure of anvil block 310 is completely by end effector Close the contact with anvil block 310 of casing 272 and cause, rather than as caused by the interaction of shedding cam and anvil block.However, In other constructions, when 260 distal motion of closed tube, shedding cam can be arranged to also applies closing motion to anvil block. For anvil block 310 by opening closed tube 260 to distal translation in the proximal direction " PD ", this causes cam tab 358 along near Movement in cam slot 318 of the side direction " PD " on cam face 319, so that anvil block 310 is pivoted to as shown in Figure 6 and Figure 7 Open position in.

Even if under loads, surgical end-effector embodiment 300 also can realize end using two shedding cams The positive opening of actuator jaw.Without departing from the spirit and scope of the present invention, it is contemplated that other constructions only make With a shedding cam or more than two shedding cams.In the example shown in the series of figures, shedding cam is removably attached to end Actuator closes casing, this is conducive to assemble or be attached to easily Slender axles assembly by surgical end-effector component, and They are disassembled easily.Such configuration also allows one to use more compact or shorter actuated articulation joints structure Make, this further improves the preferably manipulation of surgical end effector in the confined space of patient's body.For the ease of by that The a little shedding cams of snap-fastener in place separate easily, can set extra ingenious placement in end effector closes casing Hole, so that sled shape component can be from being wherein inserted into, so that shedding cam be prized from end effector closure casing.Other In construction, shedding cam may be integrally formed in anvil actuator component or end effector closure casing.For example, opening Cam can each include tab, which is cut into or forms anvil actuator component in other ways or end effector closes In the wall of trap pipe, then curve inwardly, crimp or be permanently deformed, to engage the correspondence cam face on the second jaw.Example Such as, tab can be curved inwardly relative to the outer wall of end effector closure casing with 90 degree.Such construct is avoided to independent Shedding cam component needs.Other variations can use the one or more pins for being attached to the second jaw, these pins It is configured to ride upon the correspondence cam face on the first jaw.For example, one or more pins can be pressed into the first pincers In mouthful, it is knurled, is then pressed into and/or is welded on the first jaw.Although in the context of surgical end-effector To above-mentioned shedding cam construction be described, wherein the surgical end-effector be configured to support surgery nail bin and Including the anvil block for being configured to move relative to surgery nail bin, but it will be appreciate that, shedding cam construction can also be with tool The other end effector configurations for having the jaw that can be movable with respect to each other are used together.

Fig. 9 and Figure 10 shows the Slender axles assembly for being denoted as 200', and which employs many of above-mentioned Slender axles assembly 200 Feature.In the example shown in the series of figures, Slender axles assembly 200' includes the two-joint isometric flexion connecting piece structure for being denoted as 800, it is used The articulation lock 810 similar with above-mentioned articulation lock 350.Articulation lock 810 be different from articulation lock 350 and And to understand that those required to the operation of articulation lock 350 possibility component will be discussed in further detail below.It is related to close The other details of section movement lock 350 is found in entitled " ARTICULATABLE SURGICAL INSTRUMENT The U.S. Patent Application Serial Number 13/803,086 of COMPRISING AN ARTICULATION LOCK ", is now United States Patent (USP) Shen 2014/0263541 please be announce, the entire disclosure is hereby incorporated by reference.Articulation lock 810 can be constructed Into can and operate so that surgical end-effector 300 optionally is locked in various articulated positions.Work as articulation lock 810 when being in its released state, and this construction enables surgical end-effector 300 to rotate or do relative to axis closed tube 260 Joint motions.

As described above, when proximal joint motion drive 230 via clutch system 400 and firing member 220 operatively During engagement, firing member 220 can make proximal joint motion drive 230 proximally and/or move toward the far side.For example, percussion structure The proximal movement of part 220 can be such that proximal joint motion drive 230 proximally moves, and similarly, firing member 220 it is remote Lateral movement can move toward the far side proximal joint motion drive 230.The movement of proximal joint motion drive 230, no matter its For nearside or distal side, articulation lock 810 can be unlocked, as described in more detail below.As can be seen in fig. 9, for example, Slender axles assembly 200' includes axis frame 812, it prolongs jointly with the first distal joint movement driver 820 to a certain extent Stretch.First distal joint movement driver 820 is supported in Slender axles assembly 200', in response to being applied to pair thereon Answer joint motions control action and longitudinally selectively advance in distal direction " DD " and proximal direction " PD ".Axis frame 812 Including having the distal end portion 814 of downward projection of pivot pin (not shown) thereon, which is suitable for pivotally being connect It is contained in the pivot hole 328 in the proximal end part 320 for being formed at elongated passageway 302.See, for example, similar shown in Fig. 5 Construction.This construct contributes to the elongated passageway 302 of surgical end-effector 300 to surround the joint fortune limited by pivot hole 328 Shaft line B-B is pivoted relative to axis frame 812 and advanced.As described above, joint motions axis B-B is transverse to by Slender axles assembly 200 ' the axis axis SA-SA limited.

Referring again to Fig. 9, the first distal joint movement driver 820 may include first or distal side latch well 822 and second Or nearside latch well 824, wherein the first latch well 822 and the second latch well 824 can be separated by intermediate frame member 825.Close Section movement lock 810 may also include at least one first locking member being positioned at least partially in the first latch well 822 826, which is configured to suppress or prevents the first distal joint movement driver 820 Proximal movement.In the embodiment depicted in fig. 9, for example, be located in the first latch well 822 can be all with similar, parallel Mode act on and can collaboratively serve as three the first locking members 826 of single locking member.Imagination can utilize more In other embodiments of three or less than three the first locking members 826.Similarly, articulation lock 810 may also include by At least one second locking member 828 being positioned at least partially in the second latch well 824, at least one second locking member Part is configured to suppress or prevents the distal movement of the first distal joint movement driver 820.With regard to specific shown in Fig. 9 For embodiment, being located in the second latch well 824 all can be acted on and be able to can be cooperated in a manner of similar, parallel Serve as three the second locking members 828 of single locking member in ground.More than three or less than three second lockings can be utilized by contemplating Other embodiments of element 828.

Apart from the above, referring primarily to Fig. 9, each first locking member 826 is so as to sliding type is supported on frame On guide rail 830 and including locking tang 827.Each first locking member 826 has locking perforate (not shown) wherein, uses Passed through in receiving frame guide rail 830.Locking tang 827 may be provided in the first latch well 822, and lock perforate can Frame guide rail 830 with being installed to axis frame 812 slidably engages.First locking member 826 is not with vertical with frame guide rail 830 Straight arrangement orientation；On the contrary, the first locking member 826 is arranged with the non-perpendicular angle relative to frame guide rail 830 and alignment, So that the edge or side wall of locking perforate are engaged with frame guide rail 830.In addition, side wall and the frame guide rail 830 of locking perforate it Between interaction can produce resistance or frictional force between the two, the resistance or frictional force can inhibit the first locking member Relative motion between 826 and frame guide rail 830, and therefore resistance is applied to the first distal joint movement driver 820 Nearside thrust P.In other words, the first locking member 826 can prevent or suppress at least in part surgical end-effector 300 in arrow The side of first 821 instruction rotates up.If the direction of moment of torsion along arrow 821 is applied to end effector 300, nearside thrust P will be passed to distal joint movement driver 820.Nearside thrust P will only be used for supporting the first locking member 826 to lead with frame Being engaged by locking between rail 830.More specifically, nearside thrust P can be transferred to the tang 827 of the first locking member 826, this can lead Cause the first locking member 826 to rotate and reduce the angle that is limited between the first locking member 826 and frame guide rail 830, and Therefore the snap-in force between the side wall and frame guide rail 830 of enhancing locking perforate.Finally, the first locking member 826 can be by first The motion locking of distal joint movement driver 820 is in one direction.

Discharge the first locking member 826 and allow surgical end-effector 300 to be rotated with the direction that arrow 821 indicates, Proximal joint motion drive 230 can be proximally pulled so that the first locking member 826 is stretched or at least substantially straightened to Vertical or at least substantially vertical position.In this position, lock snap-in force between the side wall of perforate and frame guide rail 830 or Resistance can be adequately reduced or eliminate so that the first distal joint movement driver 820 can be moved proximally.Make the first lock Determine element 826 to stretch, proximal joint kinematic driving unit 230 can proximally be pulled so that proximal joint kinematic driving unit 230 distal arm 233 contacts the first locking member 826, and position is stretched so as to pull and rotate to it the first locking member 826 Put.In all cases, proximal joint motion drive 230 can be continued proximally to pull, until the proximal arm extended from it 235 contacts or the nearside driving wall 832 of adjacent first distal joint movement driver 820, and the distal joint movement is driven Device 820 proximally pulls, so that surgical end-effector 300 carries out joint motions.Substantially, proximal pulling force can proximally be closed Section motion drive 230 is driven the interaction between wall 832 to be applied to distal joint movement by proximal arm 235 and nearside and driven Dynamic device 820, wherein such pulling force can be transferred to end effector 300 by the first distal drive member 820, as will institute below State, so that the direction that end effector 300 is indicated along arrow 821 carries out joint motions.In surgical end-effector 300 along arrow , in all cases, can be by the first distal joint movement driver 820 after first 821 direction suitably carries out joint motions Release, to allow articulation lock 810 to lock the first distal joint movement driver 820 and surgical end-effector 300 again It is fixed in place.

Meanwhile referring again to Fig. 9, when the first locking member 826 is locked and unlocked as described above, the second locking member 828 can be retained in obliquity.It will be appreciate that although the second locking member 828 relative to axis rail 830 with angle position Arrangement and alignment, but the second locking member 828 is not structured to hinder or at least substantially hinders the first radioulnar joint to transport The proximal movement of dynamic driver 820.When the first distal joint movement driver 820 and articulation lock 810 are as described above towards near During Slideslip, in all cases, the second locking member 828 can be slided along frame guide rail 830 towards distal side, without changing or at least Not substantially change its angled alignment relative to frame guide rail 830.When the second locking member 828 allows the first radioulnar joint During the proximal movement of motion drive 820 and articulation lock 810, the second locking member 828 is configured to optionally The distal movement of the first distal joint movement driver 820 is prevented or at least suppresses, as discussed in more detail below.

Each second locking member 828 may include to lock perforate (not shown) and lock tang 829.Locking tang 829 can Be arranged in the second latch well 824, and lock perforate can be with being installed to the frame guide rail 830 of axis frame 812 slideably Engagement.Frame guide rail 830 extends through the perforate in the second locking member 828.Second locking member 828 is not oriented to and frame Frame guide rail 830 is arranged vertically；On the contrary, the second locking member 828 with the non-perpendicular angle arrangement relative to frame guide rail 830 and Alignment so that the edge or side wall for locking perforate are engaged with frame guide rail 830.In addition, the side wall and frame guide rail of locking perforate Interaction between 830 can produce resistance or frictional force therebetween, this can inhibit the second locking member 828 and is led with frame Relative motion between rail 830, so as to resist the distal force D for being applied to the first distal joint movement driver 820.In other words Say, the second locking member 828 can prevent or suppress at least in part surgical end-effector 300 in the direction that arrow 823 indicates Upper rotation.If the direction of moment of torsion along arrow 823 is applied to end effector 300, distal side pulling force D will be passed to first Distal joint movement driver 820.Distal side pulling force D only will be used for supporting between the second locking member 828 and frame guide rail 830 It is engaged by locking.More specifically, distal side pulling force D can be transferred to the tang 829 of the second locking member 828, this can cause the second locking Element 828 rotates and reduces the angle being limited between the second locking member 828 and frame guide rail 830, is opened so as to strengthen locking Snap-in force between the side wall and frame guide rail 830 in hole.Finally, the second locking member 828 can drive the first distal joint movement The motion locking of dynamic device 820 is in one direction.

Discharge the second locking member 828 and allow surgical end-effector 300 to be closed with the direction that arrow 823 indicates Section movement, can promote proximal joint kinematic driving unit 230 so that the second locking member 828 stretches or at least basic towards distal side On straighten to vertical or at least substantially vertical position.In this position, lock between the side wall of perforate and frame guide rail 830 Snap-in force or resistance can be sufficiently reduced or eliminate so that the first distal joint movement driver 820 can move toward the far side.Make Second locking member 828 stretches, and can promote proximal joint motion drive 230 towards distal side so that proximal joint movement driving The proximal arm 235 of device 230 contacts the second locking member 828, and position is stretched so as to promote and rotate to it the second locking member 828 Put.In all cases, proximal joint motion drive 230 can be continued to promote towards distal side, until the distal arm extended from it 233 contacts or the distal sides driving wall 833 of adjacent first distal joint movement driver 820, and by first distal joint movement Driver 820 is promoted towards distal side, so that surgical end-effector 300 carries out joint motions.Substantially, can be by distal side thrust near Lateral joint motion drive 230 is driven the interaction between wall 833 to be applied to the first distal side by distal arm 233 and distal side and closed Motion drive 820 is saved, wherein such thrust can be transmitted by the first distal joint movement driver 820, so that end performs The direction that device 300 is indicated along arrow 823 carries out joint motions.It is appropriate along the direction of arrow 823 in surgical end-effector 300 After ground carries out joint motions, in all cases, the first distal joint movement driver 820 can be discharged, to allow joint Movement lock 810 relocks the first distal joint movement driver 820 and surgical end-effector 300 in place.

Meanwhile when the second locking member 828 is locked and unlocked as described above, the first locking member 826, which can be retained in, to incline Loxosis is put.It will be appreciate that although the first locking member 826 is arranged and alignd with angle position relative to axis rail 830, First locking member 826 is not structured to hinder or at least substantially hinders the first distal joint movement driver 820 Distal movement.When the first distal joint movement driver 820 and articulation lock 810 are slided towards distal side as described above, each In the case of kind, the first locking member 826 can be slided along frame guide rail 830 towards distal side, without changing or not changing at least substantially Its relative to frame guide rail 830 angled alignment.When the first locking member 826 allows the first distal joint movement driver 820 and articulation lock 810 distal movement when, the first locking member 826 is configured to optionally prevent or at least Suppress the proximal movement of the first distal joint movement driver 820, it is as discussed above.

According to above, the articulation lock 810 being in the lock state is configured to the first distal joint movement of resistance The proximal movement and distal movement of driver 820.In terms of resistance, articulation lock 810 be configured to prevent or at least It is essentially prevented the proximal movement and distal movement of the first distal joint movement driver 820.Generally speaking, when the first locking member When part 826 is in its locking orientation, the proximal movement of the first distal joint movement driver 820 is supported by the first locking member 826 It is anti-, and when the second locking member 828 is in its locking orientation, the distal movement of the first distal joint movement driver 820 Resisted by the second locking member 828, as described above.In other words, the first locking member 826 includes the first one-way lock, and Two locking members 828 include the second one-way lock locked in opposite direction.

Exemplary with reference to shown in Fig. 9 and Figure 10 is discussed, at the beginning of proximal joint kinematic driving unit 230 Beginning proximal movement can unlock the proximal movement of the first distal joint movement driver 820 and articulation lock 810, and nearside closes The further proximal movement of section motion drive 230 can proximally drive the first distal joint movement driver 820 and joint Movement lock 810.Similarly, the initial distal movement of proximal joint motion drive 230 can unlock the drive of the first distal joint movement The distal movement of dynamic device 820 and articulation lock 810, and the further distal movement of proximal joint motion drive 230 can court Distal side drives the first distal joint movement driver 820 and articulation lock 810.With reference to a number of other exemplary of following discloses Embodiment discusses this universal.According to discussion presented above, it is contemplated that this kind of discussion is repeatability or big Body is cumulative, for simplicity, will not repeat this kind of discussion.

Referring still to Fig. 9 and Figure 10, two-joint isometric flexion connecting piece structure 800 is configured to close when by the first distal side When saving motion drive 820 to its application articulation force, " push/pull " construction is established.As can be seen from these figures, first is remote Lateral joint motion drive 820 has the first drive rack 842 formed therein.First joint motions bar 844 is distad stretched Go out the first distal joint movement driver 820 and be attached to the first movable connector 850, which passes through First globe joint 852 and be attached to the first distal joint movement driver 820.First connector 850 can also pass through first Pin 854 is pivotally pinned to the proximal end part 320 of elongated passageway 302, as can be seen in fig. 9.Two-joint isometric flexion Connecting piece structure 800 further includes the second distal joint movement driver 860, it is with the second drive rack formed therein 862.Second distal joint movement driver 860 is movably supported in Slender axles assembly 200', for along distal direction " DD " It is longitudinally travelled with proximal direction " PD ".Second joint moving lever 864 distad stretches out the second distal joint movement driver 860 simultaneously The second movable connector 870 is attached to, the second movable connector is remote to be attached to second by the second globe joint 872 Lateral joint motion drive 860.Second connector 870 can also be pivotally pinned to elongated passageway 302 by the second pin 874 Proximal end part 320, as can be seen in fig. 9.As can be seen in fig. 9, the first connector 850 is in axis axis Elongated passageway 302 is attached on a side of SA, and the second connector 870 is attached in the opposite sides of the axis axis Elongated passageway 302.Therefore, by pulling connector 850, one of 870 at the same time and promoting another in connector 850,870 Person, surgical end-effector 300 will carry out joint motions relative to Slender axles assembly 200' around joint motions axis B-B. In shown construction, although (the two respectively facilitates the first distal joint movement driver and the second radioulnar joint to connector 850,870 Relative motion between motion drive 820,860 and elongated passageway 302) be as made by the component of relative stiffness, but Other constructions can use the coupler configuration of opposite " flexibility ".For example, cable etc. can extend across distal joint movement driving Device 820,860, connector 850,870 and globe joint 852, one or both of 872, to be connected to elongated passageway, so that Joint motions action is promoted to be transmitted in this.

It can also be seen that nearside pinion-gearing 880 and distal side pinion-gearing 882 from Fig. 9 and Figure 10 It is centrally positioned between the first drive rack 842 and the second drive rack 862 and engages engagement.In alternative embodiment party In case, a pinion-gearing or more than two pinion-gearings can be used only.Therefore, use is at least one Pinion-gearing.Nearside pinion-gearing 880 and distal side pinion-gearing 882 are rotatably supported on axis To be rotated freely relative to it in frame 812 so that as the first distal joint movement driver 820 is transported along distal direction " DD " Dynamic, pinion-gearing 870,872 in proximal direction " PD " driving the second distal joint movement driver 860.Class As, when the first distal joint movement driver 820 along proximal direction " PD " when pulled, pinion-gearing 880, 882 drive the second distal joint movement driver 860 in distal direction " DD ".Therefore, in order to make end effector 300 along The direction of arrow 821 carries out joint motions around joint motions axis B-B, and articulation drive 230 is via clutch system 400 operationally engage with firing member 220 so that firing member 220 moves or pull nearside to close in proximal direction " PD " Save motion drive 230.The movement of proximal joint motion drive 230 along proximal direction also drives the first distal joint movement Device 820 is moved along proximal direction.When the first distal joint movement driver 820 is moved along proximal direction, pinion drive Device 880,882 is used to drive the second distal joint movement driver 860 in distal direction " DD ".First distal joint movement This movement of 820 and second distal joint movement driver 860 of driver causes surgical end-effector 300, more specifically The elongated passageway 302 of surgical end-effector 300 is said, around joint motions axis B-B in the joint motion direction of arrow 821 Pivot.On the contrary, in order to make end effector 300 arrow 823 direction carry out joint motions, actuating firing member 220 with The first distal joint movement driver 820 is promoted along distal direction " DD ".When the first distal joint movement driver 820 is along remote When side direction is moved, pinion-gearing 880,882 is used to drive the second distal joint movement to drive in proximal direction " PD " Dynamic device 860.This movement of first distal joint movement driver 820 and the second distal joint movement driver 860 causes outer The elongated passageway 302 of section's end effector 300, more particularly surgical end-effector 300, around joint motions axis B-B Pivoted in the joint motion direction of arrow 823.

Compared with other surgical end-effector configurations for being capable of joint motions, double solid connector joint motions constructions 800 and its modification larger range of joint motions can be provided for surgical end-effector.Specifically, it is disclosed herein solid Body connector joint motions construction can aid in the range of motion for achieving over 45-50 degree scopes, and 45-50 degree is usual The scope realized by other end effector configurations for being capable of joint motions.Using at least one pinion-gearing come Handing-over enables end effector to be " pushed " with " pulling " in place between distal joint movement driver, can also reduce Undesirable or unexpected amount of exercise is measured in " inclination " of end effector during use.Double solid connectors disclosed herein close Section kinematic configuration further includes the articulation system compared with other articulation systems construct with improved strength characteristics.

As briefly mentioned above, centre percussion shaft portion 222 is configured to can with distal incision or percussion beam 280 Operatively join.Distal side percussion beam 280 may include laminate structures.When surgical end-effector 300 surrounds joint motions axis B-B When carrying out joint motions, such construct can be such that distal side percussion beam 280 fully bends.Distal side percussion beam 280 is supported for It is axially moved in shaft assembly 200', and two by being formed in the proximal end of elongated passageway 302 upright lateral branch Support wall 330 slidingly supports.Referring to Figure 11, distal side percussion beam 280 is attached to firing member 900, which is included in There is the vertically extending fighting member body 902 of tissue cutting surface or blade 904 thereon.In addition, wedge-shaped slides 910 can In surgery nail bin 304, to drive the contact with firing member 900.Passing through warehouse towards distal side driving firing member 900 When 304, the wedge-shaped surface 912 in wedge-shaped slides 910 contacts staple drivers, is supported upwards in surgery nail bin 304 so as to activate Driver and surgical staples.

Using percussion beam or firing member and the end that joint motions can be carried out in the range of such as 45 degree Actuator can have many challenges to be overcome.Exercisable joint motions, percussion are carried out for the ease of this end effector Component or percussion beam must flexibly adapt to this range of motion enough.However, percussion beam or firing member must also be kept away Exempt to bend when running into compression percussion load.In order to provide extra support to percussion beam or firing member, develop Various " supports " or " blowout (blowout) " plate arrangement.In entitled " SURGICAL STAPLING INSTRUMENT The U.S. of HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING A FIRING BAR " is special 6,964,363 and entitled " SURGICAL STAPLING INSTRUMENT INCORPORATING AN of profit ELECTROACTIVE POLYMER ACTUATED FIRING BAR TRACK THROUGH AN ARTICULATION Some this arrangements, the respective complete disclosure of these patents are disclosed in the United States Patent (USP) 7,213,736 of JOINT " It is herein incorporated by reference.The blowout plate for providing abundant bending resistance is generally also difficult to bend, and which increase joint motions to connect The power that head system must adapt to.Other percussion beam support structures are in entitled " SURGICAL INSTRUMENTS WITH U.S. of ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS " Have disclosed in state's patent application serial number 14/575,117, the complete disclosure of the patent application is accordingly by reference It is incorporated herein.

Referring to Figure 11 to Figure 15, Slender axles assembly 200 ' further includes more support connector components 920, in surgical end Beam 280 is distad fired when actuator 300 is around joint motions axis B-B progress joint motions, and lateral support is provided.From Figure 11 In as can be seen that more support connector components 920 include middle support member 922, it is movably coupled to surgical end and performs Device 300 and Slender axles assembly 200'.For example, middle support member 922 is pivotally pinned to the proximal end of elongated passageway 302 Portion 320 so that it can surround pivot axis P A and be pivoted relative to the proximal end.As can be seen in Figure 11, centre branch Supportting component 922 includes the protuberance 923 of distad projection, has distal pivot hole 924 in the protuberance, is formed in for receiving Upright support pin 332 on the proximal end part 320 of elongated passageway 302.As in Figure 11 can it is further seen that as, it is middle Supporting member 922 is additionally included in the protuberance 926 of the wherein proximally projection with elongated proximal slot 928.Proximal slot 928 It is configured to slideably receive the intermediate supports pin 816 being formed on frame part 812.For example, such construct causes Middle support member 922 axially can be pivoted and moved relative to the Slender axles assembly 200'.As shown in Figure 11 to Figure 13, Middle support member 922 further includes the slit 930 being centrally located, for movably receiving the distal side passed through to fire beam 280.

It is support connector component 920 to further include nearside support connector 940 and distal side branch referring still to Figure 11 to Figure 15 more Support connector 950.Nearside support connector 940 includes elongated proximal body 942, which has the nearside of rounding Nose part 943 and the distal nose part 944 of rounding.Nearside support connector 940 further includes a pair of to the opposite of lower process Nearside supporting walls 945,946, this has defined therebetween proximal slot 947 to nearside supporting walls.Similarly, distal side support connection Part 950 includes elongated distal main body 952, which has the nearside nose part 953 of rounding and the distal side of rounding Nose part 954.Distal side support connector 950 further includes a pair of opposite distal support wall 955,956 to lower process, this is right Distal support wall has defined therebetween distal side slit 957.As can be seen in Figure 14, flexible distal fires beam 280 by structure Cause that the nearside supporting walls 945,946 of connector 940 and the distal support wall of distal side support connector 950 can be supported in nearside Extend between 955,956.Nearside supporting walls 945 include inward-facing nearside arcuate surfaces 948, and nearside supporting walls 946 wrap Inward-facing nearside arcuate support surfaces 949 are included, it is opposite with the inward-facing nearside arcuate surfaces 948.Nearside arch branch Support surface 948,949 and be used for the lateral parts with the portions of proximal of flexible distal percussion beam 280 in the joint of end effector Bend during movement and cross actuated articulation joints, lateral support is provided to the part.According to the direction of joint motions, Curved surfaces can match the outer radius of distal end percussion beam 280.Similarly, distal support wall 955 includes inward-facing distal side Arcuate surfaces 958, and distal support wall 956 includes inward-facing distal side arcuate support surfaces 959, itself and the distal side arch Surface 958 is opposite.Distal side arcuate support surfaces 958,959 are used for the lateral parts of the distal part with distal side percussion beam 280 Bend during the joint motions of surgical end-effector 300 and cross actuated articulation joints, side is provided to the part To support.According to the direction of joint motions, distal side arcuate surfaces 958,959 can match the outer radius of distal side percussion beam 280.Such as figure As can be seen in 12 and Figure 13, the distal end 217 of axle ridge 210 includes the arcuate ridge pit 218 towards distal side, nearside branch The rounding nearside nose part 943 of support connector 940 is extended in the pit.Nearside supports the rounding distal side nose of connector 940 Portion part 944 is pivotally received in the arch nearside pit 932 in middle support member 922.In addition, distal side support connection The rounding nearside nose part 953 of part is received within the arch distal side supporting member in the distal end of middle support member 922 In pit 934.The rounding distal nose part 954 of distal side support connector 950, which is movably received in, is formed at elongated passageway In V-arrangement channel lumens 334 in the upright lateral supporting walls 330 formed in 302 proximal end 320.

When beam is being bent on higher articulation angle, more support link components can be flexible percussion beam laminates Higher lateral support is provided.Such construct also prevents percussion beam from being fired in height under load and in of a relatively high joint motions Flexing under angle.With the elongated support connector that middle support member is connected compared with the support structure of many prior arts, The improved lateral support to firing beam is provided on whole joint motions region.In alternative configuration, support connector can It is configured to various articulation angles and the actual interlocking of middle support member.U-shaped support connector is easy to pacify easily Dress, and for providing support to flexible support beam in each side and the top of beam, to prevent percussion beam during percussion Be bent upwards while joint motions.

In those embodiments that firing member includes tissue cutting surface, it is generally desirable to which Slender axles assembly can be by Mode constructed：Unless unspent nail bin is correctly supported on the elongated passageway 302 of surgical end-effector 300 In, otherwise prevent firing member from surprisingly promoting.Distad to be pushed into and wear for example, if there are nail bin and firing member End effector is crossed, then tissue will be cut off, but be not pinned.Similarly, it is finished if existed in the end effector Nail bin (that is, wherein at least some follow closely from the nail bin wherein fired), and firing member is pushed into, then tissue will be cut It is disconnected, but may not exclusively be pinned.It should be appreciated that such case may cause undesirable calamitous knot in surgical procedure Fruit.Entitled " United States Patent (USP) 6 of STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT ", 988,649th, entitled " SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM The United States Patent (USP) 7 of FOR PREVENTION OF FIRING ", 044,352, and entitled " SURGICAL STAPLING The U.S. of INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING " Patent 7,380,695 each discloses various firing member locking constructions.Each of these United States Patent (USP)s are with reference side Formula is incorporated by herein.

This locking construction can be effectively used together with various surgery suturing appliances.However, these constructions may be simultaneously It is not particularly suited for the various surgery suturing appliance knots with employing relative compact and short actuated articulation joints configuration in being disclosed herein Close and use.For example, Figure 15 to Figure 19 is shown is operably attached to Slender axles assembly 200' by actuated articulation joints 270' Surgical end-effector 300.Slender axles assembly 200' limits axis axis SA-SA, and actuated articulation joints 270' is conducive to Surgical end-effector 300 surrounds and the joint motions axis B-B transverse to axis axis SA-SA relative to Slender axles assembly 200' Selective joint motions.In the illustrated embodiment, double solid connector joint motions can be used to construct 800 (as above institutes State) optionally joint motions are applied to surgical end-effector 300.Slender axles assembly 200' includes the remote of the above-mentioned type Beam 280 is sent out in flank attack, it is when being applied in percussion movement optionally in surgical end-effector 300 from initial position to knot Beam position is axially moved.Distal side percussion beam 280 extends through actuated articulation joints 270', and is configured to surround joint Axis of movement B-B is bent, by adapt to surgical end-effector 300 by it is as described herein it is various in a manner of the joint motions that are carried out. In the illustrated embodiment, actuated articulation joints 270' includes middle support member 922, which is movably attached To the distal end 814 of axis frame 812 and the proximal end 320 of elongated passageway 302.As described above, middle support member 922 is wrapped The tab 923 of distad projection is included, there is distal pivot hole 924 in the tab, the near of elongated passageway 302 is formed in for receiving Upright support pin 332 on end part 320.Middle support member 922, which is additionally included in, wherein has elongated proximal slot 928 Proximally projection tab 926.Proximal slot 928 is configured to slideably receive and is formed on frame part 812 Intermediate supports pin 816.Middle support member 922 further includes the slit 930 being centrally located, and is passed through for axially receiving Distal side percussion beam 280.Middle support member 922 carries out joint in surgical end-effector 300 around joint motions axis B-B Lateral support is provided to distal side percussion beam 280 during movement, while promotes it to fire beam axially through distal side during percussion 280。

In the illustrated embodiment, prevent distal side from firing beam 280 from initial position quilt using percussion beam locked component 980 Inadvertently be advanced to end position, unless the surgery nail bin 304 not fired be operably disposed in nail bin supporting member or In elongated passageway 302.Can be seen that a form of percussion beam locked component 980 from Figure 15 to Figure 19 includes being formed at distal side Fire the locking cam or positioner 281 in beam 280 so that the upper surface of vice versa projects upwards.Biasing member 984 It is supported in middle support member 922 and is attached to the middle support member.As can be seen from Figure 16, for example, bias structure Part 984 is substantially planar and including window 985, which is configured to carry out in surgical end-effector 300 Locking cam 281 is adapted to wherein during joint motions.Therefore, when surgical end-effector 300 surrounds joint motions axis When B-B carries out joint motions, biasing member 984 will not distad start beam 280 and apply any biasing force or load.This feature can To avoid the amount for making articulation force that surgical end-effector 300 must produce around joint motions axis B-B joint motions Increase.Biasing member 984 can be spot-welded in middle support member 922, or such as passes through spiral shell by other fastening methods Nail, pin, adhesive etc. are attached in the middle support member.Window 985 can also limit locking strip or part 986, its Distal side percussion beam 280 contacts locking cam 281 when being in initial position.Locking cam 281 could be formed with inclining towards distal side Skewed surface 283 and the inclined surface 285 towards nearside, to reduce the percussion force being axially moved needed for distal side percussion beam 280 and return The amount of contracting power.Referring to Figure 19.

As described above, distal side percussion beam 280 is operably attached to firing member 900, which includes percussion structure Tissue cutting surface 904 in part main body 902.In alternative construction, tissue cutting surface could attach to or in other ways It is formed in a part for distal side percussion beam 280 or is directly supported by it.In illustrated configuration, in fighting member body 902 The leg 905 being formed a laterally extending on bottom.Fighting member body 902 further includes wedge-shaped slides engagement member 906, its quilt The wedge-shaped slides being constructed to be permeable in engagement surgery nail bin 304, as that will discuss in further detail below.

Figure 18 shows " being not run out " or " not firing " surgery nail bin being properly mounted in elongated passageway 302 304.As can see in the figure, wedge-shaped slides 910 are located at " not firing " (recent side) position of surgery nail bin 304. Wedge-shaped slides 910 include the inclined surface 914 towards nearside, which is configured to engagement firing member 900 On wedge-shaped slides engagement member 906, so that firing member 900 be biased along the upward direction that is represented by arrow 988 so that The base section and leg 905 of firing member 900 are freely removed by by the lock opening 303 in 302 bottom of elongated passageway The latch wall 307 formed.When at that position, distal side percussion beam 280 and firing member 900 can be in elongated passageways 302 Inside distally advance, more precisely, surgery nail bin 304 installed therein is distally advanced from the initial position shown in Figure 18 Into surgery nail bin 304, wedge-shaped slides 910 project all surgical staples being operatively supported in surgery nail bin 304 End position.In such construct, in firing member 900 by complete percussion (that is, in surgery nail bin 304 from it Beginning, position was fully advanced into end position) after, firing member 900 is retracted back into the initial position shown in Figure 19.Because wedge Shape sliding part 910 has been advanced distally into the end position in nail bin 304 via firing member 900, and firing member 900 is not Wedge-shaped slides 910 are attached to, so when firing member 900 is retracted into initial position, wedge-shaped slides 910 are maintained at surgery End position in nail bin 304, and initial position is returned to not together with firing member 900.Therefore, 304 quilt of surgery nail bin Referred to as in " through using ", " using up " or " percussion " state.As can be seen in Figure 19, at no wedge-shaped slides When non-cock, applied since the locking strip 986 by biasing member 984 distad fires the locking cam 281 on beam 280 The bias movement added, the bottom of main part 902 and the leg 905 of firing member 900 are extended in 302 bottom of elongated passageway Lock opening 303 in.When at that position, if clinician inadvertently attempts to fire the surgical staples used up again Storehouse, then the wall 307 that main part 902 and/or leg 905 will be contacted in elongated passageway 302, and will be prevented from from initial position Move to end position.Therefore, unless do not fire or unexhausted surgery nail bin correctly/be operably mounted at surgery end In the elongated passageway of portion's actuator, distal side percussion beam 280 and firing member 900 can be prevented by otherwise firing beam locked component 980 End position is advanced to from initial position.It is also understood that when there is no nail bin to be installed in elongated passageway 302 completely, percussion Beam locked component 980 prevents the propulsion of distal side percussion beam 280.Except distad not firing the feelings of beam application additional load (increase articulation force may be resulted in the need for make surgical end-effector carry out joint motions by applying load) adapts to outer under condition Section's end effector 300 is outside the joint motions of joint motions axis B-B, once fire the warp-wise of beam locked component 980 Distal side is advanced through latch wall (no matter end effector jaw is opening or closing), which would not be Apply additional load on firing member and/or distal side percussion beam.

Figure 20 A show another surgical end-effector embodiment 300 ' for being capable of joint motions, it is used including peace The percussion beam locked component 980' of biasing member 984' in end effector closure casing 272.As in the figure can be with See, for example, biasing force is applied to inclination or the conical section 283' of distal end percussion beam 280' by biasing member 984'. Percussion wave beam lock set 980' above for the same way described in percussion beam lock set 980 with being operated.More specifically Say, biasing force is applied to distal side percussion beam 280' by biasing member 984', forces distal side percussion beam 280' and firing member thin It is attached downwards in long-channel.Unless project the unexhausted of device component with the wedge-shaped slides in non-firing position or other nails Surgery nail bin be correctly mounted in elongated passageway or nail bin supporting member, so as to be operatively engaged firing member or Percussion beam departs from engagement with latch wall so as to move firing member/percussion beam, otherwise firing member/percussion beam will be prevented from from Initial position is axially advanced to end position.

In addition to each species diversity discussed in further detail below, Figure 21 to Figure 25 is shown and above-mentioned Slender axles assembly A part for 200 similar another Slender axles assemblies 1200.In those portions of the Slender axles assembly 1200 discussed in detail above Part represents with similar element numbers, and for simplicity, except for understanding that the operation of shaft assembly 1200 may have If necessary, such as described above when some parts of operating theater instruments 10 are used together, will not be discussed in further detail.Such as figure As can be seen in 21, Slender axles assembly 1200 includes articulation lock 1810, which is substantially similar to pass Section movement lock 810, and operated in essentially the same way.As can be seen in Figure 22, Slender axles assembly 1200 include the axis frame 1812 with proximal chamber 1815, which is configured to drive the first distal joint movement The portions of proximal 1821 of device 1820 is movably supported in wherein.First distal joint movement driver 1820 is movably supported in In Slender axles assembly 1200, in response to the joint motions control action being applied thereto and in distal direction " DD " and nearside Longitudinally selectively advance on direction " PD ".Axis frame 1812 further includes the distal end portion thereon formed with pivot pin 1818 1814.Pivot pin 1818 is suitable for the proximal end portion for being pivotally received in the elongated passageway 1302 of surgical end-effector 1300 Divide in 1320 pivot hole (not shown).This construction is surrounded by pivot hole easy to elongated passageway 1302 relative to axis frame 1812 The pivot of the joint motions axis BB limited with pin 1818 advances (that is, joint motions).Axis frame 1812, which further includes, to be centrally located Chamber 1817, and the distal side recess 1819 between distally located end 1814 and the chamber being centrally located 1817.

Shaft assembly 1200 further includes the second distal joint movement driver 1860, it includes being rotatably journaled near Annular construction member 1862 on side roller 1840 and distal side pulley 1340.Referring still to Figure 22, the 1840 rotatable earth's axis of nearside pulley Neck is connected in pulley mandrel 1842, which is installed on and is centrally located in the chamber 1817 in axis frame 1812.Distal side Pulley 1340 non-rotatably supports or is formed in the proximal end 1320 of the elongated passageway 1302 of surgical end-effector 1300 On.In one form, annular construction member 1862 includes the cable made of by stainless steel, tungsten, aluminium, titanium.Cable can be Braiding or multiply structure, have the strand of varying number to obtain the tensile strength of aspiration level and pliability.For example, various In construction, cable 2382 can have in the range of 0.03 inch to 0.08 inch, and more preferably at 0.05 inch extremely Diameter in the range of 0.08 inch.Preferable cable can be for example made of 300 series stainless steels-and semihard is to fully hard.For example, In various constructions, cable can also be coated with for exampleCopper etc. is stretched with improving lubricity and/or reducing.First ear Shape thing 1863 is attached to one end of cable, and the second lug 1864 is attached to the other end of cable for example, by curling.Cable exists It is tensioned under stressing conditions, and end and/or lug 1863,1864 are soldered, bond, being mechanically fixed, to form annular Component 1862.Mandrel 1842 may include to engage the cam mounting base so as to proximal motion pulley 1840 with nearside pulley 1840. The tensioning of other forms, which constructs belt stress, thread construction etc., can be used for tensioning annular construction member 1862.

Referring still to Figure 22, annular construction member 1862 is connected to the first distal joint movement by coupler assembly 1830 and drives The distal end 1821 of device 1820.Coupler assembly 1830 includes being formed in the distal side of the first distal joint movement driver 1820 Upper connector part 1832 on end 1822, and lower link device part 1834.Lower link device part 1834 is formed with two Stent 1835, the two stents are configured to receive lug 1862,1864 wherein.A pair of of attachment pin 1836 is constructed Into in the hole 1837 that can be pressed into upper connector part 1832, two connector parts 1832 and 1834 are attached in one Rise.Other securing members constructions, screw, rivet, adhesive etc. can also be used.When 1862 axle journal of annular construction member is connected to pulley When on 1840 and 1340, coupler assembly 1830 in response to the first distal joint movement driver 1820 axial movement, and from By being axially moved in distal side recess 1819 of the ground in axis frame 1812.By the axial direction of the first distal joint movement driver 1820 The joint motions produced are moved, are sent to the second distal joint movement driver 1860 or annular construction member 1862.It is attached ball Or lug 1866 is attached to annular construction member 1862 and is received within the groove being formed in distal side pulley 1340 or pit 1342 In.Therefore, the movement of annular construction member 1862 is passed to surgical end-effector 1300, more particularly, is delivered to surgery end The elongated passageway 1302 of portion's actuator 1300, so that end effector carries out joint motions around joint motions axis B-B.Cause This, when the first distal joint movement driver 1820 is moved along distal direction " DD ", annular construction member 1862 is so that surgical end Actuator 1300 carries out joint motions around joint motions axis B-B in the joint motion direction represented by arrow 823.Referring to Figure 21.Similarly, when the first distal joint movement driver 1820 is moved along proximal direction " PD ", annular construction member 1862 causes Surgical end-effector 1300 carries out joint around joint motions axis B-B in the joint motion direction represented by arrow 821 Movement.Referring to Figure 21 and Figure 25.As shown in figure 21, joint motion direction 823 is opposite with joint motion direction 821.

In addition to each species diversity discussed in further detail below, Figure 26 to Figure 31 is shown and above-mentioned Slender axles assembly The some parts of 200 similar another Slender axles assemblies 2200.The Slender axles assembly 2200 discussed in detail above those Component represents with similar element numbers, and for simplicity, except the operation for understanding Slender axles assembly 2200 It may be necessary to when, such as will not further be begged in detail when some parts of operating theater instruments 10 are used together as described above By.As in Figure 26 it can be seen that as, Slender axles assembly 2200 include the nearside shell that is made of nozzle segment 202 and 203 or Nozzle 201.Slender axles assembly 2200 further includes the anvil actuator component in 2260 form of closed tube, its can be used for closure and/ Or open the anvil block 2310 for the surgical end-effector for being operably attached to surgical end-effector 2300.As can in Figure 26 As seeing, Slender axles assembly 2200 includes proximal spine 2210, which is configured to and articulation lock 2350 Operatively interface with.Proximal spine 2210 is configured to：First, slidingly support firing member 2220 therein；Second, Slidingly support the closed tube 2260 extended around proximal spine 2210.Proximal spine 2210 can also support nearside in sliding manner Articulation drive 2230.Proximal joint motion drive 2230 has distal end 2231, which is configured to Articulation lock 2350 can be operatively engaged.

In shown construction, proximal spine 2210 includes the proximal end 2211 being pivotally supported in base 240. In one kind constructs, for example, the proximal end 2211 of proximal spine 2210 has the screw thread 2214 being formed on, will pass through spiral shell Line is attached to the ridge bearing for being configured to be supported in base 240.This be configured with is beneficial to that proximal spine 2210 can be revolved It is attached to base 240 with turning so that proximal spine 2210 can optionally be rotated relative to base 240 around axis axis SA-SA. As described in detail above, the proximal end of sealed tube 2260 is attached to the closure spindle moving part supported in base.Work as slender axles When component 2200 is operably linked to the shank or shell of operating theater instruments 10, the operation of closure trigger, which can distally advance, closes Close pipe 2260.

Similarly, as described above, Slender axles assembly 2200 further includes firing member 2220, which is supported to Axially advance in proximal spine 2210.Firing member 2220 includes being configured for being attached to distal incision or percussion beam assembly Percussion shaft portion 2222 among 2280.Referring to Figure 27.Centre percussion shaft portion 2222 may include in its distal end by structure Cause to receive the longitudinal slit 2223 of the tab in the proximal end of distal side percussion beam assembly 2280.2223 He of longitudinal slit The proximal end of distal side percussion beam assembly 2280 can be dimensioned and configured to enable to it to allow the phase between them To moving and may include slip joint.Slip joint allows the middle percussion shaft portion 2222 of percussion driver 2220 to move Into making end effector 300 carry out joint motions, without moving or not moving at least substantially distal side percussion beam assembly 2280.One Denier surgical end-effector 2300 has been properly oriented, then middle percussion shaft portion 2222 can be promoted towards distal side, until longitudinal direction is narrow The proximal sidewall of groove 2223 is in contact with tab, to promote distal side percussion beam assembly 2280 and fighting end actuator The nail bin supported in 300.Proximal spine 2210 is also connected to distal spine 2212.

Similar to Slender axles assembly 200, shown Slender axles assembly 2200 includes clutch pack 2400, the clutch pack It is configured to that proximal joint motion drive 2230 selectively and releasably is connected to firing member 2220. In a kind of form, clutch pack 2400 includes the locking lining ring positioned around firing member 2220 or locking casing 2402, its Middle locking casing 2402 can rotate between bonding station and disengaging configuration, and in the bonding station, locking casing 2402 is nearly Lateral joint motion drive 2230 is connected to firing member 2220, in the disengaging configuration, proximal joint motion drive 2230 It is not operably linked to firing member 2220.When locking casing 2402 is in its bonding station, firing member 2220 Distal movement can move toward the far side proximal joint motion drive 2230, and correspondingly, the proximal movement of firing member 2220 can Proximal joint motion drive 2230 is set proximally to move.When locking casing 2402 is in its disengaging configuration, firing member 2220 movement is not delivered to proximal joint motion drive 2230, and therefore, firing member 2220 can be transported independently of proximal joint Dynamic driver 2230 moves.In all cases, when firing member 2220 does not make proximal joint motion drive 2230 near When being moved in side or distal direction, proximal joint motion drive 2230 can be held in place by articulation lock 2350.

As described above, locking casing 2402 may include cylindrical or at least substantially cylindrical main body, which includes Be defined in wherein, be configured to receive firing member 2220 longitudinal perforate 2403.Locking casing 2402 may include along straight Footpath is opposite, faces interior locking projection 2404 and the locking component 2406 faced outwardly.Locking projection 2404 is configured to It is enough to be selectively engaged with firing member 2220.More particularly, when locking casing 2402 is in its bonding station, locking is prominent Play 2404 to be positioned in the driving recess 2224 being defined in firing member 2220 so that distal side thrust and/or nearside thrust Locking casing 2402 can be transferred to from firing member 2220.When locking casing 2402 is in its bonding station, the second locking structure Part 2406 is received within the driving recess 2232 limited in articulation drive 2230 so that is applied to locking casing 2402 Distal side thrust and/or proximal pulling force can be delivered to proximal joint motion drive 2230.In fact, at locking casing 2402 When its bonding station, firing member 2220, locking casing 2402 and proximal joint motion drive 2230 will move together.Separately On the one hand, when lock casing 2402 be in its disengaging configuration when, locking projection 2404 can delocalization firing member 2220 drive In dynamic recess 2224；And therefore, distal side thrust and/or nearside thrust can not be transferred to locking casing from firing member 2220 2402.Correspondingly, distal side thrust and/or proximal pulling force can be not passed to proximal joint motion drive 2230.In such feelings Under condition, firing member 2220 can be relative to locking casing 2402 and proximal joint motion drive 2230 proximally and/or towards remote Slideslip.

Similarly, as described above, Slender axles assembly 2200 may also include the switching being rotatably received in closed tube 2260 Cylinder 2500.Switching cylinder 2500 includes hollow shaft part 2502, which has the crown of roll platform 2504 being formed on, for Outwardly protruding actuating pin 2410 is received wherein.In all cases, actuating pin 2410 extends through slit into setting Longitudinal slit in casing 2402 is locked, with lock casing 2402 engaged with articulation drive 2230 when, beneficial to this Locking casing axially moves.Rotation torsional spring 2420 is configured to outside the boss 2504 and nozzle on engagement switching cylinder 2500 A part for shell 203, switching cylinder 2500 is applied to by biasing force.Switching cylinder 2500, which may also include, is defined at least portion therein Divide peripheral openings 2506, the opening is configured to receive the periphery mounting base extended from nozzle half 202,203, and Allow to switch rotating against between cylinder 2500 and nearside nozzle 201 rather than relative translation.As described above, switching cylinder 2500 Rotation most causes to activate pin 2410 and locks rotation of the casing 2402 between its bonding station and disengaging configuration at last.Therefore, Substantially, nozzle 201 can be used for it is above-mentioned and in U.S. Patent Application Serial Number 13/803,086 (now for U.S. Patent application Modes various in greater detail operate joint motion drive system and percussion drive system in announcing 2014/0263541) Ground is engaged and disengaged from.

Referring to Figure 27, closure tube assembly 2260 includes double pivot closure sleeve assembly 2271.According to various forms, double pivots Closing sheath assembly 2271 includes closing casing 2272 with the upper tang protruded towards distal side and the end effector of lower tang.On Portion's double pivot links 2277 include the distal pivot pin and proximal pivot pin projected upwards, these pivot pins engage closure respectively Top nearside in top distal side pin hole in proximally prominent upper tang on pipe 2260 and the upper tang protruded towards distal side Pin hole.Lower double pivot link 2278 includes the distal pivot pin and proximal pivot pin projected upwards, these pivot pins difference Engage the lower part nearside pin hole in the lower distal pin hole in proximally prominent lower tang and the lower tang protruded towards distal side.

Slender axles assembly 2200 further includes the surgical end-effector of surgical end-effector 300 similarly as described above 2300.As can be seen in Figure 27, surgical end-effector 2300 includes being configured to operable twelve Earthly Branches wherein Support the elongated passageway 2302 of surgery nail bin 2304.Elongated passageway 2302 has the proximal end portion for including two upstanding sidewalls 2322 Divide 2320.Surgical end-effector 2300 further includes anvil block 2310, which has anvil body 2312, which has The nail shaped bottom 2313 being formed on.The proximal end 2314 of anvil body 2312 is divided to for two by firing member slit 2315 Part, to form two anvil block attachment arms 2316.Each anvil block attachment arm 2316 includes the anvil trunion 2317 of lateral protrusion.Ear Axis slit 2324 is arranged in each side wall 2322 of elongated passageway 2302, for corresponding one in anvil trunion 2317 to be connect It is contained in wherein.It is this to be configured to anvil block 2310 being movably attached to elongated passageway 2302, with open position and closure position Put or clamped position between optionally pivot advance.By the way that closed tube 2260 is promoted towards distal side, and more specifically, will cone End effector on shape attachment arm 2316 closes sleeve 2272 and is promoted towards distal side, this causes anvil block 2310 being pivoted to closure position Moved toward the far side while putting, thus anvil block 2310 moves to closing position.It is provided with end effector closure sleeve 2272 Horseshoe aperture 2273, the horseshoe aperture are configured to upright prominent on the anvil block 2310 of engagement end portion actuator 2300 Piece 2318.To open the anvil 2310, closed tube 2260, and more specifically, end effector is closed into sleeve 2272 along near Side direction is moved.In this way, cooperated by the central tab portion that horseshoe aperture 2273 limits with the tab 2318 on anvil block 2310 So that anvil block 2310 is pivoted back to open position.

Figure 26,28 and 29 are gone to, as described above, Slender axles assembly 2200 includes being substantially similar to above-mentioned joint motions The articulation lock 2350 of lock 350 and 810.Articulation lock 2350 be different from articulation lock 350 and for understand close Component necessary to the operation of section movement lock 350 will be discussed in further detail below.As described above, articulation lock 2350 can It is configured to and operates optionally locks end effector 2300 in place.When articulation lock 2350 is in its solution During lock status, this construction enables surgical end-effector 2300 that joint motions are rotated or done relative to axis closed tube 2260. When proximal joint motion drive 2230 is operatively engaged via clutch system 2400 with firing member 2220, except it is above-mentioned it Outside, firing member 2220 can make proximal joint motion drive 2230 proximally and/or move toward the far side.Proximal joint movement is driven The movement of dynamic device 2230, no matter it is nearside or distal side, can unlock articulation lock 2350, as described above.The embodiment bag Include the nearside lock adapter component 2360 being movably supported between proximal spine 2210 and distal spine 2212.Nearside lock adapter 2360 include being used for the latch well 2362 for receiving the first locking member 2364 and the second locking member 2366 wherein, the first locking Element and the connection of the second locking member axle journal are the frame guide rail extended between near-side frame 2210 and distal frame 2212 On 2368.Articulation lock 2350 by it is above-mentioned it is various in a manner of operate, it is and for simplicity, no longer discussed further herein.

Nearside lock adapter is attached to as can be seen that the first distal joint movement driver 2370 in Figure 26,28 and 29 2360.First distal joint movement driver 2370 is operably attached to the second distal joint movement driver 2380, this Two distal joint movement drivers operationally join with the elongated passageway 2302 of end effector 2300.Second radioulnar joint is transported Dynamic driver 2380 includes the cable 2382 being rotatably journaled on nearside pulley 2383 and distal side pulley 2392.Distal side Pulley 2392 is non-rotatably supported in or is integrally formed in end effector mounting assembly 2390, and including positioner Or pit 2396.In an illustrated embodiment, end effector mounting assembly 2390 is immovably attached by spring catch 2393 To the proximal end 2320 of elongated passageway 2302, which extends through hole in end effector mounting assembly 2390 and thin Hole 2394 in the proximal end 2320 of long-channel 2302.Nearside pulley 2383 is pivotally supported on distal spine 2212.Far The distal end of lateral ridge 2212 has pivot pin 2213 formed thereon, which is configured to rotatably be connect It is contained in the pivot hole 2395 being formed in end effector installation component 2390.This construction is opposite easy to elongated passageway 2302 Pivot traveling (that is, the joint fortune of the joint motions axis BB limited by pivot hole 2395 and pin 2213 is surrounded in distal spine 2212 It is dynamic).

In one form, cable 2382 can be by being made such as stainless steel, tungsten, aluminium, titanium.Cable can be braiding or Multiply structure, has the strand of varying number to obtain the tensile strength of aspiration level and pliability.For example, in various constructions In, cable 2382 can have in the range of 0.03 inch to 0.08 inch, and more preferably at 0.05 inch to 0.08 Diameter in the range of inch.Preferable cable can be for example made of 300 series stainless steels-and semihard is to fully hard.For example, each In kind construction, cable can also be coated with for exampleCopper etc. is stretched with improving lubricity and/or reducing.In the reality of diagram Apply in example, cable 2382 has the lug 2384 for being attached to one end thereof and is attached to its another end for example, by crimping The lug 2385 in portion.First distal joint movement driver 2370 includes a pair of spaced apart clamping plate 2372,2374, they that This interval is sufficiently large to adapt to lug 2384,2385 therebetween.For example, nearside clamping plate 2372 includes being used to receive cable The proximal slot 2373 of a part for 2382 neighbouring lug 2384, and distal side clamping plate 2374 includes being used to receive cable The distal side slit 2375 of the appropriate section of 2382 neighbouring lug 2385.Slit 2373 and 2375 is respectively relative to lug 2384,2385 set size, to prevent lug 2384,2385 from extending there through.Compared with distal side slit 2375, proximal slot 2375 are orientated at a certain angle, to hold on to the corresponding part of cable 2382 therein.Referring to Figure 30.It is attached ball or ear Thing 2398 is attached to annular construction member 2382 and is received within the positioner being formed in distal side pulley 2392 or pit 2396. Referring to Figure 31.Therefore, when the first distal joint movement driver 2370 is along proximal direction " PD " axial retraction, with above-mentioned side Formula, annular construction member 2382 will make direction of the end effector 2300 along Figure 31 shown in arrow 2376 carry out joint motions.On the contrary, When the first distal joint movement driver 2370 is axially promoted along distal direction " DD ", surgical end-effector 2300 is along Figure 31 Direction shown in middle arrow 2399 carries out joint motions.In addition, nearside clamping plate 2372 and distal side clamping plate 2374 are spaced sufficiently apart, with Just lug 2384,2385 is adapted to therebetween.Tensioning wedge 2378 is used as Figure 29 to Figure 32, to be applied to cable 2382 Fill up enough tension force so that when cable is activated, it will apply joint motions to end effector 2300.Shown in Figure 35 In alternative configuration, nearside clamping plate 2374' is initially not attached to the first articulation drive 2370.Nearside clamping plate 2374' is determined Position is on the first distal joint movement driver 2370, to capture the ear between distal side clamping plate 2372 and nearside clamping plate 2374' Shape thing 2384 and 2385.Nearside clamping plate 2374' is moved towards distal side clamping plate 2372, until producing enough in cable 2382 Power, then nearside clamping plate 2374' be attached to the first distal joint movement driver 2370.For example, nearside clamping plate 2374' can pass through The attachment arrangement or securing members construction of laser welding or other suitable forms are attached to the first distal joint movement driver 2370.

Referring to Figure 36 to Figure 39, which includes such as center percussion beam supporting member 2286, center percussion beam Supporting member is configured to extend through actuated articulation joints to provide support to flexibility percussion beam assembly 2280.In one kind In form, center percussion beam supporting member 2286 includes flexible board member or band, and including being attached to surgical end-effector Downward projection of distal side attachment tabs 2287 and be attached to the proximal end part 2288 upwardly extended of Slender axles assembly. In at least one construction, distal side attachment tabs 2287 are attached to end effector mounting assembly 2390 by spring catch 2393, and And proximal end part 2288 is pinned to distal spine 2212 by pin (not shown).Center fires beam supporting member 2286 along dressing The center line or axis axis location put, and for providing support during joint movement for percussion beam.This, which is different from using, " blows Go out " those constructions of plate or lateral support plate, in those constructions, these lateral support plates positioned at the side of percussion beam, and by This off-axis axis, increases their drawing forces and compression stress experienced in joint motions process.In the example shown, Can the flexible percussion beam assembly 2280 of lengthwise movement include lamination girder construction, which includes at least two beam layers, its In at least one beam layer be configured to a side of adjacent central percussion beam supporting member pass through it is and at least one another Another side that one beam is configured to adjacent central percussion beam supporting member passes through.In the example shown, Each side that two laminate layers 2282 and 2284 are configured to neighbouring flexible tension bearing carrier passes through.See, for example, figure 35 and Figure 36.In various embodiments, laminate layers 2282 and 2284 may include such as stainless steel band, these stainless steel bands pass through Such as it is together interconnected amongst one another in the welding of its proximal end or pin joint, while their own distal end is not attached to together To allow layered product or band to be opened relative to each other when end effector does joint motions.Per a pair of laminate layers or band 2282,2284 are represented as the lateral percussion band component 2285 of percussion beam assembly 2280.Therefore, as shown in figure 36, one it is lateral Percussion is supported on component 2285 on each side of central joint motions rod 2286, passes through a series of side loads to realize Bearing carrier 2290 is axially advanced relative to it.Each lateral load bearing carrier 2290 can be by such as stainless steel, aluminium, titanium, liquid Crystalline polymer material, plastic material, nylon, acronitrile-butadiene-styrene (ABS), polyethylene etc. are made, and formed with opposite Arcuate end 2292.Each lateral load bearing carrier 2290 also has the axial passageway 2294 extended through from it, to connect Receive and laterally fire the component with component 2285 and central joint motions rod 2286.Such as can most specifically see in Figure 38 that Sample, each axial passageway are limited by two opposite arcuate surfaces 2295, the two arcuate surfaces 2295 are held easy to side load Mount components 290 can be on the flexible percussion beam assembly 2280 of lengthwise movement movement.Lateral load bearing carrier 2290 is in series It is arranged on lateral percussion band component 2285 and central joint motions rod 2286 so that opposite arcuate end 2292 abuts adjacent The correspondence arcuate end 2292 of lateral load bearing carrier 2290.See, for example, Figure 36 and Figure 37.

Referring again to Figure 37, it can be seen that the central joint motions rod 2286 of proximal end part 2288 extend downwardly with It is attached to distal spine 2212.For example, the distal end 2287 of percussion beam assembly 2280 is attached to the percussion of the above-mentioned type and construction Component 2900.As in this view, it may be seen that firing member 2900 includes having hanging down for tissue cutting surface or blade 2904 on it The fighting member body 2902 directly extended.In addition, wedge-shaped slides 2910 can be installed in surgery nail bin 2304, to drive and hit Send out the contact of component 2900.When driving firing member 2900 by warehouse 2304 towards distal side, the wedge shape of wedge-shaped slides 2910 Surface 2912 contacts staple drivers, so that upward actuator and the surgical staples being supported in nail bin 2304.Percussion Beam assembly 2280 by it is above-mentioned it is various in a manner of operate.When percussion beam assembly 2280 is promoted around joint motions coila towards distal side, Lateral load bearing carrier 2290 can help to resist the bending load on percussion beam assembly 2280.Lateral load bearing carrier 2290 The amount of the power needed for end effector that makes can also be reduced, and may be used also compared with other actuated articulation joints construct Adapt to the articulation angle of bigger.Fixed center percussion beam supporting member 2286 is used to be carried on joint motions and percussion phase Between the tensioning load that produces.

As described above, percussion beam assembly includes lamination girder construction, which includes at least two beam layers.Work as percussion Beam assembly (during percussion) towards distal side promote when, percussion beam assembly substantially by center percussion beam supporting member be divided into two Point so that the part (that is, laminate layers) for firing beam assembly passes through on the both sides of center percussion beam supporting member.

Figure 40 to Figure 43 shows the part for another percussion beam assembly 2280' for being attached to firing member 2900.From Those it can be seen from the figure thats, percussion beam assembly 2280 include laminar structure, which, which includes each having, is designated as " a " Thickness two outer layer curb girders or layer 2282', and each have be designated as " b " thickness four central core 2284'. For example, at least one constructs, " a " can be about 0.005-0.008 inches, even more preferably from 0.008 inch, and " b " It can be about 0.008-0.012 inches, even more preferably from 0.010 inch.However, other thickness can be used.In shown example In, " a " is less than " b ".In other constructions, " a " is more than " b ".For example, in alternative configuration, layered product can be by three kinds of differences Thickness " a ", " b ", " c " composition, wherein " a "=0.006 inch, " b "=0.008 inch, and " c "=0.010 inch is (most Thick layered product or band are at the center of component).In various constructions, it is understood that there may be odd number layered product or band, wherein " c " be The most thick layered product of individual layer at center.

The composition of layered product has significant role, because the amount for the strain being applied on beam assembly is based on its thickness and apart from curved The distance of bent center line.Closer to center line compared with thick-layer laminate or with possible experience and the relatively thin layered product farther from center line Or with identical strain level, since it is considered that the fact that they stack together, they must be more curved.Curve from center Radius of curvature bigger on the farther inner side of line.Given identical radius of curvature, thicker layered product or band tend to than relatively thin Layered product be subjected to more internal stress.Therefore, relatively thin side layered product or band with minimum profile curvature radius may be with With the plastic deformation possibility identical compared with thick-layer close to center line.In other words, when end effector is done in one direction During joint motions, layered product or band away from joint motion direction positioning have maximum bending radius, near joint motions The layered product or band in direction have most tight bending radius.But, when end effector does joint motions in the opposite direction, Situation contrast.The layered product that layered product stacks inside undergoes identical deviation, but their bending radius will fall all the time In the range of outer layer laminate.Therefore, in order to keep flexibility, it may be necessary to relatively thin layered product is positioned at stack it is outer On layer.But in order to improve rigidity and bending resistance to greatest extent, internal thicker material can bring extra benefit.Separately Selection of land, if end effector only needs to do joint motions in a single direction, the lamination away from joint motion direction positioning Body or band will undergo maximum bending radius, and be positioned at the layered product in joint motion direction or band and have most tight bending Radius.But, since end effector does not do joint motions in the opposite direction, inversion condition is no longer set up, so lamination Body, which stacks, needs not be symmetrical.Therefore, in such configuration, it is desirable to most thin layered product or band will be will undergo it is most tight curved The layered product or band (layered product or band on joint motion direction side) of bilge radius.

In other constructions, layered product or band can be made of the different metal with varying strength and modulus.It is for example, outer Portion's layered product or band can have the thickness identical with the thickness of internal layered product or band, wherein internal layered product or band are by 300 Series stainless steel is made, and exterior layered product or band are made of titanium or Nitinol.

As in Figure 42 and Figure 43 it can also be seen that distal side percussion beam assembly 2280' can be carried with a series of above-mentioned lateral z Lotus bearing carrier 2290 is effectively used together.It should be appreciated that distal side percussion beam assembly 2280 can also aforesaid way and center Joint motions rod 2286 is used in combination so that its some layers or curb girder (or band or layered product) are along central joint motions rod Side axial promotes.In some embodiments, the layer promoted on every side of central joint motions rod 2286 can have phase Same thickness, composition, shape and configuration.In other constructions, pass through along the side of central joint motions rod one or more A layer can have with the thickness of one or more layers and/or composition that pass through along the opposite side of central joint motions rod and/or Variform thickness and/or composition and/or shape, to realize desired travel range and flexibility, while keep it is expected Rigidity amount to avoid the flexing during percussion.

Figure 44 to Figure 46 shows a part for another Slender axles assembly 3200, it includes the above-mentioned type and constructs outer Section's end effector 300.The surgical end-effector that can also be taken other form.Slender axles assembly 3200, which further includes, to be attached to Firing member 900 can lengthwise movement flexible percussion beam assembly 3280.In alternative configuration, the distal side of beam assembly 3280 is fired End can be configured to perform various actions in surgical end-effector, without being attached firing member.It is flexible Percussion beam assembly 3280 can include various types of lamination beam constructions as described herein.In one kind constructs, using at least two A compression strap, to provide lateral support as the percussion beam assembly when flexibility percussion beam assembly 3280 crosses actuated articulation joints. Shown embodiment uses total of four compression strap, to be provided laterally as it when flexibility percussion beam crosses actuated articulation joints Support.For example, Slender axles assembly 3200 further includes ridge 3210, which includes the distal end portion with two distal chambers or recess 3219 Portion 3217, and formed therein two proximal chambers or recess 3219'.One distal chamber 3219 adapts to be positioned at the flexibility Fire the first proximal end 3904 of the first compression strap 3900 on a side 3281 of beam assembly 3280, another distal chamber 3219 adapt to be positioned at the second nearside of the second compression strap 3901 that flexibility is fired on another side 3283 of beam assembly 3280 End 3905.First compression strap 3900 includes the first distal end 3902, which performs installed in surgical end The correspondence formed in the proximal end 320 of the elongated passageway 302 of device 300 is uprightly in lateral supporting walls 330.Similarly, the second pressure Contracting band 3901 includes the second distal end 3907, which is also mounted at the elongated logical of surgical end-effector 300 The correspondence formed in the proximal end 320 in road 302 is uprightly in lateral supporting walls 330.First distal compaction band 3900 and second is remote Side compression band 3901 can be manufactured by spring steel etc., and proximal end 3904,3905 can be folded in a manner of U-shaped to form bias Part, the biased sections are configured to be movably received in distal end recess 3219 as shown in the figure.This construction allows First distal compaction band 3900 and the second distal compaction band 3901 are curved in response to the joint motions of surgical end-effector 300 Song, while proximal end 3904,3905 is maintained in their corresponding distal side recess 3219.

In Figure 44 into Figure 46 it can also be seen that Slender axles assembly 3200 further includes the 3rd compression strap 3910 and the 4th compression Band 3911.As the first compression strap 3900 is as the second compression strap 3901, the 3rd compression strap 3910 and the 4th compression strap 3911 It can be made of spring steel.As Figure 44 can be seen into Figure 46, the 3rd compression strap 3910 can be located at the first compression strap Between 3900 and the side 3281 of flexible percussion beam assembly 3280, and the 4th compression strap 3911 can be located at the second compression strap 3901 Between another side 3283 of flexibility percussion with component 3280.3rd proximal end 3914 of the 3rd compression strap 3910 and 4th proximal end 3915 of the 4th compression strap 3911 can be folded each in a manner of U-shaped is movably received in ridge 3210 to be formed In corresponding proximal chamber 3219' in biased sections.The 3rd distal end 3912 and the 4th compression strap of 3rd compression strap 3910 3911 the 4th distal end 3917 is installed in the respective lateral supporting walls 330 in surgical end-effector 300.

Slender axles assembly 3200 further includes movable support connector component 3920, which is used for when end Portion's actuator 300 surrounds offer when joint motions axis does joint motions and the further of flexible percussion beam assembly 3280 is laterally propped up Support.As Figure 44 can be seen into Figure 46, movable support connector component 3920 includes being movably coupled to surgery end The middle support member 3922 of portion's actuator 300 and Slender axles assembly 3200.In one embodiment, middle support member 3922 are pivotally pinned to the distal end 320 of elongated passageway 302.Middle support member 3922 is additionally included in wherein with elongated The tab 3926 of the proximally projection of proximal slot 3928.Proximal slot 3928 is configured to slideably receive and is formed in Intermediate supports pin 3211 on ridge 3210.This construction allows the ridge 3210 of middle support member 3922 and Slender axles assembly 3200 Between be pivoted relative to each other and be axially moved, to adapt to larger range of joint motions, while can dynamically move, to protect Hold lateral support enough on percussion beam assembly 3280.As Figure 44 can be seen into Figure 46, middle support member 3922 The slit 3930 being centrally located is further included, it is used to axially receive the percussion beam assembly 3280 passed through.

As Figure 44 into Figure 46 can it is further seen that as, movable support connector component 3920 further includes elongated Movable pivot connector 3940.Pivot connector 3940 includes central main part 3942, which has court The nearside nose part 3943 and the distal nose part 3944 towards distal side projection of nearside projection.Pivot connector 3940 further includes First to lower process lateral support wall 3946 from lateral support wall 3945 and second to lower process, the two lateral support walls limit Fixed beam groove 3947 therebetween.As can be seen in Figure 46, percussion beam assembly 3280 is configured in percussion beam assembly In the first lateral support wall 3945 and the second lateral support during 3280 actuating and the joint motions of surgical end-effector 300 Extend between wall 3946.In addition, in shown construction, for example, the first compression strap 3900 is in 3945 He of the first lateral support wall Extend between 3rd compression strap 3910, and the second compression strap 3901 is in the second lateral support wall 3946 and the 4th compression strap 3911 Between extend.First lateral support wall 3945 includes the first inward-facing arcuate surfaces 3948, and the second lateral support wall 3946 include the second inward-facing arcuate surfaces 3949.First arcuate surfaces 3948 and the second arcuate surfaces 3949 are used in end Actuator 300 fires when beam assembly 3280 is bent during doing joint motions and provides lateral support for it.According to the side of joint motions To and degree, radiused surface can match percussion beam assembly 3280 and compression strap 3900,3901,3910,3911 outer radius.Such as figure As can also see that in 44 and Figure 45, the distal end 3217 of ridge 3210 includes a pair of opposite left-hand axis recess and right-hand axis Recess 3218, the rounding nearside nose part 3943 of the proximally projection of pivot connector 3940 are enclosed according to surgical end-effector The direction that joint motions are done around joint motions axis is extended in the axis recess.Similarly, opposite Left-side support recess and the right side Side support notch 3932 is arranged in intermediate support 3922, and pivot is adapted to do the direction of joint motions according to end effector The distal nose part 3944 towards distal side projection of connector 3940.Such recessed configuration is used to carry to pivot connector 3940 While for lateral support, pivot connector 3940 is appropriately aligned in the orientation for being suitable for adapting to joint motion direction.

In addition to each species diversity discussed in further detail below, Figure 47 to Figure 51 show in some respects with it is above-mentioned The similar another Slender axles assembly 4200 of Slender axles assembly 2200.The Slender axles assembly 2200 discussed in detail above those Component is by comprising similar element numbers, and for simplicity, except for understanding that the operation of Slender axles assembly 4200 can When can be necessary, such as it will not be discussed in further detail as described above when some parts of operating theater instruments 10 are used together. As can be seen in Figure 47, at least one embodiment, Slender axles assembly 4200 includes articulation lock 2350.As above What text was discussed in detail, joint motions lock set 2350 includes connection (for example, being pinned) to the first distal joint movement driver 4370 nearside lock adapter 2360.As can be seen in Figure 47 and Figure 50, the first distal joint movement driver 4370 Including the first proximal gear rack segments 4371 and the first distal side rack-and-pinion section 4373 being formed in its distal end 4372.Carefully Long axis component 4200 further includes the second distal joint movement driver 4380, which includes second Proximal gear rack segments 4381 and the second distal side rack-and-pinion section 4383 being formed in its distal end 4382.

First distal joint movement driver 4370 and the second distal joint movement driver 4380 are configured to It is axially moved in proximal direction " PD " and distal direction " DD " relative to distal spine component 4212.Such as that can be seen in Figure 50 Sample, the first proximal gear rack segments 4371 and the second proximal gear rack segments 4381 with by 4212 rotatable twelve Earthly Branches of distal spine component The nearside power transmitting gear 4390 of support engages.Similarly, the first distal side rack-and-pinion section 4373 and the second distal side gear Rack segments 4383 are engaged with distal side power transmission tooth wheel assembly 4392.Specifically, at least one constructs, distal side is moved Power transmission gear assembly 4392 includes engaging and connecing with the first distal side rack-and-pinion section 4373 and the second distal side rack-and-pinion section 4383 The pinion-gearing 4393 of conjunction.Distal side power transmission tooth wheel assembly 4392 is further included to be arranged to and engaged with idle gear 4395 The drive gear 4394 of engagement.Idle gear 4395 is then supported for and is formed in the elongated passageway of surgical end-effector 4300 Driven gear 4306 on 4302 proximal end part 4320 engages.In addition, surgical end-effector 4300 can be with class Be similar to surgical end-effector 2300, and including can by it is above-mentioned it is various in a manner of the anvil block 4310 that opens and closes.Referring to Figure 48, Figure 49 and Figure 51, distal spine component 4212 can include upper ridge part 4212A and lower ridge part 4212B.Elongated passageway 4302 distal side power transmission tooth wheel assembly 4392, idle gear 4395 and driven gear portion 4306 be each attached pivotally to or It is supported on the base section 4212B of distal spine component 4212.

Slender axles assembly 4200 shown in Figure 47 includes being attached to the percussion beam assembly 3280 of firing member (not shown). Percussion beam assembly 3280 can include the lamination beam construction of type as described herein.The behaviour of firing member described in detail above Make, for simplicity, will not hereafter repeat.As can also see that in Figure 47, entitled " SURGICAL is employed INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT The percussion beam supporting member 4400 of type disclosed in the U.S. Patent Application Serial Number 14/575,117 of ARRANGEMENTS " During the joint motions of surgical end-effector 4300 support, all public affairs of the patent application are provided for percussion beam assembly 3280 Content is opened to be incorporated by reference accordingly.Figure 52 shows use of the distal side percussion beam assembly 2280 in Slender axles assembly 4200 On the way.In the figure, it can be seen that in the above described manner using multiple lateral load bearing carriers 2290 come in surgical end-effector 4300 fire beam assembly 2280 when doing joint motions for distal side provides support.

In addition to each species diversity discussed in further detail below, Figure 53 to Figure 58 show in some respects with it is above-mentioned The similar another Slender axles assembly 5200 of Slender axles assembly 2200.It is being discussed in detail above in relation to Slender axles assembly 2200 Those components of Slender axles assembly 5200 are identified with similar element numbers, and for simplicity, except for understanding The operation of Slender axles assembly 5200 it may be necessary to when, such as be used together as described above with some parts of operating theater instruments 10 When, it will not be discussed in further detail.

Similar to Slender axles assembly 2200, shown Slender axles assembly 5200 includes clutch pack 2400, the clutch Component is configured to be operatively engaged articulation system 5600, the articulation system be configured to its The surgical end-effector 300 being operatively coupled applies push-and-pull joint motions.In this embodiment, clutch pack 2400 Including the locking lining ring or locking casing 2402 positioned around firing member 2220, wherein locking casing 2402 can be in bonding station Rotated between disengaging configuration, in the bonding station, articulation system 5600 is operatively engaged by locking casing 2402 To firing member 2220, in the disengaging configuration, articulation system 5600 is not operably linked to firing member 2220. Referring specifically to Figure 54 to Figure 56, in an illustrated embodiment, articulation system 5600 includes being supported in nozzle 201 The joint motions disk or rotating member 5602 of rotary motion.Joint motions disk 5602 is rotatably driven by drive connection component 5610 It is dynamic.In an illustrated embodiment, it is drivingly connected the drive pin 5612 that component 5610 includes being attached to joint motions disk 5602.Joint Movement drive connection part 5614 is operably attached to drive pin 5612 by connector 5616, and the connector is transported easy to joint Dynamic drive connection part 5614 is moved relative to certain of drive pin 5612.Referring to Figure 54 to Figure 56.Joint motions drive link 5614 include driving connector 5618, the driving connector be configured to be drivingly engaged on locking casing 2402 towards Outer locking component 2406.Referring to Figure 53.

As described above, locking casing 2402 may include cylindrical or at least substantially cylindrical main body, which includes Be defined in wherein, be configured to receive firing member 2220 longitudinal perforate 2403.Referring to Figure 53.Locking casing 2402 can Including diametrically, face in locking projection 2404 and the locking component 2406 that faces outwardly.Locking projection 2404 can quilt It is constructed to be permeable to be selectively engaged with firing member 2220.More particularly, when locking casing 2402 is in its bonding station When, locking projection 2404 is positioned in the driving recess 2224 being defined in firing member 2220 so that distal side thrust and/or Nearside thrust can be transferred to locking casing 2402 from firing member 2220.When locking casing 2402 is in its bonding station, face Outside locking component 2406 is received within the driving recess 5619 in the driving connector 5618 shown in Figure 53 so that is applied Distal side thrust and/or nearside thrust to locking casing 2402 can be transmitted to joint motions drive connection part 5614.In fact, work as When locking casing 2402 is in its bonding station, firing member 2220, locking casing 2402 and joint motions drive link 5614 It will move together.On the other hand, when lock casing 2402 be in its disengaging configuration when, locking projection 2404 can delocalization firing In the driving recess 2224 of component 2220；And therefore, distal side thrust and/or nearside thrust can not be transmitted from firing member 2220 To locking casing 2402.Correspondingly, driving force " DF " can not be applied to joint motions disk 5602.In such cases, hit Send out component 2220 can relative to locking casing 2402 and proximal joint motion drive 2230 proximally and/or towards distal side slide.

Similarly, as described above, Slender axles assembly 5200 may also include the switching being rotatably received in closed tube 2260 Cylinder 2500.Referring to Figure 53.Switching cylinder 2500 includes hollow shaft part 2502, which has the crown of roll platform being formed on 2504, for outwardly protruding actuating pin 2410 is received wherein.In all cases, actuating pin 2410, which extends into, sets The longitudinal slit 2401 in casing 2402 is locked is put, to be engaged in locking casing 2402 with joint motions drive connection part 5614 When, axially move beneficial to the locking casing.Rotation torsional spring 2420 is configured to the boss on engagement switching cylinder 2500 2504 and a part for nozzle housing 201, biasing force is applied to switching cylinder 2500.As described above, switching cylinder 2500 may be used also Including being defined at least part peripheral openings therein, the opening is configured to receive the week from nozzle half extension Side mounting base, and allow to switch rotating against between cylinder 2500 and nozzle housing 201 rather than relative translation.As above institute State, the rotation of switching cylinder 2500 most cause to activate pin 2410 at last and lock casing 2402 its bonding station and disengaging configuration it Between rotation.Therefore, substantially, nozzle housing 201 can be used for above-mentioned and in U.S. Patent Application Serial Number 13/803, Modes various in greater detail make articulation system in 086 (being now U.S. Patent Application Publication 2014/0263541) 5600 are operatively engaged and disengaged from percussion drive system.

Referring again to Figure 53 to Figure 56, shown exemplary articulation system 5600 further includes " first " or right joint fortune Dynamic connecting rod 5620 and " second " or left joint motions connecting rod 5640.First joint motions connecting rod 5620 connects including the first joint motions Fitting 5622, the first joint motions connector include the first joint motions being movably received in joint motions disk 5602 The first joint motions pin 5624 in slit 5604.First articulation link 5622 is movably pinned to the first joint motions Connector 5626, the first joint motions connector are configured to connecting joints movement lock 2350.As described above, joint is transported Dynamic lock 2350 is configured to and operated optionally to lock surgical end-effector 300 in place.Work as joint motions When lock 2350 is in its released state, this construction enables surgical end-effector 300 to be rotated relative to axis closed tube 2260 Or do joint motions.When joint motions drive connection part 5614 operatively connects via clutch system 2400 and firing member 2220 During conjunction, apart from the above, firing member 2220 can rotate joint motions disk 6502 so that 5620 court of the first joint motions connecting rod Nearside and/or move toward the far side.The movement of first joint motions connector 5626 of the first joint motions connecting rod 5620, no matter its For nearside or distal side, articulation lock 2350 can be unlocked, as described above.Nearside lock adapter 2360 includes being used to receive wherein The latch well 2362 of first locking member 2364 and the second locking member 2366, the first locking member and the second locking member axle journal Connect on the frame guide rail for being to extend between near-side frame 2210 and distal frame.The operation of articulation lock 2350 is with above-mentioned Various modes operate, and for simplicity, it is no longer discussed further herein.As can be seen in Figure 53, first is remote Lateral joint motion drive 5370 is attached to nearside lock adapter 2360.First distal joint movement driver 5370 is operationally It is attached to the proximal end 320 of the elongated passageway 302 of surgical end-effector 300.

As described above, the articulation system 5600 of shown embodiment further includes " second " or left joint motions connecting rod 5640.As Figure 54 can be seen into Figure 56, second joint movable connecting rod 5640 includes second joint motion couplings 5642, which includes the second joint moving slot being movably received in joint motions disk 5602 Second joint motion pin 5644 in 5606.Second joint motion couplings 5642, which are pinned to, is attached to surgical end-effector The second joint moving bar 5646 of the proximal end 320 of 300 elongated passageway 302.Referring to Figure 54, articulation system 5600 is also Including the first joint motions biasing member 5628 being received within the first joint motions slit 5604 and it is received within the second pass Save the second joint movement biasing member 5648 in moving slot 5606.Figure 54 is shown in middle or non-joint motions configuration Articulation system 5600.In the figure, it can be seen that the first joint motions pin 5624 and the first joint motions biasing member 5628 contacts, and second joint motion pin 5644 is contacted with second joint movement biasing member 5648.However, when in this Between position when, the first joint motions biasing member 5628 and second joint movement biasing member 5648 can be not at compression shape State.Figure 55, which is shown, is in the above described manner applied driving force " DF " in proximal direction " PD " by joint motions drive connection part 5614 It is added to joint motions disk 5602.Applying driving force DF on proximal direction PD causes joint motions disk 5602 to be represented along arrow 5601 Direction of rotation rotation.When joint motions disk 5602 is rotating on direction of rotation 5601, the end of second joint moving slot Second joint motion pin 5644 is contacted, and applies thrust to second joint movable connecting rod 5640 and is eventually applied to second joint Moving bar 5646.On the contrary, the first joint motions biasing member 5628 is interior in arrow 5601 in the first joint motions slit 5604 Side push up the first joint motions pin 5624 so that in proximal direction " PD " by pulling force be applied to the first joint motions connect Bar 5620.The proximal pulling force is delivered to the first distal joint movement driver 5370 by articulation lock 2350.It is applied to outer This " promote and drawing is moved " of section's end effector causes surgical end-effector 300 in the direction represented by arrow 5300 It is upper to do joint motions around joint motions axis.Referring to Figure 53.When joint motions disk 5602 is in the position shown in Figure 55, the Two joint motions biasing members 5648 may be at compressive state, and the first joint motions biasing member can be not compressed. Therefore, when driving force DF to be applied to the operation disruption of joint motions drive connection part 5614, second joint movement bias structure Joint motions disk 5602 can be biased and return to the centre position for example shown in Figure 54 by part 5648.

On the contrary, connect when as shown in figure 56, driving force " DF " being applied to joint motions and being driven in distal direction " DD " During fitting 5614, joint motions disk 5602 rotates on the direction of rotation represented by arrow 5603.When joint motions disk 5602 exists When being rotated on direction of rotation 5603, the end of the first joint motions slit 5604 contacts the first joint motions pin 5624, and to the One joint motions connecting rod 5620, which applies thrust and is applied to the first distal joint movement eventually through articulation lock 2350, to be driven Dynamic device 5370.In addition, second joint moves biasing member 5648 in second joint moving slot 5606 in the side of arrow 5603 Push up second joint motion pin 5644 so that pulling force is applied to second joint movable connecting rod in proximal direction " PD " 5640.The proximal pulling force is passed to second joint moving bar 5646.This of surgical end-effector 300 is applied to " to promote Moved with drawing " cause surgical end-effector 300 to be closed in the side represented by arrow 5302 upward around joint motions axis Section movement.Referring to Figure 53.When joint motions disk 5602 is in the position shown in Figure 56, the first joint motions biasing member 5628 Compressive state is may be at, and second joint movement biasing member 5648 can be not compressed.Therefore, applied when by driving force DF When being added to the operation disruption of joint motions drive connection part 5614, the first joint motions biasing member 5628 can be by joint motions The bias of disk 5602 returns to the centre position for example shown in Figure 54.

Figure 57 shows the distal end portion 814 of axis frame 812 and is operably linked to Slender axles assembly 5200 The attachment of surgical end-effector 300.As described above, distal end portion 814 has the pivot pin to lower process thereon (not Show), which is suitable for the pivot hole being pivotally received in the proximal end part 320 for being formed at elongated passageway 302 In (not shown).This construction surrounds the joint motions axis B-B limited by the pivot hole relative to axis easy to elongated passageway 302 Frame 812, which pivots, advances.As can also see that in Figure 57, the first distal joint movement driver 5370 spherical is connect by first First 852 are attached to the first connector 850.First connector 850 can also be pivotally pinned to elongated passageway by the first pin 854 302 proximal end part 320, as can be seen in Figure 57.Similarly, second joint moving bar 5646 is spherical by second Connector 872 is attached to the second connector 870.Second connector 870 can also be pivotally pinned to elongated logical by the second pin 874 The proximal end part 320 in road 302, as can be seen in Figure 57.

Referring to Figure 53 and Figure 58, Slender axles assembly 5200 can also include the firing member 900 for being attached to the above-mentioned type Fire beam assembly 2280.Percussion beam assembly 2280 be attached to firing member 2220 and can by it is above-mentioned it is various in a manner of axial promote And retraction.Slender axles assembly 5200 can also include more support connector components 920, for being enclosed in surgical end-effector 300 Beam 2280 is distad fired when carrying out joint motions around joint motions axis B-B lateral support is provided.As can be seen in Figure 58 Like that, support connector component 920 includes middle support member 922 more, which pivotally sells in the above described manner It is connected to the proximal end 320 of elongated passageway 302.Middle support member 922 further includes the slit 930 being centrally located, for axial direction Receive the distal side percussion beam 2280 passed through in ground.More support connector components 920 further include nearside support connector 940 and remote Collateral support connector 950.Nearside support connector 940 includes main part 942, which has the proximal end of rounding 943 and the distal end 944 of rounding.Nearside support connector 940 further includes a pair of side supporting walls 945 to lower process, this is right Lateral support wall has defined therebetween proximal slot.Similarly, support connector 950 in distal side includes main part 952, the main body Part has the proximal end 953 of rounding and the distal end 954 of rounding.Distal side support connector 950 further includes a pair of downward The side supporting walls 955 of projection, this has defined therebetween proximal slot to lateral supporting walls.As can be seen in Figure 58, far Flank attack hair beam 2280 is configured to lateral support wall 945 and distal side support connector 950 in nearside support connector 940 Lateral support wall 955 between extend.Each supporting walls 945 and 955 include inward-facing arcuate surfaces, as described above.Support Surface is used to provide side when distal side percussion beam 2280 is bent during surgical end-effector 300 does joint motions for the percussion beam To support.In addition, closure tube assembly 2260 can include the above-mentioned type be configured to in surgical end-effector 300 The double pivot closure sleeve assembly that operationally interacts of anvil block.The operation of closure tube assembly 2260 causes with above-mentioned various Mode opens and closes the anvil block of the surgical implement.

In addition to difference discussed below, Figure 59 shows another slender axles substantially similar to Slender axles assembly 5200 A part for component 5700.Specifically, the joint motions disk 5702 of articulation system 5701 is by being operatively supported at spray Worm gear motor 5710 in mouth shell 201 rotates.For example, in one embodiment, driven gear 5703 be integrally formed or with Other manner is immovably attached to joint motions disk 5702 so that it engages with the worm gear drive 5712 of motor 5710 and connects Close.In the example shown, the first joint motions bar or component 5720 can by it is as described herein it is various in a manner of any one of It is directly attached to a part for surgical end-effector.First joint motions pin 5722 is attached to the first joint motions bar 5720 simultaneously And it is received within the first joint motions of the arch slit 5704 formed in joint motions disk 5702.First joint motions bias structure Part 5705 is received within the first joint motions slit 5704, for biasing the contact with the first joint motions pin 5722.Equally, Second joint moving lever or component 5730 can by it is as described herein it is various in a manner of any one of be attached directly or indirectly to A part for surgical end-effector.Second joint motion pin 5732 is attached to second joint moving lever 5730 and is received within In the arch second joint moving slot 5706 formed in joint motions disk 5702.Second joint movement biasing member 5707 is connect It is contained in second joint moving slot 5706, for biasing the contact with second joint motion pin 5732.

Figure 59 shows the articulation system 5701 in middle or non-joint motions configuration.It can see in the figure Go out, the first joint motions pin 5722 is contacted with the first joint motions biasing member 5705, and second joint motion pin 5732 with Second joint movement biasing member 5707 contacts.However, when in the centre position, the first joint motions biasing member 5705 Compressive state can be not at second joint movement biasing member 5707.The actuating of motor 5710 makes joint motions disk 5702 exist Rotated on direction of rotation shown in arrow 5601, this will apply drawing movement so that the first joint to the first joint motions bar 5720 Moving lever 5720 is moved along proximal direction " PD ", and is applied to second joint moving lever 5730 and promoted movement so that second joint Moving lever 5730 is moved along distal direction " DD ".On the contrary, the actuating of motor 5710 makes joint motions disk 5702 in the institute of arrow 5603 Rotated on the direction of rotation shown, this will apply promotion movement so that the first joint motions bar 5720 to the first joint motions bar 5720 Moved along distal direction " DD ", and apply drawing movement so that second joint moving lever 5730 to second joint moving lever 5730 Moved along proximal direction " PD ".Being applied to this " promote and drawing is moved " of surgical end-effector causes surgical end to perform Device by it is above-mentioned it is various in a manner of around joint motions axis do joint motions.

Figure 60 to Figure 65 shows what can be used together with various Slender axles assemblies as described herein with actuator construction Another articulation system 5800.However, in this embodiment, articulation system 5800 includes two-joint isometric flexion disk group Part 5810, the two-joint isometric flexion disk component include driver joint motions disk 5820 and driven joint moving coil 5830.For example, two A joint motions disk 5820,5830 can be rotatably supported in the nozzle housing of Slender axles assembly so that two disks 5820,5830 can independently rotate around common axis.In various embodiments, joint as described above can be passed through Powered motion is applied to driver joint motions disk 5820 by movement drive connection part 5614 and firing member construction 2220.At it In its embodiment, rotating drive movements can be applied to by driver joint motions disk by worm gear motor 5710 in the above described manner 5820。

Figure 61 shows a kind of form of driver disk 5820.From this figure, it can be seen that driver disk 5820 is included each The first couple the first arch joint motions slit 5822L, 5822R with the first arc length " FL ".In addition, driver joint is transported Moving plate 5820 further includes the driver slit 5824 being centrally arranged between the first joint motions slit 5822, as can in Figure 61 As seeing.According to the method for driving driver joint motions disk 5820, joint motions drive connection part 5614 or snail Wheel motor 5710 can by it is above-mentioned it is various in a manner of join with driver joint motions disk 5820, with to driver joint motions disk 5820 Apply rotary motion.Figure 62 shows a kind of form of driven joint moving coil 5830.From this figure, it can be seen that driven joint is transported Moving plate 5830 includes that each there is the second arch of the second couple of the second arc length " SL " less than the first arc length " FL " to close Save moving slot 5832L, 5832R.It is configured to be movably received in addition, driven joint moving coil 5830 further includes Driver column 5834 in driver slit 5824.

Referring now to Figure 60 and Figure 63 to Figure 65, articulation system 5800 further include can by it is as described herein it is various in a manner of Any one of be attached directly or indirectly to surgical end-effector a part the first joint motions bar 5840.First Joint motions pin 5842 is attached to the first joint motions bar 5720 and is received within corresponding first arch joint motions slit In 5822L and the second arch joint motions slit 5832L.Equally, second joint moving lever or component 5850 can be described herein Any one of various modes be directly attached to the part of identical surgical end-effector.Second joint motion pin 5852 It is attached to second joint moving lever 5850 and is received within corresponding first arch joint motions slit 5822R and the second arch In joint motions slit 5832R.Figure 60 shows the articulation system 5800 in dead-center position, in the position, surgery end Portion's actuator can be with free movement.Figure 63, which is shown, to be worked as on the direction that arrow 5860 represents to driver joint motions disk 5820 During initial application rotary motion, the position of articulation system 5800.From this figure, it can be seen that in driver joint motions disk During 5820 initial rotation, joint motions slit 5822L, 5832L be offset from one another and joint motions slit 5822R, 5832R each other Offset, but there is no also movement to be sent to joint motions bar 5840,5850.Figure 64 is shown when on the direction of arrow 5860 Continuing to apply to driver joint motions disk 5820 is enough to cause such as surgical end-effector to carry out 75 degree relative to axis axis During the rotary motion of joint motions, the position of articulation system 5800.From this figure, it can be seen that movement is promoted to be applied to the One joint motions bar 5840 is so that the first joint motions bar 5840 is axially moved along distal direction " DD ", and is pulled movement and applied Second joint moving lever 5850 is added to so that second joint moving lever 5850 is axially moved along proximal direction " PD ".Transport in the first joint The movement of lever 5840 and second joint moving lever 5850 in opposite direction causes to hold with the surgical end that it is operativelyd interface with The joint motions of row device.Figure 65 shows to work as and is applied in the opposite direction that arrow 5862 represents to driver joint motions disk 5820 Fill up to cause such as surgical end-effector to carry out 75 degree of joint motions relative to axis axis in opposite joint motion direction Rotary motion when, the position of articulation system 5800.From this figure, it can be seen that movement is promoted to be applied to second joint fortune Lever 5850 is so that second joint moving lever 5850 is axially moved along distal direction " DD ", and is pulled movement and be applied to first Joint motions bar 5840 is so that the first joint motions bar 5840 is axially moved along proximal direction " PD ".First joint motions bar 5840 The surgical end-effector for being operably attached to it is caused to do joint with this reverse motions of second joint moving lever 5850 Movement.In a kind of configuration, the first joint motions bar 5840 can be only rotated enough when joint motions drive disk 5820 When distance is to reach 75 degree of range of motion, just apply pulling force to surgical end-effector.

Figure 66 to Figure 70 shows surgical end-effector 6300, it includes to beat at the same time relative to axis axis SA-SA The first jaw and the second jaw moved between open position and closing position.The situation of the spirit and scope of the present invention is not being departed from Under, the first jaw and the second jaw can include various surgical forceps outlet structures.Enter mesh using the jaw of surgical end-effector Mark tissue there may come a time when challenging.If the distance between the point that jaw supports relative to each other and proximal nail position are most Smallization, then can strengthen surgical end-effector, and the surgical end for being particularly configured to cut and suture tissue performs The navigability of device.For example, those are only with the outer of a moving jaw (that is, one of jaw is fixed relative to axis axis) Section's surgical end effector may need a moving jaw that there is relatively large travel range to adapt to destination organization.It is this Larger travel range may cause to complicate to be conducive to position the process of destination organization using end effector.Surgical end Actuator 6300 uses the first jaw and the second jaw of the axis axial-movement relative to each other and around common pivot axis.Example Such as, it is this to be configured to shorten compared with the same distance on some surgical end-effectors only with a moving jaw The distance between pivot axis and proximal nail position.

In the example shown, the first jaw 6310 includes being configured to support the thin of surgery nail bin 6320 wherein Long-channel 6312.As can be seen in Figure 70, surgery nail bin 6320 is configured to be operably supported wherein more A staple drivers 6322, the multiple staple drivers are operably supported surgical staples 6324 on it.Staple drivers 6322 are movable Ground is supported in the respective drivers slit 6321 being formed in surgery nail bin 6320.Staple drivers 6322 are protected by storehouse dish 6330 Hold in its corresponding driver slit 6321, which clips to or be otherwise affixed to surgery nail bin 6320.Nail driving Arrange and embark on journey on every side of elongated slot 6326 of the device 6322 in surgery nail bin 6320, to adapt to firing member 6340 therefrom Axially through.Wedge-shaped slides 6350 are movably supported in surgery nail bin 6320, and are configured in firing member 6340 from the original position adjacent with the proximal end of surgery nail bin 6320 and in the distal part of surgery nail bin 6320 When being driven at end position, engagement is driven by firing member 6340.As described above, work as wedge-shaped slides 6350 along distal direction When being driven through surgery nail bin 6320, wedge-shaped slides 6350 drivingly contact staple drivers 6322 so that they to be put down towards storehouse Platform surface 6323 drives.Firing member 6340 includes tissue cutting surface 6346, when firing member 6340 is driven towards distal side, The tissue cutting surface is used to cut the tissue being clipped between jaw.Various types of distal side percussion beams as described herein (do not show Go out) it is operably attached to firing member 6340 and middle percussion shaft portion 2222 or other trigger systems construction.Centre is hit Hair shaft portion 2222 drives and the operation of retraction distal side percussion beam had been discussed in detail above, for brevity, will not Repeat.Without departing from the spirit and scope of the present invention, other percussion beams and trigger system structure can also be used (motor driving and manual actuation) is made to provide power for firing member.

Shown surgical end-effector 6300 is further configured to for around the pass for extending substantially transversely to axis axis SA-SA Save axis of movement B-B making choice property joint motions.As Figure 66 can be seen into Figure 70, surgical end-effector 6300 Including end effector mounting assembly 6390, it is suitable for being pivotally mounted to such as distal shaft frame (not shown), the distal shaft Frame includes being configured in the mounting hole 6392 that is rotatably received in end effector mounting assembly 6390 Pivot pin.Surgical end-effector 6300 can pass through the articulation lock and the first and second joint motions bar structures of the above-mentioned type Make to carry out joint motions.As in Figure 70 it can be seen that as, end effector mounting assembly 6390 further includes a pair of opposite The gudgeon pin 6394 extended laterally.Gudgeon pin 6394 laterally prolongs from the opposite sides 6391 of end effector mounting assembly 6390 Stretch, which further defines pit areas 6395, which is configured to receive firing member 6340 wherein. Gudgeon pin 6394 is used to limit pivot axis P A-PA, and the first jaw 6310 and the second jaw 6360 can surround the pivot axis pivot Turn.The proximal end 6314 of first jaw 6310 or elongated passageway 6312 includes a pair of opposite U-shaped or open-ended slit 6316, it is suitable for one of corresponding in gudgeon pin 6394 is wherein received.It is this to be configured to the first jaw 6310 movably Or pivotally axle journal is connected to end effector mounting assembly 6390.

Shown surgical end-effector 6300 further includes the second jaw 6360, which may include anvil block 6362. Shown anvil block 6362 includes anvil body 6364, which includes elongated slot 6366 and formed on either side of it Two staple forming surfaces 6368.Anvil block 6362 also has a proximal end part 6370, the proximal end part have a pair of U-shaped or Open-ended slit 6372, the slit are also suitable for one of corresponding in gudgeon pin 6394 is wherein received.It is this to be configured to By the second jaw 6360, movably or pivotally axle journal is connected to end effector mounting assembly 6390 so that the first jaw and Two jaws can move relative to each other and relative to axis axis SA-SA.First jaw 6310 and the second jaw 6360 can be by Various types of closed-systems disclosed herein movably activate.For example, the first closure drive system of type described herein can For activating closed tube in the above described manner.Closed tube also could attach to end effector closure casing 6272, the end effector Closure casing can be attached pivotally to closed tube with aforesaid way by double pivot closure sleeve assembly.As described above, for example, close Closing the axial movement of pipe can be controlled by activating closure trigger 32.As Figure 67 can be seen into Figure 69, end is held Row device closure casing 6272 extends on end effector mounting assembly 6390, and is configured to the second jaw of engagement The proximal end 6314 of 6360 6370 and first jaw 6310 of proximal end.At least one cam face 6336 may be formed at In the proximal end 6314 of first jaw 6310 so that when end effector closure casing 6272 distal end 6274 contact it is convex During wheel surface 6336, the first jaw 6310 carries out cam movement towards the second jaw and axis axis SA-SA.Equally, one or more A cam face 6376 may be formed on the proximal end part 6370 of the second jaw 6360 so that be closed when by end effector When the distal end 6274 of casing 6272 contacts, the second jaw 6360 is moved towards the first jaw 6310 and axis axis SA-SA.It is convex Wheel surface 6336,6376 can be constructed and positioned relative to each other so that the first jaw and the second jaw be not with relative to each other Same " closure speed " or closing time closure.One this construction is shown in Figure 68.As in Figure 68 it can be seen that as, when the When one jaw and the second jaw are in its corresponding fully open position, along the point P on the first jaw 6310₁With the second jaw Corresponding point P on 6360₂Between bow-shaped route distance by D_TRepresent.First point P₁With second point P₂It is " right each other to be referred to as Should ".For example, the first point P₁With second point P₂Can be each located on point-to-point transmission extension and the common wire vertical with axis axis SA-SA or On axis.Along another point P on the first jaw 6310_AThe distance of bow-shaped route between axis axis SA-SA is by D₁Represent, and And along another corresponding points P on the second jaw_BThe distance of another bow-shaped route between axis axis SA-SA is by D₂Represent. Point P_AWith point P_BAlso referred to as correspond to each other.For example, point P_AWith point P_BIt can be located at and extend in point-to-point transmission and hang down with axis axis SA-SA On straight common wire or axis.In shown construction, D₂Second jaw 6360 or anvil block 6362 are moved from fully open position Staple forming surface to wherein anvil block 6362 is more than D along the distance of the axis axis SA-SA closing positions arranged₁First jaw 6310 or surgery nail bin 6320 closure that wherein storehouse platform surface is arranged along axis axis SA-SA is moved to from fully open position The distance of position.For example, at least one constructs, the second jaw or anvil block will opening or move distance D_T(or along jaw it Between another travel path another distance) 2/3, and the first jaw or nail bin will open or move distance D_T(or along pincers Mouthful between another travel path other distances) 1/3 so that substantially, a jaw reaches its fully closed position ratio Another jaw reaches its fully closed position faster, even if initially applying one to two jaws in the same or similar time Or multiple closing motions.For example, in the case where not departing from the spirit and scope of the embodiment of the present invention, can be by first Cam face on jaw and the second jaw, which is arranged/is constructed to be permeable to, obtains different jaw motion ratio/speed.Opening bullet Spring 6380 (Figure 70) can be positioned on 6314 and second jaw 6360 of proximal end of the first jaw 6310 proximal end 6370 it Between, to be closed the first jaw 6310 and second in end effector when casing 6272 is positioned at starting position or unactuated position Jaw 6360 is biased into open position.Referring to Figure 67 to Figure 69.

In order to make the first jaw 6310 and the second jaw 6360 move to closing position (Figure 66), clinician activates closure System makes it while contacts the nearside of the first jaw 6310 to close casing 6272 along distal direction " DD " movement end effector One or more in the proximal end 6370 of 6336 and second jaw 6360 of one or more cam faces on end 6314 Cam face 6376, so that (and axis axis SA-SA) is biased into toward each other by the first jaw 6310 and the second jaw 6360 Position shown in Figure 66.When end effector closure casing 6272 is maintained at the position, the first jaw 6310 and the second pincers Mouth 6360 is maintained at the closing position.Then, trigger system can be activated so that firing member 6340 axially to be pushed away towards distal side Into through surgical end-effector 6300.As can be seen in Figure 70, firing member 6340, which can have, to be configured to Slidably engage the base portion 6342 of the fluting path 6374 of anvil block 6362 and suitable for being received slidably in elongated lead to The Top projections part 6344 in fluting path 6318 in road 6312.Referring to Figure 69.Therefore, this firing member construction is used (that is, the percussion in nail and the group that is clipped between the first jaw 6310 and the second jaw 6360 during the percussion in firing member During the cutting knitted) with required spacing arrangement the first jaw 6310 of positive holding and the second jaw 6360.First jaw lid 6315 are removably attached to elongated passageway 6312, and the second jaw lid 6363 is removably attached to anvil block 6362, with In assembling purpose, and prevent tissue and/or body fluid from penetrating into the first jaw and the second jaw, and this may be hindered or hinder percussion The operation of component 6340.

Figure 71 shows another surgical end-effector 6300' similar to surgical end-effector 6300.In such as figure As it can be seen that, surgical end-effector 6300' includes two jaws, the two jaws can be same relative to axis axis SA-SA When move between the open and the closed positions.In the example shown, the first jaw 6310 ' includes elongated passageway 6312 ', The elongated passageway is configured to support surgery nail bin 6320 ' in elongated passageway.Surgery nail bin 6320' is configured to Multiple staple drivers 6322 are operably supported wherein, and the staple drivers are operably supported operation nail 6324 on it. Staple drivers 6322 are movably supported in the respective drivers pit 6321' being formed in surgery nail bin 6320'.Staple drivers 6322 are maintained in its corresponding driver pit 6321' by storehouse dish 6330', which clips to or be otherwise affixed to Surgery nail bin 6320'.Arrange and embark on journey on every side of elongated slot 6326' of the staple drivers 6322 in surgery nail bin 6320, With adapt to firing member 6340' therefrom axially through.Wedge-shaped slides 6350' is movably supported in surgery nail bin 6320', and And be configured to firing member 6340' from the original position adjacent with the proximal end of surgery nail bin 6320' and When being driven at the end position in the distal part of surgery nail bin 6320', driven and engaged by firing member 6340'.As above institute State, when wedge-shaped slides 6350' is driven through surgery nail bin 6320' along distal direction, wedge-shaped slides 6350' is drivingly Staple drivers 6322 are contacted so that they to be driven towards storehouse platform surface 6323'.Firing member 6340' includes tissue cutting surface 6346', when firing member 6340 is driven towards distal side, which is used to cut the tissue being clipped between jaw. Various types of distal side percussion beam (not shown) as described herein are operably attached to firing member 6340' and middle percussion Shaft portion 2222 or other trigger systems construction.Centre percussion shaft portion 2222 drives and the operation of retraction distal side percussion beam is upper Text had been discussed in detail, and for brevity, will not be repeated again.Without departing from the spirit and scope of the present invention, (motor driving and manual actuation) can also be constructed using other percussion beams and trigger system to be carried for firing member For power.

Shown surgical end-effector 6300 ' is further configured to for around extending substantially transversely to axis axis SA-SA's Joint motions axis B-B making choice property joint motions.End effector 6300' includes end effector mounting assembly 6390', The end effector mounting assembly is suitable for being pivotally mounted to such as distal shaft frame, which includes being adapted to The pivot pin being enough rotatably received in the mounting hole 6392 ' in end effector mounting assembly 6390 '.Surgical end is held Row device 6300 ' can carry out joint fortune by the articulation lock of the above-mentioned type and the first and second joint motions bars construction It is dynamic.As can be seen in Figure 71, end effector mounting assembly 6390 ' further includes a pair of opposite gudgeon extended laterally Pin 6394 '.The opposite sides 6391 ' of gudgeon pin 6394 ' from end effector mounting assembly 6390 ' extend laterally, the opposite side Face further defines pit areas 6395 ', which is configured to receive firing member 6340 ' wherein.Gudgeon pin 6394 ' are used to limit pivot axis P A-PA, and the first jaw 6310 ' and the second jaw 6360 ' can surround the pivot axis and pivot. The proximal end 6314 ' of first jaw 6310 ' or elongated passageway 6312 ' includes a pair of opposite U-shaped or open-ended slit 6316 ', it is suitable for receiving wherein one of corresponding in gudgeon pin 6394 '.It is this to be configured to the first jaw 6310 ' movably Ground or pivotally axle journal are connected to end effector mounting assembly 6390 '.

Shown surgical end-effector 6300 ' further includes the second jaw 6360 ', which may include anvil block 6362’.Shown anvil block 6362 ' includes anvil body 6364 ', which includes elongated slot 6366 ' and each at its Two staple forming surfaces formed on side.Anvil block 6362 ' also has proximal end part 6370 ', which has A pair of U-shaped or open-ended slit 6372 ', the slit are also suitable for receiving wherein in gudgeon pin 6394 ' one of corresponding.This Kind it is configured to that movably or pivotally axle journal is connected to end effector mounting assembly 6390 ' by the second jaw 6360 '.First Jaw 6310 ' and the second jaw 6360 ' are movably activated by various types of closed-systems disclosed herein.For example, first closes Drive system 30 is closed to can be used for activating closed tube 260 in a manner described herein.Closed tube 260 also could attach to end effector Close casing 6272, the end effector closure casing can with aforesaid way by double pivot closure sleeve assembly 271 pivotally It is attached to closed tube 260.As described above, for example, the axial movement of closed tube 260 can be controlled by activating closure trigger 32 System.End effector closure casing 6272 extends on end effector mounting assembly 6390 ', and is configured to connect Close the proximal end 6370 ' of the second jaw 6360 ' and the proximal end 6314 ' of the first jaw 6310 '.At least one CAM table Face 6336 ' may be formed in the proximal end 6314 ' of the first jaw 6310 ' so that when end effector closure casing 6272 When distal end 6274 contacts cam face 6336 ', the first jaw 6310 ' towards the second jaw 6360 ' and axis axis SA-SA into Row cam moves.Equally, one or more cam faces 6376 ' may be formed at the proximal end part of the second jaw 6360 ' On 6370 ' so that when the distal end 6274 by end effector closure casing 6272 contacts, 6360 ' direction of the second jaw First jaw 6310 ' and axis axis SA-SA are moved.Spring (not shown) can be positioned on the proximal end of the first jaw 6310 ' 6314 ' and second jaw 6360 ' proximal end 6370 ' between, with end effector closure casing 6272 be positioned at beginning The first jaw 6310 ' and the second jaw 6360 ' are biased into open position when position or unactuated position.

In order to which the first jaw 6310 ' and the second jaw 6360 ' are moved to closing position, clinician activates closed-system Along distal direction " DD " movement end effector closure casing 6272, to make it while contact the proximal end of the first jaw 6310 ' One or more cam faces 6336 ' in portion 6314 ' and one or more in the proximal end 6370 ' of the second jaw 6360 ' A cam face 6376 ', so that (and axis axis SA-SA) is inclined toward each other by the first jaw 6310 ' and the second jaw 6360 ' Pressure.When end effector closure casing 6272 is maintained at the position, the first jaw 6310 ' and the second jaw 6360 ' are protected Hold in the closing position.Then, trigger system can be activated so that firing member 6340 ' is axially advanced through surgery towards distal side End effector 6300 '.Firing member 6340 ' can have the fluting for being configured to slidably engage anvil block 6362 ' to lead to The top tab portion 6344 ' on road 6374 ' and suitable for be received slidably in elongated passageway 6312 ' fluting path in Base portion 6342 '.Therefore, this firing member is configured to (that is, the percussion in nail and folder during the percussion of firing member During the cutting of tissue between the first jaw 6310 ' and the second jaw 6360 ') with required spacing arrangement is positive keep the One jaw 6310 ' and the second jaw 6360 '.First jaw lid 6315 ' is removably attached to elongated passageway 6312 ', and Two jaw lids 6363 ' are removably attached to anvil block 6362 ', for assembling purpose, and prevent tissue and/or body fluid from penetrating into First jaw and the second jaw, and this may be hindered or hinder the operation of firing member 6340 '.

Surgical end-effector embodiment as described herein is using not only relative to each other but also relative to axis axial-movement Jaw can provide the various advantages better than other surgical end-effectors construction, and wherein one of jaw is fixed and will not transport It is dynamic, such as relative to axis axial-movement.In such configuration, it is usually desirable to which moving jaw has relatively relative to regular jaw Big range of movement so that destination organization can be manipulated, position and then be clamped between two jaws.It is equal in two jaws In movable embodiment, each jaw need not move on a large scale adapt to manipulation of the destination organization between jaw, Positioning and clamping.For example, the movement of this reduction of anvil block can provide improved tissue positioning.This construction can also make pivotal axis The distance between line and the first nail position can be minimized.In addition, during opening action and closed action, structure is fired Part can also be remained to be engaged with moving jaw (anvil block and elongated passageway).

Figure 72 to Figure 79 shows another surgical end-effector 6400, it is configured to be operably attached to The Slender axles assembly of type described herein, which defines axis axis SA-SA.Surgical end-effector 6400 includes two jaws, The two jaws can move between the open and the closed positions at the same time relative to axis axis SA-SA.First jaw and second Jaw may include the relevant jaw construction of a variety of surgeries.In the example shown, the first jaw 6410 includes being constructed Into the elongated passageway 6412 that can support surgery nail bin 6420 wherein.As one in various surgery nail bins discussed above Sample, surgery nail bin 6420 are configured to operationally support multiple staple drivers (not shown), the multiple nail wherein Driver is operably supported surgical staples (not shown) on it.Staple drivers, which are movably supported in, is formed at surgery nail bin 6420 In respective drivers pit in.Arranged on every side of elongated slot (not shown) of the staple drivers in surgery nail bin 6420 Embark on journey, with adapt to firing member 6440 therefrom axially through.Wedge-shaped slides (not shown) is movably supported in surgery nail bin In 6420, and it is configured in firing member 6440 from the initial position adjacent with the proximal end of surgery nail bin 6420 When being driven with the end position in the distal part of surgery nail bin 6420, engagement is driven by firing member 6440.As above institute State, when wedge-shaped slides are driven through surgery nail bin 6420 along distal direction, drivingly contact stud drives the wedge-shaped slides Device is moved so that they to be driven towards storehouse platform surface (not shown).Firing member 6440 includes tissue cutting surface 6446, when hitting When hair component 6440 is driven towards distal side, which is used to cut the tissue being clipped between jaw.It is as described herein Various types of distal side percussion beam (not shown) are operably attached to firing member 6440 and middle percussion shaft portion 2222 Or other trigger system constructions.Centre percussion shaft portion 2222 drives and the operation of retraction distal side percussion beam is detailed above Discussed, for brevity, will not be repeated again.Without departing from the spirit and scope of the present invention, can also use Others percussion beam and trigger system construction (motor driving and manual actuation) to provide power for firing member.

Shown surgical end-effector 6400 is further configured to for around the pass for extending substantially transversely to axis axis SA-SA Save axis of movement B-B making choice property joint motions.As Figure 72 can be seen into Figure 79, surgical end-effector 6400 Including end effector mounting assembly 6490, it is suitable for being pivotally mounted to such as distal shaft frame, which includes The pivot pin being configured in the mounting hole 6492 that is rotatably received in end effector mounting assembly 6490.Outside Section's end effector 6400 can be carried out by the articulation lock of the above-mentioned type and the first and second joint motions bars construction Joint motions.As can be seen in Figure 74, a pair of cams plate 6500 is for example immovably attached to by spring catch 6502 End effector mounting assembly 6490.As in Figure 74 can it is further seen that as, each lobe plate 6500 has cam slot 6504, which has closure wedge-like portion 6505 and opens wedge-like portion 6507.Wedge-like portion 6505 is closed by two The cam face 6506 of opposite closure is formed, and opens cam face of the wedge-like portion 6507 by two opposite openings 6508 form.Elongated passageway 6412 includes two actuator arms 6416 extended proximally, and each actuator arm has from its side The gudgeon pin 6419 of gudgeon pin 6418 and closure to raised opening.The gudgeon pin 6418 of opening and the gudgeon pin 6419 of closure Received by the cam slot 6504 of corresponding lobe plate 6500.It is this to be configured to the first jaw 6410 movably or pivot the earth's axis Neck is connected to end effector mounting assembly 6490.

Shown surgical end-effector 6400 further includes the second jaw 6460, which may include anvil block 6462. Shown anvil block 6462 includes anvil body 6464, which includes elongated slot 6466 and formed on either side of it Two staple forming surfaces 6468.Anvil block 6462 also has proximal end part 6470, which is included from its projection Two actuator arms 6472 extended proximally.Each actuator arm 6472 has the gudgeon pin of the opening of projection laterally therefrom 6474 and the gudgeon pin 6476 of closure, the gudgeon pin of the gudgeon pin of the opening and closure is also received within corresponding lobe plate 6500 Cam slot 6504 in.It is this to be configured to that movably or pivotally axle journal is connected to end effector by the second jaw 6460 Mounting assembly 6490.

First jaw 6410 and the second jaw 6460 are movably activated by various types of closed-systems disclosed herein.Example Such as, the first closure drive system 30 can be used for activating closed tube in a manner described herein.Closed tube 260 also could attach to end Actuator closes casing 6572, and end effector closure casing can be pivoted with aforesaid way by double pivot closure sleeve assembly Ground is attached to closed tube.As described above, for example, the axial movement of closed tube can be controlled by activating closure trigger.Such as figure As can be seen in 77 and Figure 78, end effector closes casing 6572 in end effector mounting assembly 6490 and first Extend on the actuator arm 6472 of 6416 and second jaw 6460 of actuator arm of jaw 6410.When will closure casing 6572 court When distal side promotes, the distal end 6574 of closure casing 6572 contacts 6411 and second jaw of proximal end of the first jaw 6410 6460 proximal end 6461, and move the first jaw 6410 and the second jaw 6460 along distal direction " DD ".When the first pincers When 6410 and second jaw 6460 of mouth moves toward the far side, closure gudgeon 6419,6476 enters the closure wedge shape of cam slot 6504 Part 6505, and closing cam surface 6506 makes the first jaw 6410 and the second jaw 6460 carry out cam movement toward each other To closing position (Figure 73, Figure 75, Figure 77 and Figure 78).

For the ease of opening the first jaw 6410 and the second jaw 6460 by closing casing 6572, closure casing 6572 is set Two opening to extend internally tabs 6576 are equipped with, it is configured in closure casing 6572 by closed-system along nearside Engagement closure gudgeon 6419,6476 when direction " PD " is retracted.As can be seen in Figure 72 and Figure 76, when closure casing 6572 When being moved along proximal direction " PD ", open protuberance 6576 also contact closure lug 6419,6476 and along proximal direction driving close Close lug 6419,6476.The proximally movement of closure gudgeon 6419,6476 causes opening gudgeon 6418 and 6474 to enter lobe plate The opening wedge-like portion 6507 of groove 6504.The cam face 6508 of opening interacts with opening lug 6418,6474, and causes Actuator arm 6416 and 6472 shakes opening on its corresponding rocking arm surface 6417 and 6475, as shown in Figure 76 and Figure 79.With As the above-mentioned construction that wherein the first jaw and the second jaw are moved both with respect to axis axis SA-SA, wedge-like portion 6505 is closed It can be configured so that, when closed action is applied to thereon, the first jaw and the second jaw are with phase with wedge-like portion 6507 is opened Closed for closure speed different from each other or closing time.

Figure 80 to Figure 84 shows another surgical end-effector 7400, it includes two jaws, one of jaw It can be moved between the open and the closed positions relative to another jaw.In an illustrated embodiment, the first jaw 7410 Including anvil block 7412.Shown anvil block 7412 has anvil body 7414, which, which has, is immovably attached to end The proximal end part 7416 of actuator mounting assembly 7430.For example, proximal end part 7416 includes two upstanding sidewalls 7418, each upstanding sidewall has mounting hole 7419.Referring to Figure 82.End effector mounting assembly 7430 is received within uprightly Between side wall 7418, and immovably it is attached to thereon by spring catch 7421, which extends through wherein access aperture In 7419.End effector mounting assembly 7430 is suitable for being pivotally mounted to such as distal shaft frame, which includes The pivot pin being configured in the mounting hole 7432 that is rotatably received in end effector mounting assembly 7430. In the case of not departing from the spirit and scope of the present invention, surgical end-effector 7400 can pass through the articulation lock of the above-mentioned type And first and second joint motions bar construction or by various articulation systems as described herein and joint motions bar and/ Or any of bar/cable structure carries out joint motions.As can also see that in Figure 80 and Figure 82, anvil body 7414 Elongated slot 7422 is further included, which has two staple forming surfaces 7424 formed on either side of it.

Surgical end-effector 7400 further includes the second jaw 7440, which includes being configured to wherein Support the elongated passageway 7442 of surgery nail bin 7450.As in some surgery nail bins discussed above, surgery nail bin 7450 are configured to operationally support multiple staple drivers (not shown) wherein, and the multiple staple drivers are on it It is operably supported surgical staples (not shown).Staple drivers are movably supported in the corresponding driving being formed in surgery nail bin 7450 In device pit 7452.Arrange and embark on journey on every side of elongated slot 7454 of the staple drivers in surgery nail bin 7450, to adapt to Firing member 7460 therefrom axially through.Storehouse dish 7451 are attached to nail bin 7450, to prevent from working as 7400 quilt of surgical end-effector Staple drivers come off from its corresponding driver pit 7452 when being manipulated to various orientations.Wedge-shaped slides 7462 movably support In surgery nail bin 7450, and it is configured in firing member 7460 from adjacent with the proximal end of surgery nail bin 7450 Initial position and the end position in the distal part of surgery nail bin 7450 when being driven, connect by the driving of firing member 7460 Close.As described above, when wedge-shaped slides 7462 are driven through surgery nail bin 7450 along distal direction, wedge-shaped slides 7462 Staple drivers are drivingly contacted so that they to be driven towards storehouse platform surface (not shown).Firing member 7460 is cut including tissue Surface 7464, when firing member 7460 is driven towards distal side, which is clipped in jaw 7410,7440 for cutting Between tissue.Distal side fires beam 280 or other various types of distal side percussion beams as described herein are operably attached to hit Send out component 7460 and middle percussion shaft portion 2222 or other trigger systems construction.Centre percussion shaft portion 2222 drives and contracts The operation for returning distal side percussion beam 280 had been discussed in detail above, for brevity, will not be repeated again.This is not being departed from In the case of the spirit and scope of invention, can also use other percussion beams and trigger system construct (motor drive and Manual actuation) to provide power for firing member.First jaw lid 7415 is removably attached to anvil block 7412, the second jaw Lid 7441 is removably attached to the second jaw 7440, for assembling purpose, and prevents tissue and/or body fluid from penetrating into first In jaw and the second jaw, and this may be hindered or hinder the operation of firing member 6340.

As can be seen in Figure 82, elongated passageway 7442 includes the proximal end portion with two lateral parts 7445 Divide 7444.Each lateral parts 7445 have corresponding U-shaped or open-ended slit 7446 wherein, it is suitable for receiving from anvil The correspondence pivot pin 7426 of 7416 lateral protrusion of proximal end part of seat main body 7414.It is this to be configured to the second jaw 7440 or elongated passageway 7442 movably or pivotally axle journal is connected to the first jaw 7410 or anvil block 7412.It can such as scheme 80th, as most specifically seeing in Figure 82 and Figure 84, closure slope section 7447 is formed in the proximal end of elongated passageway 7442 On 7444.In addition, each side 7445 of proximal end part 7444 has the lateral concave region 7448 formed wherein.Often Nearside of a lateral concave region 7448 positioned at corresponding closure slope section 7447.Adjacent to the near of each lateral concave region 7448 Side end forms the slope opened or cam 7449.The slope or cam 7449 each opened terminate at top surface 7580.Referring to Figure 82 and Figure 84.

Second jaw 7440 or elongated passageway 7442 can be by various types of closed-systems disclosed herein relative to One jaw 7410 or anvil block 7412 are movably activated.For example, the closure drive system of type described herein can be used for actuating originally The closed tube of the text type, as it is above it is discussed in detail.Closed tube also could attach to end effector closure casing 7572, End effector closure casing can be attached pivotally to closed tube with aforesaid way by double pivot constructeds.As described above, example Such as, the axial movement of closed tube can be controlled by activating closure trigger.In other constructions, closed tube can be by means of machine Device people's control system etc. is axially movable.As can be seen in Figure 80, Figure 81, Figure 83 and Figure 84, end effector closes Trap pipe 7572 is in the proximal end portion of the elongated passageway 7442 of 7430 and second jaw 7440 of end effector mounting assembly Divide on 7444 and extend.End effector closure casing 7572 includes the opening members 7,574 two diametrically, it is by structure Cause to be operatively engaged the proximal end part 7444 of the second jaw 7440 or elongated passageway 7442.In shown implementation In scheme, opening members 7574 include the opening tab 7576 to extend internally, it is formed in end effector closure casing 7572 Part in.

Promoted by the way that end effector is closed casing 7572 along distal direction " DD ", the second jaw 7440 moves to closure Position (Figure 81 and Figure 83).When end effector closure casing 7572 moves toward the far side, the contact of its distal end 7575 is formed Closure slope section 7447 in the proximal end 7444 of elongated passageway 7442, and for making elongated passageway 7442 towards anvil block 7412 carry out cam movement.Once end effector closure casing 7552 has moved to its farthest position, then distal end 7575 contact the abutment surface 7443 on elongated passageways 7442 to maintain closure load or the closing force on elongated passageway 7442.Ginseng See Figure 81 and Figure 83.When end effector closes casing 7572 in the fully closed position, the end quilt of tab 7576 is opened It is received in corresponding lateral concave region 7448.In order to which the second jaw 7440 or elongated passageway 7442 are moved to open position Put, actuating closed-system closes casing 7572 to be moved along proximal direction " PD ".When 7572 court of end effector closure casing During proximal movement, the nearside that corresponding opening slope or cam 7449 are snapped into elongated passageway 7442 by tab 7572 upwards is opened On end sections 7444, so that elongated passageway 7442 carries out cam movement or pivot away from anvil block 7412.Each tab is by cam 7449 snap on top surface 7580 upwards, and for 7442 forward direction of elongated passageway to be maintained at the fully open position.Referring to Figure 84.

Figure 85 to Figure 87 shows another surgical end-effector 8400, which includes two jaws 8410,8440, the two jaws can move between the open and the closed positions at the same time relative to axis axis SA-SA.Institute In the example shown, the first jaw 8410 includes anvil block 8412.Shown anvil block 8412 has anvil body 8414, the anvil body With the proximal end part 8416 movably joined with end effector adapter 8600.As can be seen in Figure 85, End effector adapter 8600 includes two distal walls 8602 towards distal side extension, and each distal walls have projection laterally therefrom Lateral pivot pin 8604.Each lateral pivot pin 8604 is received within corresponding open-ended U-shaped slit 8418, this is narrow Groove is formed in the side walls 8417 of the proximal end part 8416 of anvil block 8412.Referring to Figure 85.This construction allows elongated logical Move or pivot relative to end effector adapter 8600 in road 8412.As in Figure 85 can it is further seen that as, end is held Row device adapter 8600 is immovably attached to end effector mounting assembly 8430.For example, end effector adapter 8600 Two upstanding sidewalls 8606 are further included, there is mounting hole 8608 in each upstanding sidewall.End effector mounting assembly 8430 It is received between upstanding sidewall 8606, and is immovably attached by spring catch 8421 with it, which extends through Wherein access aperture 8608.Actuator mounting assembly 8430 is suitable for being pivotally mounted to such as distal shaft frame, the distal shaft frame Including the pivot in the mounting hole 8432 that is configured to be rotatably received in end effector mounting assembly 8430 Pin.Without departing from the spirit and scope of the present invention, surgical end-effector 8400 can pass through the joint of the above-mentioned type Movement lock and the first and second joint motions bars construction are transported by various articulation systems as described herein and joint Any of lever and/or bar/cable structure carry out joint motions.As can also see that in Figure 85, anvil body 8414 further include elongated slot 8422, which has two staple forming surfaces 8424 formed on either side of it.

Surgical end-effector 8400 further includes the second jaw 8440, which includes being configured to wherein Support the elongated passageway 8442 of surgery nail bin 8450.As in various surgery nail bins discussed above, surgery nail bin 8450 are configured to operationally support multiple staple drivers (not shown) wherein, and the multiple staple drivers are on it It is operably supported surgical staples (not shown).Staple drivers are movably supported in the corresponding driving being formed in surgery nail bin 8450 In device pit 8452.Arrange and embark on journey on every side of elongated slot 8454 of the staple drivers in surgery nail bin 8450, to adapt to Firing member 8460 therefrom axially through.Storehouse dish 8451 are attached to nail bin 8450, to prevent from working as 8400 quilt of surgical end-effector Staple drivers come off from its corresponding driver pit 8452 when being manipulated to various orientations.Wedge-shaped slides 8462 movably support In surgery nail bin 8450, and it is configured in firing member 8460 from adjacent with the proximal end of surgery nail bin 8450 Initial position and the end position in the distal part of surgery nail bin 8450 when being driven, connect by the driving of firing member 8460 Close.As described above, when wedge-shaped slides 8462 are driven through surgery nail bin 8450 along distal direction, wedge-shaped slides 8462 Staple drivers are drivingly contacted so that they to be driven towards storehouse platform surface (not shown).Firing member 8460 is cut including tissue Surface 8464, when firing member 8460 is driven towards distal side, which is clipped in jaw 8410,8440 for cutting Between tissue.Distal side fires beam 280 or other various types of distal side percussion beams as described herein are operably attached to hit Send out component 8460 and middle percussion shaft portion 2222 or other trigger systems construction.Centre percussion shaft portion 2222 drives and contracts The operation for returning distal side percussion beam 280 had been discussed in detail above, for brevity, will not be repeated again.This is not being departed from In the case of the spirit and scope of invention, can also use other percussion beams and trigger system construct (motor drive and Manual actuation) to provide power for firing member.First jaw lid 8415 is removably attached to anvil block 8412, and second Jaw lid 8441 is removably attached to the second jaw 8440, for assembling purpose, and prevents tissue and/or body fluid from penetrating into First jaw and the second jaw, and this may be hindered or hinder the operation of firing member 8460.

As can be seen in Figure 85, elongated passageway 8442 includes the proximal end portion with two lateral parts 8445 Divide 8444.Each lateral parts 8445 have corresponding U-shaped or open-ended slit 8446 wherein, it is suitable for receiving from end The lateral pivot pin 8604 of correspondence of 8600 lateral protrusion of portion's actuator adapter.It is this to be configured to the second jaw 8440 or thin Movably or pivotally axle journal is connected to the first jaw 8410 or anvil block 8412 to long-channel 8442.Such as that can also see that in Figure 85 Sample, closure slope section 8447 are formed in the proximal end 8444 of elongated passageway 8442.In addition, proximal end part 8444 is every A side 8445 has the second lateral concave region 8448 formed wherein.Each second lateral concave region 8448 positioned at pair The nearside for the second closure slope section 8447 answered.The proximal end in neighbouring each second lateral concave region 8448 forms second dozen The slope opened or cam 8449.Each second slope opened or cam 8449 terminate at the second top surface 8450.Similarly, One sunk area 8420 is formed on the bottom of each side wall 8417 of the proximal end part 8416 of anvil block 8412.It is neighbouring each The proximal end in the first lateral concave region 8420 forms the first slope opened or cam 8426.Each first slope opened Or cam 8426 terminates at the first top surface 8428.

Second jaw 8440 or 8442 and first jaw 8410 of elongated passageway or anvil block 8412 can be by disclosed herein each The closed-system of type moves between the open and the closed positions at the same time.For example, closure drive system 30 can be used for Manner described herein activates closed tube 260.Closed tube 260 also could attach to end effector closure casing 8572, the end Actuator closure casing can be attached pivotally to closed tube 260 with aforesaid way by double pivot constructeds.As described above, for example, The axial movement of closed tube 260 can be controlled by activating closure trigger 32.In other constructions, closed tube can be by means of Robot control system etc. is axially movable.As can be seen in Figure 86 and Figure 87, end effector closure casing 8572 In end effector mounting assembly 8430, the elongated passageway 8442 of end effector adapter 8600 and second jaw 8440 Extend on the proximal end part 8416 of 8444 and first jaw 8410 of proximal end part or anvil block 8412.End effector Closure casing 8572 includes the first opening members 8574 for two diametrically, it is configured to be operatively engaged the The proximal end part 8416 of one jaw 8410.In the embodiment illustrated, the first opening members 8574 include extending internally First open tab 8576, its be formed in end effector closure casing 8572 part in.Equally, end effector closes Casing 8572 further includes two the second opening members 8580 diametrically, it is configured to be operatively engaged second The proximal end part 8444 of jaw 8440.In the embodiment illustrated, the second opening members 8580 include what is extended internally Second opens tab 8582, it is formed in the part of end effector closure casing 8572.

Promoted by the way that end effector is closed casing 8572 along distal direction " DD ", the first jaw 8410 and the second jaw 8440 move to closing position (Figure 86) at the same time.When end effector closure casing 8572 moves toward the far side, its distal end 8575 contact the bottom of the proximal end part 8416 of the first jaws 8410 or anvil block 8412 and are formed in elongated passageway 8442 Proximal end 8444 on closure slope section 8447, and for making the first jaw 8410 and the second jaw 8440 toward each other Carry out cam movement.Once end effector closure casing 8572 has moved to its farthest position, end effector closure The distal end 8575 of casing 8572 just contacts the first jaw 8410 or the first abutment surface 8419 on anvil block 8412 and the The second abutment surface 8443 on two jaws 8440 or elongated passageway 8442, to maintain the closure on two jaws 8410,8440 Load or closing force.Referring to Figure 86.When end effector closes casing 8572 in the fully closed position, first opens tab 8576 end is received within corresponding first lateral concave region 8420, and the end of the second opening tab 8582 is connect It is contained in corresponding second lateral concave region 8448.In order to make the first jaw 8410 and the second jaw 8440 transport away from each other Move to open position, actuating closed-system and close casing 8572 to be moved along proximal direction " PD ".When end effector stall When pipe 8572 proximally moves, the corresponding first opening slope or cam 8426 are snapped into the by the first opening tab 8576 upwards On the bottom of the proximal end part 8416 of one jaw 8410, so that the first jaw 8410 or anvil block 8412 are along away from the second jaw 8440 or the direction of elongated passageway 8442 carry out cam movement or pivot, and second to open tab 8582 oblique by corresponding second Slope 8449 snaps on the proximal end part 8444 of elongated passageway 8442 upwards, so that elongated passageway 8442 is along away from the first pincers The direction of mouth or anvil block 8412 carries out cam movement or pivot.Each of first tab 8576 is by corresponding cam or slope 8426 snap on corresponding first locking surface 8428 upwards, and each of second tab 8582 is by corresponding second Cam or slope 8449 snap on corresponding second locking surface 8450 upwards, so that by the first jaw 8410 and the second jaw 8400 are maintained at open position.Reader will appreciate that the first tab 8576 can be determined relative to the axial location of the second tab 8582 Position is into causing the first jaw and the second jaw while move away from each other, or they can cause a jaw to exist with axial dipole field Moved before the movement of another jaw.

Figure 88 to Figure 93 shows the part of another surgical instruments 9010, which includes and slender axles The surgical end-effector 9300 that component 9200 operativelys interface with.Surgical end-effector 9300 is similar to and begs in detail above The surgical end-effector 300 of opinion, and include the first jaw of 9302 form of elongated passageway, which is adapted to It is enough to be operably supported surgery nail bin 304 wherein.Shown surgical end-effector 9300 further includes the of 310 form of anvil block Two jaws, second jaw are supported on elongated passageway 9302 with relative to its movement.Anvil block 310 can pass through above-mentioned closed system System is movably activated, and is shown in Figure 88 and Figure 91.For example, the first closure drive system can be used for side as described herein Formula activates closed tube 260.Closed tube 260 is attached to end effector closure casing 272, which closes more than casing State mode and closed tube 260 is attached pivotally to by double pivot closure sleeve assembly 271.As described above, for example, closed tube 260 Axial movement can be controlled by activating closure trigger.Also as described above, closing casing 272 includes being used for anvil block 310 Movably it is actuated into the cam of the opening of open position.In use, closed tube 260 is translated towards distal side (direction " DD "), with (example As) in response to closure trigger actuating and closed anvil 310.By being translated to the far side closed tube 260 along distal direction " DD " And the end effector closure casing 272 being pivotally coupled carrys out closed anvil 310.When end effector closes casing 272 towards distal side when being driven, and the cam tab 358 of the cam 354 of opening is in the cam slot 318 in anvil block 310 towards distal side Movement, to operatively interface with or ride upon on cam face 319, so that the main part 312 of anvil block 310 is away from surgical staples Storehouse 304 carries out cam movement and enters open position.Anvil is closed by being translated to the far side closed tube 260 along distal direction " DD " Seat 310, overlaps to contact upwards until anvil block is attached arm 316 by the distal end 275 of end effector closure casing 272, this Cam tab 358 is caused to be moved into along proximal direction " PD " in the cam slot 318 on cam face 319, so that 310 pivot of anvil block Go to open position.

As can be seen in Figure 91, Slender axles assembly 9200 includes two-piece type axis frame or ridge component 9812, closure Tube assembly 260 is received within the axis frame or ridge component.Ridge component 9812 includes proximal spine segment 9814 and distal spine segment 9816.Proximal spine segment 9816 can by it is as described herein it is various in a manner of be rotatably journaled to shank or shell (not shown) In, in order to which surgical end-effector 9300 is rotated around axis axis SA.Although being not shown, surgical instruments 9010 may also include Any of beam construction and various percussion drive system constructions disclosed herein are fired, for various modes discussed above Driving firing member passes through surgery nail bin.As can be seen in Figure 91, distal spine segment 9816 includes having thereon upward The distal end portion 9818 of the pivot pin 9819 of projection, the pivot pin are suitable for pivotally being received in being formed at elongated passageway In pivot hole 9328 in 9302 proximal end part 9320.This construction contributes to the elongated of surgical end-effector 9300 Passage 9302 surrounds the joint motions axis B-B limited by pivot hole 9328 and pivots traveling relative to ridge component 9812.As above institute State, joint motions axis B-B is transverse to the axis axis SA-SA limited by Slender axles assembly 9200.

Referring still to Figure 91, Slender axles assembly 9200 further include be generally denoted as 9900 articulation system, it includes First joint motions rod 9910 and second joint moving bar 9920.First joint motions rod 9910 and the first joint motions motor 9912 operatively interface with, which is operatively supported at the surgical instruments shank of robot control system Or in shell or part.As can be seen in Figure 92 and Figure 93, the first joint motions rod 9910 is attached to the first joint fortune Dynamic nut 9914, the first joint motions nut can be received within the first screw thread of the first joint motions motor 9912 by screw thread In drive shaft 9916.The rotation of first threaded drive shaft 9916 along the first direction of rotation will cause 9910 edge of the first joint motions rod Proximal direction " DD " is promoted towards distal side, and the first threaded drive shaft 9916 will cause along the rotation of second or opposite direction of rotation First joint motions driving rod 9910 is proximally promoted along proximal direction " PD ".

Shown articulation system 9900 further includes second joint moving bar 9920, the second joint moving bar and second Joint motions motor 9922 operativelys interface with, and second joint movement motor is operatively supported at robot control system In surgical instruments shank or shell or part.As can be seen in Figure 92 and Figure 93, second joint moving bar 9920 is attached To second joint movement nut 9924, which can be received within second joint movement motor by screw thread In 9922 the second threaded drive shaft 9926.Second threaded drive shaft 9926 will cause the second pass along the rotation of the first direction of rotation Save moving bar 9920 to promote along proximal direction " PD " to nearside, and the second threaded drive shaft 9926 is along second or phase despining side To rotation second joint will be caused to move driving rod 9920 distally advance along distal direction " DD ".

Articulation system 9900, which further includes, is operably attached to the first joint motions rod 9910 and second joint movement The crosslinking component 9940 of rod 9920.As can be seen in Figure 91, crosslinking component 9940 includes middle support member 9950, should Middle support member is pivotally pinned to the proximal end 9320 of elongated passageway 9302 using the first pin 9952.Middle support member 9950 further include proximal connector tab 9954, it includes being used for the slit 9956 for receiving the second pin 9958 wherein, with nearly Side-connector tab 9954 is attached pivotally to the distal end portion 9818 of distal side spine 9816.The construction of pin and slit is favourable In middle support member 9950 relative to the pivot of ridge component 9812 and axial traveling.Middle support member 9950, which further includes, to be used for Receive the slit 9960 through its percussion beam.Middle support member 9950 is used to hold to adapt to surgical end in percussion beam flexure During the joint motions of row device 9300 lateral support is provided for percussion beam.

As most specifically can be seen in Figure 92 and Figure 93, middle support member 9950 is conducive to the first joint Moving bar 9910 and second joint moving bar 9920 are attached to its proximal link tab portion 9970.Specifically, first close The distal end 9911 of section moving bar 9910 is attached pivotally to the first articulation link 9972, which connects Fitting is pivotally pinned to proximal link tab portion 9970.Equally, 9921 pivot of distal end of second joint moving bar 9920 It is pinned to second joint motion couplings 9974 with turning, which is pivotally pinned to middle support member 9950 proximal link tab portion 9970.Figure 92 shows the direction shown in surgical end-effector 9300 along arrow 9980 Joint motions.As this can be seen in the figure, the first threaded drive shaft 9916 of the first joint motions motor is rotated along first Direction rotates, to drive the first joint motions rod 9910 along distal direction.In addition, the second spiral shell of second joint movement motor 9922 Line drive shaft 9926 is rotated along the second direction of rotation, to pull second joint moving bar 9920 along proximal direction.Transport in the first joint The system operatio that dynamic motor 9912 and second joint movement motor 9922 control by computer, and that as can be seen in Figure 92 Sample, the distance that the first joint motions bar 9910 is moved along distal direction are transported not equal to second joint moving lever 9920 along proximal direction Dynamic distance.

Figure 93 shows the joint motions in the direction shown in surgical end-effector 9300 along arrow 9982.Can in such as figure As seeing, the second threaded drive shaft 9926 of second joint movement motor 9922 is rotated along the first direction of rotation, with along remote Side direction driving second joint moving bar 9920.In addition, 9916 edge of the first threaded drive shaft of the first joint motions motor 9912 Second direction of rotation rotates, to pull the first joint motions rod 9910 along proximal direction.First joint motions motor 9912 and The system operatio that two joint motions motors 9922 are controlled by computer, and as can be seen in Figure 92, second joint fortune The distance that lever 9920 is moved along distal direction is not equal to the distance that the first joint motions bar 9910 is moved along proximal direction.Another In the construction of choosing, using only a joint motions motor end effector can be made to carry out joint motions.In such construct, example Such as, the rack-and-pinion structure that the second connector can be constructed by similar those rack-and-pinions being disclosed in detail in this article Make and be connected to the first connector in nearside.

Figure 94 and Figure 95 shows surgery nail bin 9304 and 9304', and the surgery nail bin each includes being used to illuminate support The lamp component 9305 of the distal end of its surgical end-effector.Each of nail bin 9304,9304 ', which can have, to be arranged Conductor (not shown) in orlop portion or storehouse side, the conductor be configured to in elongated passageway with positioned at apparatus The correspondence conductor electrical contact of energy source connection in shank or shell.Therefore, when storehouse 9304,9304 ' is properly positioned at surgery When in the elongated passageway of end effector, lamp 9305 therein can receive electricity by corresponding conductor from the power supply in shank or shell Power.

Surgical instrument system as described herein is actuated by electro-motor；However, surgical instrument system as described herein can be with Any suitable mode actuates.In all cases, for example, surgical instrument system as described herein can be by the triggering that is manually operated Device actuates.One or more motors may include one or more parts of robot control system.

Surgical instrument system as described herein is described with reference to the deployment and deformation of nail；However, implementation as described herein Scheme not limited to this.For example, it is envisioned that the various embodiments of fastener such as fixture or tack of the deployment in addition to nail. In addition, it is also contemplated that utilize the various embodiments of any appropriate device for seal tissue.For example, according to various embodiment party The end effector of case may include the electrode for being configured to heating and seal tissue.In addition, for example, according to some embodiment party The end effector of case can apply vibrational energy and carry out seal tissue.

Surgical instrument system as described herein is actuated by one or more electro-motors；However, surgery device as described herein Tool system can actuate in any suitable manner.In all cases, for example, surgical instrument system as described herein can be by manual The trigger of operation actuates.

Embodiment

A kind of surgical instruments of embodiment 1-, including surgical end-effector.The surgical end-effector includes the first jaw With the second jaw, which is movably supported between open position and closing position relative to the first jaw.Surgery device Tool further includes enclosed member, which may be in response to closed action and the application of opening action is axially moved.Enclosed member Include the cam of at least one opening, the cam of the opening is convex movably to engage the corresponding fluting on the second jaw from its projection Wheel surface so that when opening action is applied to enclosed member, the cam of at least one opening movably engages corresponding Grooved cam surface is so that the second jaw moves to open position, and when closed action is applied to enclosed member, closes structure Part engages the second jaw so that the second jaw moves to one of closing position place.

Surgical instruments of the embodiment 2- according to embodiment 1, wherein the cam of at least one opening includes first The cam of opening, first cam opened extend and engage the in corresponding grooved cam surface laterally inward from enclosed member One grooved cam surface.Second cam opened extends and engages in corresponding grooved cam surface laterally inward from enclosed member Second grooved cam surface.

Surgical instruments of the embodiment 3- according to embodiment 2, wherein the second cam opened on enclosed member with the One cam opened is diametrically.

Surgical instruments of the embodiment 4- according to embodiment 1,2 or 3, wherein the cam of at least one opening is removable Except ground is attached to enclosed member.

Surgical instruments of the embodiment 5- according to embodiment 1,2,3 or 4, wherein the cam quilt of at least one opening It is configured to be used for and enclosed member snap engagement.

Surgical instruments of the embodiment 6- according to embodiment 1,2 or 3, wherein the cam one of at least one opening It is formed in enclosed member.

Surgical instruments of the embodiment 7- according to embodiment 1,2,3 or 6, wherein the cam quilt of at least one opening It is crimped onto in the wall of enclosed member so that the crimping portion of wall movably extends through the corresponding part of the first jaw with movably Engage the correspondence grooved cam surface on the second jaw.

Surgical instruments of the embodiment 8- according to embodiment 1,2,3,4,5,6 or 7, wherein at least one opening Cam extends inwardly through the part of the first jaw to engage corresponding grooved cam surface.

Surgical instruments of the embodiment 9- according to embodiment 1,2,3,4,5,6,7 or 8, wherein the second jaw includes a pair The gudgeon extended laterally, the gudgeon is configured to pivotally be received in the correspondence gudgeon hole of the first jaw, with profit Advance in the second jaw relative to the pivot of the first jaw.

Surgical instruments of the embodiment 10- according to embodiment 1,2,3,4,5,6,7,8 or 9, wherein the first jaw is by structure Cause that surgery nail bin can be operably supported, and wherein the second jaw includes anvil block.

A kind of surgical instruments of embodiment 11-, including surgical end-effector.The surgical end-effector includes the first jaw With the second jaw, second jaw be pivotably supported on the first jaw so as to relative to its open position with closure position Selectively moved between putting.Second jaw includes the first cam face and the second cam face.Surgical instruments further includes end and holds Row device closes casing, and end effector closure casing includes the first cam opened, which holds from end Row device closure casing extends through the part of the first jaw to be operatively engaged the first cam face laterally inward.Second dozen The cam opened extends through another part of the first jaw to be operatively engaged laterally inward from end effector closure casing Second cam face so that when opening action is applied to end effector closure casing, the first cam opened movably connects Close the first cam face and the second cam opened movably engages the second cam face so that the second jaw moves to opening At position, and when closed action is applied to end effector closure casing, end effector closure casing movably engages Second jaw is so that the second jaw moves to one of closing position place.

Surgical instruments of the embodiment 12- according to embodiment 11, wherein first open cam and second open it is convex Wheel is removably attached to end effector closure casing.

Surgical instruments of the embodiment 13- according to embodiment 11, wherein first open cam and second open it is convex Wheel includes permanent deformation in end effector closure casing.

Surgical instruments of the embodiment 14- according to embodiment 11 or 13, wherein the first cam opened and second is opened Cam casing closed by curled ends actuators formed.

Surgical instruments of the embodiment 15- according to embodiment 14, wherein first open cam and second open it is convex Wheel is crimped relative to the adjacent part of the outer surface of end effector closure casing with an angle of 90 degrees.

Surgical instruments of the embodiment 16- according to embodiment 11,12,13,14 or 15, wherein the first cam opened can The first slit in the first jaw is protruded through dynamicly to be operativelyd interface with the first cam face in the second jaw, and Wherein second cam opened movably protrude through the second slit in the first jaw with the second cam in the second jaw Surface operativelys interface with.

Surgical instruments of the embodiment 17- according to embodiment 11,12,13,14,15 or 16, wherein the second jaw includes The gudgeon that a pair extends laterally, the gudgeon are configured to pivotally be received in the correspondence gudgeon hole of the first jaw, So that the second jaw is advanced relative to the pivot of the first jaw.

Surgical instruments of the embodiment 18- according to embodiment 11,12,13,14,15,16 or 17, wherein the first jaw quilt It is constructed to be permeable to be operably supported surgery nail bin, and wherein the second jaw includes anvil block.

A kind of surgical instruments of embodiment 19-, including shell and closed-system, the closed-system are operably supported by shell And it is configured to produce closed action and opening action.Slender axles assembly is operativelyd interface with shell.Slender axles assembly Casing is closed including end effector, end effector closure casing may be in response to be applied to closed action and opening thereon Action is axially moved.Surgical instruments further includes surgical end-effector, which includes elongated passageway, this is elongated Passage operativelys interface with Slender axles assembly and is configured to be operably supported surgery nail bin wherein.Anvil block is movable Ground is supported on elongated passageway, to be moved between the open position and the closed position relative to it.Surgical instruments further include from At least two cams opened that end effector stall rostrum rises so that be applied to end effector closure in opening action During casing, it is described at least two open cams operativelyd interface with the first direction with the corresponding cam face on anvil block so that Anvil block moves to open position, and when closed action is applied to end effector closure casing, end effector closure Casing is operativelyd interface with anvil block to cause anvil block to move to one of closing position place in a second direction.

Surgical instruments of the embodiment 20- according to embodiment 19, the cam that wherein at least one is opened are formed in end In actuator closure casing.

A kind of surgical instruments of embodiment 21-, including limit the Slender axles assembly of axis axis.End effector mounting assembly can Slender axles assembly is connected to dynamicly with around joint motions axis the making choice property joint motions transverse to axis axis.First pincers Mouthful and the second jaw be movably coupled to end effector mounting assembly so that the first jaw and the second jaw each can be relative to Moved between the open position and the closed position around common pivot axis with axis axis each other.First jaw includes at first point, Second jaw includes second point, wherein first point and second point are along the common axis arrangement perpendicular to axis axis.When the first pincers When mouthful in an open position, first point with axis axis away from the first distance, and wherein when the second jaw is in an open position, Away from the second distance, and wherein second distance is different from the first distance for second point and axis axis.Surgical instruments, which further includes, to be used for First jaw and the second jaw are biased into the device of open position and for being clamped to the first jaw and second away from each other Mouth applies closed action so that the first jaw and the second jaw move towards one another the device of closing position.

Surgical instruments of the embodiment 22- according to embodiment 21, wherein one of the first jaw and the second jaw wrap Elongated passageway is included, which is configured to be operably supported surgery nail bin in elongated passageway, and wherein The other of one jaw and the second jaw include anvil block.

Surgical instruments of the embodiment 23- according to embodiment 21, wherein the first jaw includes surgery nail bin, and wherein Second jaw includes anvil block, and wherein second distance is more than the first distance.

Surgical instruments of the embodiment 24- according to embodiment 21,22 or 23, further includes firing member, the firing member It is supported in one during the first jaw and the second jaw are in the close position between the first jaw and the second jaw It is axial to advance.

Surgical instruments of the embodiment 25- according to embodiment 21,22,23 or 24, its end effector mounting assembly Including a pair of of side.Each side includes limiting the gudgeon pin of the lateral protrusion of pivot axis.In first jaw and the second jaw Each be pivotally supported on each gudgeon pin in the gudgeon pin of lateral protrusion.

Surgical instruments of the embodiment 26- according to embodiment 21,22,23,24 or 25, wherein for the device bag biased Include the spring between the first jaw and the second jaw.

Surgical instruments of the embodiment 27- according to embodiment 21,22,23,24,25 or 26, wherein for applying closure The device of action includes the end effector closure casing that can be axially moved, and end effector closure casing is adapted to Enough parts that the first jaw and the second jaw are simultaneously engaged with when end effector closure casing is axially moved in the first direction.

Surgical instruments of the embodiment 28- according to embodiment 21,22,23,24,25,26 or 27, further including can be axial The firing member of movement, the firing member that can be axially moved are supported for being in closure in the first jaw and the second jaw Axially advance between the first jaw and the second jaw during one in position.

Surgical instruments of the embodiment 29- according to embodiment 28, wherein firing member include tissue cutting surface.

A kind of surgical instruments of embodiment 30-, including limit the Slender axles assembly of axis axis.End effector mounting assembly can Slender axles assembly is connected to dynamicly with around joint motions axis the making choice property joint motions transverse to axis axis.First pincers Mouthful and the second jaw be movably coupled to end effector mounting assembly so that the first jaw and the second jaw can each relative to Moved between the open position and the closed position with axis axis each other, so as to be applied to the first jaw and the second pincers in closed action Make one of the first jaw and the second jaw during mouth to close one in rate motion to closing position, the closure speed is not It is same as another closure speed that the other of the first jaw and the second jaw move to closing position.Surgical instruments further includes use Moved in optionally applying closed action to the first jaw and the second jaw and applying to open to the first jaw and the second jaw Make so that the first jaw and the second jaw optionally to be moved to the device of open position from closing position.

Surgical instruments of the embodiment 31- according to embodiment 30, further includes the firing member that can be axially moved, the energy The firing member being enough axially moved is supported in one during the first jaw and the second jaw are in the close position Axially advance between one jaw and the second jaw.

Surgical instruments of the embodiment 32- according to embodiment 30 or 31, further includes positioned at end effector mounting assembly On the first cam slot.First cam slot limits the first closure wedge-like portion and first and opens wedge-like portion.Second cam Slit is also disposed in end effector mounting assembly.Second cam slot limits the second closure wedge-like portion and second and opens wedge Shape part.First jaw includes a pair of first opening members and a pair of first enclosed member, wherein one in the first opening members One of person and the first enclosed member are movably received in the first cam slot.The other of first opening members and The other of first enclosed member is received within the second cam slot.Second jaw includes a pair of second opening members and one To the second enclosed member, wherein one of second opening members and one of the second enclosed member are movably received in In one cam slot.The other of second opening members and the other of the second enclosed member are movably received in second In cam slot.Device for selectively applying is configured to make the first jaw and the second jaw transport in the first direction It is dynamic, to cause one of first enclosed member and one of the second enclosed member movably to enter the first closure wedge-shaped part Point, and the other of first enclosed member and the other of the second enclosed member movably enter the second closure wedge-shaped part Point, so as to cause the first jaw and the second jaw to move towards one another one of closing position place.For selective application Device be further configured to that the first jaw and the second jaw can be made to move in a second direction, to cause the first opening structure One of part and one of the second opening members are moved in the first opening wedge-like portion, and in the first opening members The other of another one and the second opening members are moved in the second opening wedge-like portion, so as to cause the first jaw and second Jaw moves to open position away from each other.

Surgical instruments of the embodiment 33- according to embodiment 32, wherein the first cam slot is formed in and is connected to end In first lobe plate of actuator mounting assembly.Second cam slot, which is formed in, is connected to the second of end effector mounting assembly In lobe plate.

Surgical instruments of the embodiment 34- according to embodiment 32 or 33, wherein including for the device selectively applied End effector closes casing, and end effector closure casing may be in response to be applied to closed action and opening action thereon It is axially moved.End effector closure casing includes first and opens tab, which corresponds to the first opening members In one and the second opening members in one, with end effector closure casing move in a second direction when with first dozen One opened in one in component and the second opening members operationally contacts.Second, which opens tab, corresponds to the first opening structure Another in another and the second opening members in part, with when end effector closure casing moves in a second direction with One in first opening members and one in the second opening members operationally contact.

Surgical instruments of the embodiment 35- according to embodiment 30,31,32,33 or 34, wherein the first jaw and the second pincers One of mouth includes elongated passageway, which is configured to be operably supported surgical staples in elongated passageway Storehouse, and wherein the other of the first jaw and the second jaw include anvil block.

Surgical instruments of the embodiment 36- according to embodiment 31,32,33,34 or 35, further includes firing member, this hits Hair component is supported for clamping in the first jaw and second in one during the first jaw and the second jaw are in the close position Axially advance between mouthful.

A kind of surgical instruments of embodiment 37-, including the first jaw and the second jaw, the first jaw and the second jaw relative to It is pivotally supported each other, pivots and advance for selectivity between the open position and the closed position.Enclosed member may be in response to It is applied to closed action thereon and opening action axial movement.Enclosed member is dashed forward including at least two openings to extend internally Piece, the opening tab are configured to be operatively engaged the first jaw and the when opening action is applied to enclosed member The corresponding part of at least one of two jaws, so that at least one of the first jaw and the second jaw move to open position Put.

Surgical instruments of the embodiment 38- according to embodiment 37, wherein described at least two openings to extend internally are dashed forward At least one of piece is integrally formed in enclosed member.

Surgical instruments of the embodiment 39- according to embodiment 37, wherein described at least two openings to extend internally are dashed forward Each of piece is removably attached to enclosed member.

Surgical instruments of the embodiment 40- according to embodiment 37,38 or 39, wherein in the first jaw and the second jaw One includes elongated passageway, which is configured to be operably supported surgery nail bin in elongated passageway, and Wherein the other of the first jaw and the second jaw include anvil block.

A kind of surgery suturing appliances of embodiment 41-, including limit the Slender axles assembly of axis axis.Surgical end-effector is led to Cross actuated articulation joints and be operably linked to Slender axles assembly so that surgical end-effector can be relative to Slender axles assembly Around joint motions axis the making choice property joint motions transverse to axis axis.Surgical end-effector includes storehouse support structure Part, the storehouse supporting member are configured to be operably supported surgery nail bin wherein.Can lengthwise movement percussion beam extend through Actuated articulation joints are crossed, and optionally can axially move to end position from initial position in surgical end-effector. Surgical instruments further includes percussion beam locked component, which includes biasing member, and the biasing member is operable Ground be supported on actuated articulation joints and be configured to can lengthwise movement percussion beam be biased action can indulge To movement percussion beam be biased into latched position, prevented in latched position can lengthwise movement percussion beam move to knot from initial position Beam position, unless the surgery nail bin not fired is operably supported in nail bin supporting member.

Surgery suturing appliances of the embodiment 42- according to embodiment 41, wherein biasing member are supported on to be supported with storehouse On component and the middle support member of Slender axles assembly handing-over.Middle support member is configured in surgical end-effector Lateral support can lengthwise movement percussion beam during carrying out joint motions around joint motions axis.

Surgery suturing appliances of the embodiment 43- according to embodiment 41 or 42, wherein biasing member are configured to Surgical end-effector carry out joint motions when avoid to can lengthwise movement percussion beam be biased action.

Surgery suturing appliances of the embodiment 44- according to embodiment 41,42 or 43, wherein can lengthwise movement percussion Liang Bao Include and be formed in the locking cam on one part to be engaged with biasing member.

Surgery suturing appliances of the embodiment 45- according to embodiment 44, wherein biasing member include flat bodies, this is flat Smooth main body includes the window being located in flat bodies so that locking cam is prominent during the joint motions of surgical end-effector Into window.

Surgery suturing appliances of the embodiment 46- according to embodiment 41,42,43,44 or 45, wherein to can longitudinally transport When dynamic percussion beam initially applies firing action, biasing member can lengthwise movement percussion beam be biased into latched position, unless not hitting The surgery nail bin of hair is operably supported in storehouse supporting member.

Surgery suturing appliances of the embodiment 47- according to embodiment 41,42,43,44,45 or 46, wherein do not fire Surgical stapling nail bin includes the multiple surgical staples and wedge-shaped slides being operably supported in warehouse, the wedge-shaped slides It can be axially moved through warehouse, with when never firing position moves to firing position to wedge-shaped slides in warehouse, from storehouse Body projects surgical staples.Wedge-shaped slides be configured for can lengthwise movement percussion beam be in initial position and wedge shape slip When part is in non-firing position with can lengthwise movement percussion beam be operatively engaged.

Surgery suturing appliances of the embodiment 48- according to embodiment 41,42,43,44,45 or 46, wherein to percussion When beam initially applies firing action, biasing member is biased into latched position by beam is fired, unless being supported in storehouse supporting member Surgery nail bin in wedge-shaped slides be in non-firing position in surgery nail bin and with can lengthwise movement percussion Liang Kecao Make ground engagement.

Embodiment 49- is configured to according to the surgery suturing appliance of embodiment 48, wherein wedge-shaped slides When wedge-shaped slides are in non-firing position and to can lengthwise movement percussion beam apply initial firing action when prevent from hitting Hair beam enters latched position.

A kind of surgery suturing appliances of embodiment 50-, including surgical end-effector, the surgical end-effector are included by structure Cause to be operably supported the elongated passageway of surgery nail bin wherein.Anvil block is supported relative to elongated passageway so that anvil One of seat and elongated passageway can be relative to the other of anvil blocks and elongated passageway between the open position and the closed position Optionally move.Surgical instruments further includes Slender axles assembly, which limits axis axis and connect including joint motions Head, the actuated articulation joints are operably linked to surgical end-effector so that surgical end-effector is relative to slender axles Component surrounds joint motions axis the making choice property joint motions transverse to axis axis.Slender axles assembly further includes closed group Part, the closed action which may be in response to be applied to thereon are axially moved.Closing assembly includes distal side enclosed member section With nearside enclosed member section, which movably joins with distal side enclosed member section to adapt to surgical end execution Device surrounds the joint motions of joint motions axis.Nearside enclosed member section is configured to be applied to closed group in closed action One of anvil block and elongated passageway is set to move between the open position and the closed position during part.Surgery suturing appliance further includes can Lengthwise movement fires beam, which extends through actuated articulation joints, and can be in surgical end-effector optionally End position is axially moved to from initial position.Can lengthwise movement percussion beam be configured to can lengthwise movement percussion Liang Chu The corresponding part for the surgery nail bin not fired being operatively supported in elongated passageway is operatively engaged when initial position. Surgery suturing appliance further includes percussion beam locked component, which includes biasing member, and biasing member quilt can Be operatively supported in the enclosed member section of distal side so as to can lengthwise movement percussion beam be biased into latched position, in latched position Prevent can lengthwise movement percussion beam move to end position from original position, unless the surgery nail bin not fired is by operable twelve Earthly Branches Support is in elongated passageway.

Surgery suturing appliances of the embodiment 51- according to embodiment 50, wherein can lengthwise movement percussion beam have tilt Part, the sloping portion be configured for when can lengthwise movement percussion beam be in initial position when engage with biasing member.

Surgery suturing appliances of the embodiment 52- according to embodiment 50 or 51, wherein the surgical stapling nail bin not fired Including the multiple surgical staples and wedge-shaped slides being operably supported in warehouse, which can be axially moved Through warehouse, when never firing position moves to firing position to wedge-shaped slides in warehouse, surgical staples are projected from warehouse. Wedge-shaped slides be configured for can lengthwise movement percussion beam be in initial position and wedge-shaped slides in not firing During position with can lengthwise movement percussion beam be operatively engaged.

The surgery suturing appliance of embodiment 53- embodiments 52, wherein wedge-shaped slides are configured to slide in wedge shape When part is in non-firing position and to can lengthwise movement percussion beam apply initial firing action when prevent percussion beam enter lock Positioning is put.

A kind of surgery suturing appliances of embodiment 54-, including limit the Slender axles assembly of axis axis.Surgical end-effector is led to Cross actuated articulation joints and be operably linked to Slender axles assembly so that surgical end-effector can be relative to Slender axles assembly Around joint motions axis the making choice property joint motions transverse to axis axis.Surgical end-effector includes storehouse support structure Part, the storehouse supporting member are configured to be operably supported surgery nail bin wherein.Surgery suturing appliance, which further includes, to be indulged Beam is fired to movement, which includes extending through the part of actuated articulation joints, and can be in surgical end-effector Optionally end position is axially moved to from initial position.Can lengthwise movement percussion beam be configured to can lengthwise movement Percussion beam is operatively engaged the surgery nail bin not fired being operatively supported in storehouse supporting member when being in initial position Corresponding part.Surgery suturing appliance is further included for carrying out joint motions around joint motions axis in surgical end-effector The part for extending through actuated articulation joints of Shi Weike lengthwise movements percussion beam provides the device of lateral support.For offer Described device further include for prevent can the device that moves to end position from original position of lengthwise movement percussion beam, unless not hitting The surgery nail bin of hair is operably supported in storehouse supporting member.

Surgery suturing appliances of the embodiment 55- according to embodiment 54, wherein for providing the device of lateral support also Middle support member including being movably attached to storehouse supporting member and Slender axles assembly.Middle support member includes being used for movable Ground receive can lengthwise movement percussion beam the part through it slit.Device for preventing includes biasing member, the bias Component be supported in middle support member and be configured to can lengthwise movement percussion beam be biased action so that can Lengthwise movement percussion beam move to latched position, in latched position, prevent can lengthwise movement fire beam from initial position move To end position, unless the surgery nail bin not fired is operably supported in storehouse supporting member.

Surgery suturing appliances of the embodiment 56- according to embodiment 55, wherein can lengthwise movement percussion beam be included in can The locking cam formed on the part engaged with biasing member of lengthwise movement percussion beam.

Surgery suturing appliances of the embodiment 57- according to embodiment 56, wherein biasing member include flat bodies, this is flat Smooth main body includes the window being located in flat bodies so that locking cam is prominent during the joint motions of surgical end-effector Into window.

Surgery suturing appliances of the embodiment 58- according to embodiment 54,55,56 or 57, wherein the surgery seam not fired Dowel storehouse includes the multiple surgical staples and wedge-shaped slides being operably supported in warehouse, which being capable of axis To warehouse is moved across, when never firing position moves to firing position to wedge-shaped slides in warehouse, to be projected from warehouse Surgical staples.Wedge-shaped slides be configured for can lengthwise movement percussion beam be in initial position and wedge-shaped slides are in During non-firing position with can lengthwise movement percussion beam be operatively engaged.

Surgery suturing appliances of the embodiment 59- according to embodiment 58, wherein wedge-shaped slides are configured to When wedge-shaped slides are in non-firing position and to can lengthwise movement percussion beam apply initial firing action when prevent from firing Beam enters latched position.

A kind of surgical instruments of embodiment 60-, including limit the Slender axles assembly of axis axis.Surgical end-effector passes through pass Section kinematic joint is operably linked to Slender axles assembly so that surgical end-effector can be surrounded relative to Slender axles assembly Transverse to joint motions axis the making choice property joint motions of axis axis.Can the flexible percussion beam of lengthwise movement be adapted to It is enough flexibly to cross actuated articulation joints, and can optionally be axially moved in surgical end-effector from initial position End position.Middle support member is movably coupled to a part and Slender axles assembly for surgical end-effector.Intermediate supports Component includes the intermediate body portion with proximal end and distal end.Fire beam slit proximal end and distal end it Between extend, and be configured to movably to support each side of the part for crossing actuated articulation joints of flexible percussion beam Face.Surgical instruments further includes nearside support connector, and nearside support connector includes elongated proximal body, the elongated nearside master Body is located at the nearside of middle support member, and be configured to the flexible percussion beam of lateral support crosses actuated articulation joints Proximal side part.Nearside supports the proximal end of connector and middle support member movably to join.Surgical instruments also wraps Distal side support connector is included, distal side support connector includes elongated distal main body, which is located at intermediate supports The distal side of component, and it is configured to the correspondence distal side for crossing actuated articulation joints of the flexible percussion beam of lateral support Part.Distal side supports the distal end of connector and middle support member movably to join.

Surgical instruments of the embodiment 61- according to embodiment 60, wherein nearside support the elongated proximal body of connector The opposite nearside supporting walls extended downwardly including proximal crest component and two.One of nearside supporting walls are fired with flexibility One of the proximal side part for crossing actuated articulation joints of beam adjacent positioned.The other of opposite nearside supporting walls It is adjacent with the other of the proximal side part for crossing actuated articulation joints of flexible percussion beam.Distal side supports the thin of connector Long distal body includes distal crown component and two opposite distal support walls extended downwardly.One of distal support wall One of the distal side part for crossing actuated articulation joints of beam adjacent positioned is fired with flexibility.Opposite distal support wall The other of it is adjacent with the other of the distal side part for crossing actuated articulation joints of flexible percussion beam.

Surgical instruments of the embodiment 62- according to embodiment 61, wherein one of nearside supporting walls include nearside branch Surface is supportted, which fires one of proximal side part for crossing actuated articulation joints of beam towards flexibility, And wherein the other of nearside supporting walls include another nearside arcuate surfaces, which hits towards flexibility Send out the other of proximal side part for crossing actuated articulation joints of beam.One of distal support wall includes distal side arch Surface, the distal side arcuate surfaces fire one of distal side part for crossing actuated articulation joints of beam towards flexibility.Far The other of side supporting walls include another distal side arcuate surfaces, which crosses towards flexible percussion beam The other of distal side part of actuated articulation joints.

The proximal end bag of surgical instruments of the embodiment 63- according to embodiment 61 or 62, wherein middle support member Arch nearside pit is included, which is configured to movably receive the nearside of nearside support connector wherein The distal nose part of overhead.The distal end of middle support member includes distal side arch pit, the distal side arch pit It is configured to movably receive the nearside nose part of the distal crown component of distal side support connector wherein.

Surgical instruments of the embodiment 64- according to embodiment 60,61,62 or 63, wherein middle support member are pivotally Advanced with being pivoted relative to it around pivot axis the part for being connected to surgical end-effector.Middle support member is connected to carefully Long axis component is with relative to its pivot and axial traveling.

Surgical instruments of the embodiment 65- according to embodiment 64, wherein middle support member is by extend through centre The proximal pin of elongated slot in supporting member is pinned to Slender axles assembly.

Surgical instruments of the embodiment 66- according to embodiment 60,61,62,63,64 or 65, wherein Slender axles assembly bag Distal spine is included, which includes distal spine pit, which is configured to movably receive nearside wherein The nearside nose part of overhead.

Surgical instruments of the embodiment 67- according to embodiment 60,61,62,63,64,65 or 66, wherein surgical end are held The part of row device includes channel bit, which is configured to movably receive the remote of distal crown component wherein Side nose part.

Surgical instruments of the embodiment 68- according to embodiment 60,61,62,63,64,65,66 or 67, its Chinese and foreign department end The part of portion's actuator includes being configured to be operably supported the elongated passageway of surgery nail bin wherein.

The surgical instruments of embodiment 69- embodiments 68, further includes anvil block, which is supported relative to elongated passageway, makes Obtaining one of anvil block and elongated passageway can be relative to the other of anvil block and elongated passageway in open position and closing position Between optionally move.

A kind of surgical instruments of embodiment 70-, including Slender axles assembly, the Slender axles assembly limit axis axis and including shapes Opposite right-hand axis recess and left-hand axis recess in Cheng Qi distal ends.Surgical end-effector passes through actuated articulation joints It is operably linked to Slender axles assembly so that surgical end-effector can be surrounded transverse to axis axis relative to Slender axles assembly Joint motions axis the making choice property joint motions of line.Can lengthwise movement flexible percussion beam be configured to it is flexibly horizontal Actuated articulation joints are worn, and optionally can axially move to end position from initial position in surgical end-effector. Middle support member is movably coupled to a part and Slender axles assembly for surgical end-effector.During middle support member includes Between main part, which includes being formed in opposite Left-side support recess and Right side support in its distal end Recess and percussion beam slit, the percussion beam slit be configured to movably to support can lengthwise movement flexible percussion beam Cross the lateral parts of actuated articulation joints.Pivot connector be configured to lateral support can lengthwise movement flexible percussion The sidepiece for crossing actuated articulation joints of beam.Pivot connector includes the nearside nose part of proximally projection, the nearside nose Part is configured to, with can the flexible percussion beam of lengthwise movement surround articulating shaft in response to surgical end-effector The joint motions of line and bend, movably engage any one of opposite right-hand axis recess and left-hand axis recess.Dash forward towards distal side The distal nose part risen is configured to, with can the flexible percussion beam of lengthwise movement enclosed in response to surgical end-effector Bent around the joint motions of joint motions axis, the opposite Right side support movably engaged in movable supporting member is recessed Any one of mouth and Left-side support recess.

Surgical instruments of the embodiment 71- according to embodiment 70, wherein pivot connector further include the first lateral support Wall and the second lateral support wall, the first lateral support wall with can lengthwise movement one of lateral parts of flexible percussion beam phase Neighbour, and the second lateral support wall with can lengthwise movement the other of lateral parts of flexible percussion beam it is adjacent.

Surgical instruments of the embodiment 72- according to embodiment 71, wherein the first lateral support wall includes the first arch table Face, first arcuate surfaces towards can lengthwise movement one of lateral parts of flexible percussion beam, and wherein the second side Include the second arcuate surfaces to supporting walls, second arcuate surfaces towards can lengthwise movement flexible percussion beam another side The other of part.

Surgical instruments of the embodiment 73- according to embodiment 71 or 72, further includes the first compression strap, first compression strap It can extend between the flexible lateral parts and the first lateral support wall for firing beam of lengthwise movement.First compression strap includes The first distal end being supported in surgical end-effector and the first nearside being movably supported in Slender axles assembly End.Second compression strap can prolong between flexible another lateral parts and the second lateral support wall for firing beam of lengthwise movement Stretch.Second compression strap includes the second distal end being supported in surgical end-effector and is movably supported in slender axles The second proximal end on component.

Surgical instruments of the embodiment 74- according to embodiment 73, further includes the 3rd compression strap, and the 3rd compression strap is can Extend between one lateral parts of the flexible percussion beam of lengthwise movement and the first compression strap.3rd compression strap includes being supported on The 3rd distal end in surgical end-effector and the 3rd proximal end being movably supported in Slender axles assembly.4th Compression strap can lengthwise movement flexible percussion beam another lateral parts and the second compression strap between extend.4th compression strap Including the 4th distal end being supported in surgical end-effector and the be movably supported in Slender axles assembly the 4th Proximal end.

A kind of surgical instruments of embodiment 75-, including limit the Slender axles assembly of axis axis.Surgical end-effector passes through pass Section kinematic joint is operably linked to Slender axles assembly so that surgical end-effector can be surrounded relative to Slender axles assembly Transverse to joint motions axis the making choice property joint motions of axis axis.Can the flexible percussion beam of lengthwise movement be adapted to It is enough flexibly to cross actuated articulation joints, and can optionally be axially moved in surgical end-effector from initial position End position.Middle support member is movably coupled to Slender axles assembly to advance relative to its axial and pivot, and pivots Ground is connected to surgical end-effector.Surgical instruments further includes U-shaped nearside support connector, U-shaped nearside support connector bag Include proximal crest component and two nearside side members.U-shaped nearside support connector can lengthwise movement flexible percussion beam it is near Side extends on part so that one of nearside side member with can lengthwise movement flexible percussion beam portions of proximal a side Face is adjacent, and the other of nearside side member with can lengthwise movement flexible percussion beam portions of proximal another side phase It is adjacent.Proximal crest component movably joins with middle support member.Surgical instruments further includes U-shaped distal side support connector, the U-shaped Distal side support connector includes distal crown component and two distal side side members.U-shaped distal side supports connector can lengthwise movement Flexible percussion beam distal part on extend so that one of distal side side member with can lengthwise movement flexible percussion beam One side of distal part is adjacent, and the other of distal side side member with can lengthwise movement flexible percussion beam distal side Partial another side is adjacent.Distal crown component movably joins with middle support member.

Surgical instruments of the embodiment 76- according to embodiment 75, wherein proximal crest component and Slender axles assembly are movable Ground joins, and a wherein part for distal crown component and surgical end-effector movably joins.

Surgical instruments of the embodiment 77- according to embodiment 75 or 76, wherein proximal crest component include movably prolonging Reach the first proximally prominent nearside nose part in the distal side pit being formed in Slender axles assembly and movably prolong Reach the first distal nose part protruded towards distal side in the nearside pit in middle support member.Distal crown component includes Movably extend to the second proximally prominent nearside nose part in the distal side pit in middle support member and movable Ground extends to the second distal nose part protruded towards distal side in the channel bit in surgical end-effector.

One of surgical instruments of the embodiment 78- according to embodiment 75,76 or 77, two of which nearside side member Including nearside arcuate surfaces, the nearside arcuate surfaces towards can lengthwise movement flexible percussion beam portions of proximal a side Face.The other of nearside side member includes another nearside arcuate surfaces, and another nearside arcuate surfaces are towards can lengthwise movement Flexible percussion beam portions of proximal another side.One of two distal side side members include distal side arcuate surfaces, this is remote Side arcuate surfaces towards can lengthwise movement flexible percussion beam distal part a side.The other of distal side side member Including another distal side arcuate surfaces, another distal side arcuate surfaces towards can lengthwise movement flexible percussion beam distal part Another distal side.

Surgical instruments of the embodiment 79- according to embodiment 75,76,77 or 78, wherein middle support member are movably The elongated passageway of surgical end-effector is connected to, which is configured to be operably supported in elongated passageway Surgery nail bin.

A kind of surgical instruments of embodiment 80-, including limit the Slender axles assembly of axis axis.Surgical end-effector passes through pass Section kinematic joint is operably linked to Slender axles assembly so that surgical end-effector can be surrounded relative to Slender axles assembly Transverse to joint motions axis the making choice property joint motions of axis axis.Center percussion beam supporting member extends through joint fortune Dynamic connector, and including being connected to the distal end of surgical end-effector and being attached to the proximal end of Slender axles assembly. Can the flexible percussion beam assembly of lengthwise movement be configured to flexibly cross actuated articulation joints, and can be in surgical end In actuator optionally end position is axially moved to from initial position.Can lengthwise movement flexible percussion beam assembly include it is more A beam layer, the multiple beam layer are supported relative to each other so that at least one beam layer is configured in movably passing through One side of centre percussion beam supporting member and at least one other beam layer are configured to movably through center percussion Another side of beam supporting member.Multiple lateral load components are corresponding with center percussion beam supporting item, and are supported on It is configured to movably pass through at least one beam layer of a side of center percussion beam supporting member and is configured to On the part that at least one other beam layer of the another side of beam supporting member can be movably fired through center.

Surgical instruments of the embodiment 81- according to embodiment 80, wherein being configured to movably hit through center Send out beam supporting member a side at least one beam layer include beam layer in two, and be wherein configured to through At least one other beam layer of the another side of center percussion beam supporting member include both in other beam layers.

Surgical instruments of the embodiment 82- according to embodiment 80 or 81, wherein lateral load bearing carrier can be relative to Move each other.

Surgical instruments of the embodiment 83- according to embodiment 80,81 or 82, it is wherein every in lateral load bearing carrier One includes being used for the axial passageway for movably receiving at least one beam layer and at least one other beam layer, described At least one beam layer be configured to movably through center percussion beam supporting member a side, it is described it is at least one its Its beam layer is configured to movably through the another side of center percussion beam supporting member.

Surgical instruments of the embodiment 84- according to embodiment 80,81,82 or 83, wherein being joined by actuated articulation joints Being connected to a part for the surgical end-effector of Slender axles assembly includes elongated passageway, which is configured to thin Surgery nail bin is operably supported in long-channel.

Surgical instruments of the embodiment 85- according to embodiment 84, further includes anvil block, and the anvil block is relative to elongated passageway quilt Support so that one of anvil block and elongated passageway can relative to the other of anvil block and elongated passageway in open position with closing Conjunction is optionally moved between position.

Surgical instruments of the embodiment 86- according to embodiment 80,81,82,83,84 or 85, wherein center percussion beam branch Supportting the distal end of component can protrude to be attached to surgery end below the flexible lower surface for firing beam assembly of lengthwise movement Portion's actuator, and the proximal end of center percussion beam supporting member can lengthwise movement flexible percussion beam assembly upper surface Top protrusion is to be attached to Slender axles assembly.

Surgical instruments of the embodiment 87- according to embodiment 86, wherein the distal end of center percussion beam supporting member Be pinned to the elongated passageway of surgical end-effector, and the proximal end of wherein center percussion beam supporting member be pinned to it is elongated The ridge part of shaft assembly.

Surgical instruments of the embodiment 88- according to embodiment 80,81,82,83,84,85,86 or 87, plurality of side At least two into load carrying members each include arch end face and are disposed in be configured to movably through center Fire at least one beam layer of a side of beam supporting member and be configured to movably through center percussion beam support structure At least one other beam layer of the another side of part so that the bow on one of described at least two lateral loads bearing carrier The other of arch end face on the other of one of shape end face and described at least two lateral loads bearing carrier It is adjacent.

Surgical instruments of the embodiment 89- according to embodiment 83, wherein each axial passageway includes what a pair was spaced apart Inner arcuate surface, the inner arcuate surface are configured to be conducive to each of lateral load bearing carrier longitudinally to transport Pivoting action on dynamic flexible percussion beam.

A kind of surgical instruments of embodiment 90-, including limit the Slender axles assembly of axis axis.Surgical end-effector passes through pass Section kinematic joint is operably linked to Slender axles assembly so that surgical end-effector can be surrounded relative to Slender axles assembly Transverse to joint motions axis the making choice property joint motions of axis axis.Center percussion beam supporting member is axial along axis axis Align and extend through actuated articulation joints.Center percussion beam supporting member includes being connected to the distal side of surgical end-effector End and the proximal end for being attached to Slender axles assembly.Surgical instruments further include can lengthwise movement flexible percussion beam assembly, This can the flexible percussion beam assembly of lengthwise movement include multiple beam layers, the multiple beam layer is configured to axially across center Fire beam supporting member so that can the flexible percussion beam assembly of lengthwise movement cross actuated articulation joints when, in beam layer extremely Few one fires each side of beam supporting member through center.Device be movably supported in can the flexible of lengthwise movement fire Liang Shang, so as to surgical end-effector around joint motions axis carry out joint motions when lateral support can lengthwise movement it is soft Property percussion beam the part for crossing actuated articulation joints.

Surgical instruments of the embodiment 91- according to embodiment 90, wherein the distal end of center percussion beam supporting member It can protruded below the flexible lower surface for firing beam assembly of lengthwise movement to be attached to surgical end-effector.Center percussion The proximal end of beam supporting member can lengthwise movement flexible percussion beam assembly upper surface above protrusion it is elongated to be attached to Shaft assembly.

Surgical instruments of the embodiment 92- according to embodiment 90 or 91, wherein being connected to carefully by actuated articulation joints A part for the surgical end-effector of long axis component includes elongated passageway, which is configured in elongated passageway In be operably supported surgery nail bin.

Surgical instruments of the embodiment 93- according to embodiment 92, further includes anvil block, and the anvil block is relative to elongated passageway quilt Support so that one of anvil block and elongated passageway can relative to the other of anvil block and elongated passageway in open position with closing Conjunction is optionally moved between position.

Surgical instruments of the embodiment 94- according to embodiment 90,91,92 or 93, further includes that be attached to can lengthwise movement Flexible percussion beam assembly distal end firing member.

A kind of surgical instruments of embodiment 95-, including limit the Slender axles assembly of axis axis.Surgical end-effector passes through pass Section kinematic joint is operably linked to Slender axles assembly so that surgical end-effector can be surrounded relative to Slender axles assembly Transverse to joint motions axis the making choice property joint motions of axis axis.Center percussion beam supporting member is axial along axis axis Align and extend through actuated articulation joints.Center percussion beam supporting member includes being connected to the distal side of surgical end-effector End and the proximal end for being attached to Slender axles assembly.Surgical instruments further include can lengthwise movement flexible percussion beam assembly, Flexibility percussion beam assembly includes multiple beam layers so that can lengthwise movement flexible fire beam assembly and promoted towards distal side when, can The flexible percussion beam assembly of lengthwise movement is divided into two parts by center percussion beam supporting member, thus can the flexibility of lengthwise movement hit The each side for sending out the part adjacent central percussion beam supporting member of beam assembly passes through.

Surgical instruments of the embodiment 96- according to embodiment 95, further includes that be movably supported in can lengthwise movement Device on flexibility percussion beam assembly, so as to lateral when surgical end-effector carries out joint motions around joint motions axis Support can lengthwise movement flexible percussion beam assembly the part for crossing actuated articulation joints.

Surgical instruments of the embodiment 97- according to embodiment 95, wherein the device for lateral support includes multiple sides To load carrying members, the lateral load bearing carrier is supported on can be on the flexible percussion beam assembly of lengthwise movement.Laterally Each of load carrying members can independently move on the flexible percussion beam assembly of lengthwise movement.

Surgical instruments of the embodiment 98- according to embodiment 95,96 or 97, wherein center percussion beam supporting member is remote Side end can be being protruded to be attached to surgical end-effector below the flexible lower surface for firing beam assembly of lengthwise movement, and And the proximal end of center percussion beam supporting member can lengthwise movement flexible percussion beam assembly upper surface above protrude with It is attached to Slender axles assembly.

Surgical instruments of the embodiment 99- according to embodiment 97, wherein each of lateral load bearing carrier wrap The axial passageway passed through is included, which includes a pair of inner arcuate surface spaced apart, in favor of each lateral load Lotus bearing carrier can move pivotally on the flexible percussion beam assembly of lengthwise movement.

A kind of surgical instruments of embodiment 100-, including limit the Slender axles assembly of axis axis.Surgical end-effector pivots Ground is connected to Slender axles assembly, to surround the making choice property of joint motions axis transverse to axis axis relative to Slender axles assembly Joint motions.Surgical instruments further includes articulation system, which includes the first distal joint movement driver, The first distal joint movement driver is supported in response to being applied to corresponding joint athletic performance thereon and along distal side Direction and proximal direction are selectively longitudinally travelled.First distal joint movement driver is operably linked to surgical end execution Device.Articulation system further includes the second distal joint movement driver, which is supported use It is longitudinally travelled in along distal direction and proximal direction.Second distal joint movement driver is operably linked to surgical end and holds Row device.At least one pinion-gearing is nibbled with the first distal joint movement driver and the second distal joint movement driver Splice grafting closes so that when the first distal joint movement driver is moved along distal direction, at least one pinion drive dress Put and be configured to drive the second distal joint movement driver so that surgical end-effector surrounds joint along proximal direction Axis of movement carries out joint motions along the first joint motion direction, and works as the first distal joint movement driver along proximal direction During movement, at least one pinion-gearing drives the second distal joint movement driver so that surgery along distal direction End effector carries out joint around joint motions axis along the second joint direction of motion opposite with the first joint motion direction Movement.

Surgical instruments of the embodiment 101- according to embodiment 100, wherein the first distal joint movement driver pivots Ground is connected to surgical end-effector, and wherein the second distal joint movement driver is attached pivotally to surgical end execution Device.

Surgical instruments of the embodiment 102- according to embodiment 100 or 101, wherein the first distal joint movement driver Surgical end-effector is attached to by the first movable connector, and wherein the second distal joint movement driver passes through Two movable connectors are attached to surgical end-effector.

Surgical instruments of the embodiment 103- according to embodiment 102, wherein the first movable connector passes through the first ball Shape connector is attached to the first distal joint movement driver, and wherein the second distal joint movement driver is spherical by second Connector is attached to the second movable connector.

Surgical instruments of the embodiment 104- according to embodiment 100,101,102 or 103, further includes for relative to thin Surgical end-effector is optionally locked in the device in multiple articulated positions by long axis component.

Surgical instruments of the embodiment 105- according to embodiment 104, wherein the device for selective lock includes using In optionally preventing distal joint movement driver along proximal direction and the device of distal direction lengthwise movement.

Surgical instruments of the embodiment 106- according to embodiment 104 or 105, further includes proximal joint motion drive, The proximal joint motion drive is operativelyd interface with nearside and distal joint movement action source.Proximal joint motion drive Operativelyd interface with the device for optionally preventing optionally to unlock the device for optionally preventing, and Cause to apply proximal joint athletic performance and distal side to the first distal joint movement driver for the device optionally prevented Joint motions action.

Surgical instruments of the embodiment 107- according to embodiment 100,101,102,103,104,105 or 106, its maincenter A part for the surgical end-effector for being connected to Slender axles assembly with turning includes elongated passageway, which is adapted to It is enough that surgery nail bin is operably supported in elongated passageway.

Surgery suturing appliances of the embodiment 108- according to embodiment 107, further includes anvil block, and the anvil block is relative to elongated Passage is supported so that one of anvil block and elongated passageway can be relative to the other of anvil blocks and elongated passageway in open position Put and optionally moved between closing position.

A kind of surgical instruments of embodiment 109-, including limit the Slender axles assembly of axis axis.Surgical end-effector pivots Ground is connected to Slender axles assembly, to surround the making choice property of joint motions axis transverse to axis axis relative to Slender axles assembly Joint motions.Surgical instruments further includes articulation system, which includes the first distal joint movement driver, The first distal joint movement driver is supported in response to being applied to corresponding joint athletic performance thereon and along distal side Direction and proximal direction are selectively longitudinally travelled.First distal joint movement driver is operably linked to surgical end execution Device.Articulation system further includes the second distal joint movement driver, which includes and the The annular construction member that one distal joint movement driver and surgical end-effector operatively interface with.Annular construction member is supported on carefully With the lengthwise rows in response to the first distal joint movement driver and then optionally rotation is advanced on long axis component so that when the One distal joint movement driver along distal direction move when, annular construction member causes surgical end-effector to surround articulating shaft Line carries out joint motions along the first joint motion direction, and when the first distal joint movement driver is moved along proximal direction When, annular construction member causes surgical end-effector to be closed around joint motions axis along opposite with the first joint motion direction second Save the direction of motion and carry out joint motions.

Surgical instruments of the embodiment 110- according to embodiment 109, wherein annular construction member are rotatably supported on peace It is attached on the distal side pulley on the nearside pulley in Slender axles assembly and in surgical end-effector.

Surgical instruments of the embodiment 111- according to embodiment 110, wherein annular construction member can be grasped by being attached lug It is attached to distal side pulley with making, which is attached to annular construction member and is configured to be received within distal side pulley In attachment pit in.

Surgical instruments of the embodiment 112- according to embodiment 109,110 or 111, wherein annular construction member include one section of cable Line, the cable include being attached to the first lug of the first cable end and are attached to the second lug of the second cable end. Second lug is also attached on the first lug to form annular construction member.

Surgical instruments of the embodiment 113- according to embodiment 112, wherein distal joint movement driver include being used for The first support and second support of the first lug and the second lug are received wherein.

Surgical instruments of the embodiment 114- according to embodiment 110 or 111, wherein distal side pulley are formed in surgical end On the elongated passageway of actuator.Elongated passageway is configured to be operably supported surgery nail bin in elongated passageway.

Surgical instruments of the embodiment 115- according to embodiment 110 or 111, wherein distal side pulley are formed in end execution In device mounting assembly, which is attached to the elongate channel portion of surgical end-effector.This is elongated logical Road is configured to be operably supported surgery nail bin in elongated passageway.

Surgical instruments of the embodiment 116- according to embodiment 114 or 115, further includes anvil block, and the anvil block is relative to thin Long-channel is supported so that one of anvil block and elongated passageway can opened relative to the other of anvil block and elongated passageway Optionally moved between position and closing position.

A kind of surgical instruments of embodiment 117-, including limit the Slender axles assembly of axis axis.Surgical end-effector pivots Ground is connected to Slender axles assembly, to surround the making choice property of joint motions axis transverse to axis axis relative to Slender axles assembly Joint motions.Surgical instruments further includes articulation system, which includes the first distal joint movement driver, The first distal joint movement driver is supported in response to being applied to corresponding joint athletic performance thereon and along distal side Direction and proximal direction are selectively longitudinally travelled.First distal joint movement driver is operably linked to surgical end execution Device.Articulation system further includes the second distal joint movement driver, which is supported use It is longitudinally travelled in along distal direction and proximal direction.Second distal joint movement driver is operably linked to surgical end and holds Row device.Articulation system further includes driving device, the driving device and the first distal joint movement driver and the second distal side Articulation drive joins so that when the first distal joint movement driver is moved along distal direction, driving device is along closely Side direction drives the second distal joint movement driver so that surgical end-effector surrounds joint motions axis along the first joint The direction of motion carries out joint motions, and when the first distal joint movement driver is moved along proximal direction, driving device edge Distal direction drives the second distal joint movement driver so that surgical end-effector is around joint motions axis edge and first The opposite second joint direction of motion of joint motion direction carries out joint motions.

Surgical instruments of the embodiment 118- according to embodiment 117, wherein surgical end-effector include being configured to The elongated passageway of surgery nail bin can be operably supported wherein.Anvil block is supported relative to elongated passageway so that anvil block and One of elongated passageway can select between the open position and the closed position relative to the other of anvil block and elongated passageway Move to property.

A kind of surgical instruments of embodiment 119-, including limit the Slender axles assembly of axis axis.Surgical end-effector can pivot Slender axles assembly is connected to turning, to be made choice relative to Slender axles assembly around the joint motions axis transverse to axis axis Property joint motions.Surgical instruments further includes articulation system, which includes rotary joint moving link, the rotation Turn articulation member to be supported for surrounding the rotation axis rotation traveling transverse to axis axis.First distal joint movement is driven Dynamic device assembly is operativelyd interface with rotary joint moving link, and is supported in response to by rotary joint moving link It is applied to its corresponding joint athletic performance and is selectively longitudinally travelled along distal direction and proximal direction.First radioulnar joint is transported Dynamic actuator assembly is operativelyd interface with surgical end-effector.Second distal joint movement actuator assembly and rotary joint Moving link operativelys interface with and is supported for being longitudinally travelled along distal direction and proximal direction.Second radioulnar joint is transported Dynamic actuator assembly is operativelyd interface with surgical end-effector.Articulation system is further included for surrounding rotation axis edge The device of rotary joint moving link described in first direction of rotation and the second direction of rotation selective rotation so that work as rotary joint Moving link by the device for selective rotation along the first direction of rotation rotate when, the first distal joint movement driver group Part is moved along proximal direction at the same time along distal direction zigzag tread patterns and the second distal joint movement driver, so that surgical end Actuator carries out joint motions around joint motions axis along the first joint motion direction, and when rotary joint moving link leads to Cross device for selective rotation along the second direction of rotation rotate when, the first distal joint movement actuator assembly is along nearside side Moved at the same time along distal direction to zigzag tread patterns and the second distal joint movement actuator assembly, so that surgical end-effector Joint motions are carried out along the second joint direction of motion around joint motions axis, which transports with the first joint Dynamic direction is opposite.

Surgical instruments of the embodiment 120- according to embodiment 119, wherein rotary joint moving link include rotation and close Moving coil is saved, and wherein the first distal joint movement actuator assembly includes being movably supported in the of rotary joint moving coil The first articulation drive part in one joint motions slit, and wherein described second distal joint movement driver group Part includes the second joint motion drive part being movably supported in the second joint moving slot of rotary joint moving coil.

Surgical instruments of the embodiment 121- according to embodiment 119 or 120, further includes the first biasing member, this first Biasing member and the first articulation drive part interact, with when the device for selective rotation does not activate by the One distal joint movement actuator assembly is biased into the first middle joint movement position.Second biasing member is moved with second joint Driver portion interact, with when the device for selective rotation does not activate by the second distal joint movement driver group Part is biased into the second middle joint movement position.

Surgical instruments of the embodiment 122- according to embodiment 119,120 or 121, wherein the first distal joint movement is driven Dynamic device assembly includes the first articulation link movably joined with rotary joint moving link.First joint motions connect Device is pivotally coupled to the first articulation link.First joint motions connector is operationally handed over surgical end-effector Connect.Second distal joint movement component includes the second joint motion couplings movably joined with rotary joint moving link, And second joint moving link is pivotally coupled to second joint motion couplings and operable with surgical end-effector Ground joins.

The surgical instruments of embodiment 123- embodiments 122, wherein the first distal joint movement actuator assembly further includes pass Section movement lock set, the joint motions lock set are operationally handed over the first joint motions connector and surgical end-effector Connect, and be configured to that surgical end-effector is selectively locked in multiple joint motions relative to Slender axles assembly In position.

Surgical instruments of the embodiment 124- according to embodiment 123, further includes and joint motions lock set and surgery end The first articulation member that portion's actuator operativelys interface with.

Surgical instruments of the embodiment 125- according to embodiment 124, wherein the first articulation member can by first Motion coupler is connected to surgical end-effector, and wherein second joint moving link is joined by the second movable connector It is connected to surgical end-effector.

Surgical instruments of the embodiment 126- according to embodiment 126, wherein the first articulation member passes through the first ball Shape connector is connected to the first movable connector, and wherein second joint moving link is connected to by the second globe joint Two movable connectors.

Surgical instruments of the embodiment 127- according to embodiment 119,120,121,122,123,124,125 or 126, its In be used for the device of selective rotation and include the motor that is engaged with rotary joint moving link.

Surgical instruments of the embodiment 128- according to embodiment 119,120,121,122,123,124,125 or 126, also Including can lengthwise movement firing member, and wherein for selective rotation device include be configured to produce rotation The motor of output action, with motor and can lengthwise movement the switch structure that operativelys interface with of firing member and close with rotation The joint motions drive connection part that section moving link is operatively engaged.Switch structure is configured in first position and the Moved between two positions, in first position, the actuating of motor causes to apply axial joint fortune to joint motions drive connection part Dynamic action, so as to cause rotary joint moving link around rotation axis rotation, in the second position, the actuating of motor cause to Can the firing member of lengthwise movement apply axial firing action.

A kind of surgical instruments of embodiment 129-, including limit the Slender axles assembly of axis axis.Surgical end-effector can Slender axles assembly is pivotally coupled to, to be selected relative to Slender axles assembly around the joint motions axis transverse to axis axis The joint motions of selecting property.Surgical instruments further includes articulation system, which includes Rotary-drive member, the rotation Drive member is supported for surrounding the rotation axis rotation traveling transverse to axis axis.Rotary driven member is supported for phase Advance for Rotary-drive member around rotation axis rotation.Rotary driven member is operativelyd interface with Rotary-drive member, So that applying joint motions control action to Rotary-drive member rotary driven member can be caused to be rotated around rotation axis.First Distal joint movement actuator assembly is operativelyd interface with least rotary driven member, and is supported in response at least The rotation of first rotary driven member and be selectively longitudinally travelled along distal direction and proximal direction.First distal joint movement is driven Dynamic device assembly is operativelyd interface with surgical end-effector.Articulation system further includes the second distal joint movement driver Component, the second distal joint movement actuator assembly are operativelyd interface with and are supported for at least rotary driven member It is longitudinally travelled along distal direction and proximal direction.Second distal joint movement actuator assembly and surgical end-effector are operable Ground joins.Articulation system is further included for selectively applying joint motions control action to rotational drive configurations to cause Rotational drive configurations rotate around rotation axis and so as to cause rotary driven member to surround the rotating device of rotation axis, So that when rotary driven member is rotated along the first direction of rotation, the first distal joint movement actuator assembly is indulged along distal direction Moved at the same time along proximal direction to driving and the second distal joint movement driver, so that surgical end-effector surrounds joint Axis of movement carries out joint motions along the first joint motion direction, and when rotary driven member is rotated along the second direction of rotation When, the first distal joint movement actuator assembly is along proximal direction zigzag tread patterns and the second distal joint movement actuator assembly Moved at the same time along distal direction, so that surgical end-effector is closed around joint motions axis along the second joint direction of motion Section movement, the second joint direction of motion are opposite with the first joint motion direction.

Surgical instruments of the embodiment 130- according to embodiment 129, wherein rotational drive configurations include rotation driving Device joint motions disk, and wherein the second rotary driven member includes rotation driven joint moving coil, and wherein the first distal side Articulation drive component includes being movably supported in rotation driving joint motions disk and rotation driven joint moving coil The first articulation drive part in correspondence the first joint motions slit of each, and wherein the second radioulnar joint is transported Dynamic actuator assembly includes being movably supported in rotating driver joint motions disk and rotates each in driven joint moving coil Second joint motion drive part in the correspondence second joint moving slot of person.

Surgical instruments of the embodiment 131- according to embodiment 129 or 130, wherein the first distal joint movement driver Component includes the first articulation link movably joined with rotational drive configurations and rotary driven member, and pivots Ground is connected to the first articulation member of the first articulation link.First articulation member and surgical end-effector Operatively interface with.Second distal joint movement component includes what is movably joined with Rotary-drive member and rotary driven member Second joint motion couplings, and second joint moving link be pivotally coupled to second joint motion couplings and with it is outer Section's end effector operativelys interface with.

Surgical instruments of the embodiment 132- according to embodiment 131, wherein the first articulation member can by first Motion coupler is connected to surgical end-effector, and second joint moving link is connected to by the second movable connector Surgical end-effector.

Surgical instruments of the embodiment 133- according to embodiment 132, wherein the first articulation member passes through the first ball Shape connector is connected to the first movable connector, and wherein second joint moving link is connected to by the second globe joint Two movable connectors.

Surgical instruments of the embodiment 134- according to embodiment 129,130,131,132 or 133, wherein for selectivity The device of application includes the motor engaged with Rotary-drive member.

Surgical instruments of the embodiment 135- according to embodiment 129,130,131,132 or 133, further including longitudinally to transport Dynamic firing member, and the device for being wherein used to selectively apply includes being configured to the electricity for producing rotation output action Machine.Device for selectively applying further include with motor and can lengthwise movement the switch structure that operativelys interface with of firing member Make, and the joint motions drive connection part being operatively engaged with Rotary-drive member.Switch structure is configured to Moved between first position and the second place, in first position, the actuating of motor causes to apply to joint motions drive connection part Add axial joint motions action, so that cause rotational drive configurations to be rotated around rotation axis, in the second position, motor Actuating cause to can the firing member of lengthwise movement apply axial firing action.

A kind of surgical instruments of embodiment 136-, including limit the Slender axles assembly of axis axis.Surgical end-effector pivots Ground is connected to Slender axles assembly, to surround the making choice property of joint motions axis transverse to axis axis relative to Slender axles assembly Joint motions.Surgical instruments further includes articulation system, which includes being operably linked to surgical end Actuator is so that surgical end-effector carries out the device of joint motions and for selective real estate around joint motions axis The device of raw spinning movement.Articulation system further includes rotating member, the rotating member and the dress for producing spinning movement Put and the device for carrying out joint motions operatively interface with so that from for optionally produce the device of spinning movement to Rotating member, which applies spinning movement, can cause for the device for carrying out joint motions at the same time by axially opposite joint motions action Surgical end-effector is applied to, one of them, which acts to be applied in surgical end-effector to axial, is laterally to pass At the attachment point for saving a side of axis of movement, and other in which acts be applied to surgical end execution to axial It is laterally on device at another attachment point of another side of joint motions axis.

The complete disclosure of following patents is hereby incorporated by reference：

Being published in 4 days April nineteen ninety-five entitled, " U.S. of ELECTROSURGICAL HEMOSTATIC DEVICE " 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 entitled " United States Patent (USP) of 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 "；

Entitled " the United States Patent (USP) Shen of SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES " Please sequence number 11/343,803, be now United States Patent (USP) 7,845,537；

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

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

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

Entitled " POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY The U.S. Patent Application Serial Number 12/249,117 of RETRACTABLE FIRING SYSTEM ", is now United States Patent (USP) 8,608, 045；

Entitled " the MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT submitted on December 24th, 2009 The U.S. Patent Application Serial Number 12/ of WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY " 647,100 (being now U.S. Patent number 8,220,688)；

It is filed in September, the 2012 entitled " U.S. Patent Application Serial Number 12/ of STAPLE CARTRIDGE " of 29 days 893,461, it is now United States Patent (USP) 8,733,613；

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

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

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Although describing the various embodiments of device with reference to some disclosed embodiments herein, can also implement pair Many modifications and variations of these embodiments.In addition, when materials for certain parts are disclosed, it can be used Its material.In addition, according to multiple embodiments, single part can be replaced by multiple components, and multiple components also can by for Single part is changed to, to perform given one or more functions.Above-mentioned embodiment and the claims below are intended to contain Cover all such modifications and variations.

Apparatus as disclosed herein is designed to discard after a single use, or its be designed to use it is more It is secondary.But no matter what kind of situation it is, the apparatus all can at least using once afterwards through reparation exercise use again.Reparation may include to tear open Handler, cleaning or the wherein arbitrarily combination of several steps replaced specific component and subsequently re-assemblied.Specifically, it is described Device is detachable, and optionally can replace or remove in any combination any number of specific component or the portion of described device Part.After cleaning and/or replacing particular elements, described device can be re-assemblied, then to make at the repair facility With or just used by operating team before surgical protocols.It will be appreciated by those skilled in the art that prosthetic device can utilize respectively Kind of technology is dismantled, cleans/replace and re-assembly.The use of such technology and the prosthetic device of gained are in this Shen Please in the range of.

Only by way of example, herein described aspects can be handled before surgical operation.It is possible, firstly, to obtain New or used apparatus, and cleaned as needed.Then, can carry out disinfection to apparatus.In a kind of sterilization technology, The apparatus is placed in the container (such as, plastics or TYVEK bag) of closure and sealing.Then container and apparatus can be placed in can Penetrate the radiation field of the container, such as γ radiation, X-ray or high energy electron.Radiation can kill thin on apparatus and in container Bacterium.Apparatus after disinfection can be then stored in sterile chamber.Sealing container can keep apparatus to be in germ-free condition, until The container is opened in medical facilities.Any other technology known in the art also can be used to carry out disinfection device, it is described Technology includes but not limited to β or γ radiation, ethylene oxide or steam.

Although the present invention has been described as having exemplary design, can further be repaiied in the spirit and scope of the disclosure Change the present invention.Therefore, present patent application be intended to using any modification of the invention of General Principle of the present invention, purposes or Remodeling.

Any patent, announcement or other open materials incorporated herein by reference in its entirety or in part only simultaneously It is incorporated herein in the afoul scope of existing definitions, statements, or other disclosure materials that the material entered is not proposed with the disclosure. Similarly, and at the necessary level, the disclosure replacement being expressly recited herein is herein incorporated by reference any Conflict material.It is said that it is herein incorporated by reference but is mutually rushed with existing definitions, statements, or other disclosure materials as described herein Prominent any material or part thereof, does not only produce under the degree of conflict simultaneously between the incorporated material and the existing public material Enter herein.

Claims (20)

1. a kind of surgical instruments, including：

Slender axles assembly, the Slender axles assembly limit axis axis；

End effector mounting assembly, the end effector mounting assembly be movably coupled to the Slender axles assembly with around Transverse to joint motions axis the making choice property joint motions of the axis axis；

First jaw and the second jaw, first jaw and the second jaw are movably coupled to the end effector installation group Part so that first jaw and the second jaw can each exist with the axis axis around common pivot axis relative to each other Being moved between open position and closing position, first jaw includes at first point and second jaw includes second point, Wherein described first point and second point are along the common axis arrangement perpendicular to the axis axis, and wherein when the described first pincers When mouthful be in the open position, described first point with the axis axis away from the first distance, and wherein when described second clamps When mouthful be in the open position, the second point and the axis axis away from the second distance, and wherein described second distance Different from first distance；

For first jaw and the second jaw to be biased into the device of the open position away from each other；And

For to first jaw and the second jaw apply closed action with by first jaw and the second jaw towards that This moves to the device of the closing position.

2. surgical instruments according to claim 1, wherein one of first jaw and second jaw are including elongated Passage, the elongated passageway is configured to be operably supported surgery nail bin in the elongated passageway, and wherein institute Stating the other of the first jaw and the second jaw includes anvil block.

3. surgical instruments according to claim 1, wherein first jaw includes surgery nail bin, and wherein described Two jaws include anvil block, and wherein described second distance is more than first distance.

4. surgical instruments according to claim 2, further includes firing member, the firing member is supported for described It is axial between first jaw and the second jaw when first jaw and the second jaw are in one in the closing position Advance.

5. surgical instruments according to claim 1, wherein the end effector mounting assembly includes a pair of of side, each The side includes limiting the gudgeon pin of the lateral protrusion of the pivot axis, and wherein described first jaw and the second jaw In each be pivotally supported on each gudgeon pin in the gudgeon pin of the lateral protrusion.

6. surgical instruments according to claim 1, wherein the described device for biasing includes being located at first jaw With the spring between the second jaw.

7. surgical instruments according to claim 1, wherein can be axial for applying that the described device of closed action includes The end effector closure casing of movement, the end effector closure casing are configured to close in the end effector Trap pipe simultaneously engages with the part of first jaw and the second jaw when being axially moved in the first direction.

8. surgical instruments according to claim 1, further includes the firing member that can be axially moved, described axially to transport Dynamic firing member is supported for when first jaw and the second jaw are in one in the closing position in institute State and axially advance between the first jaw and the second jaw.

9. surgical instruments according to claim 8, wherein the firing member includes tissue cutting surface.

10. a kind of surgical instruments, including：

Slender axles assembly, the Slender axles assembly limit axis axis；

End effector mounting assembly, the end effector mounting assembly be movably coupled to the Slender axles assembly with around Transverse to joint motions axis the making choice property joint motions of the axis axis；

First jaw and the second jaw, first jaw and the second jaw are movably coupled to the end effector installation group Part so that first jaw and the second jaw can be each relative to each other with the axis axis in open positions and closure position Moved between putting, so as to clamp when closed action is applied to first jaw and the second jaw first jaw and second Mouthful one of to close rate motion to one in the closing position, the closure speed be different from first jaw and The other of second jaw moves to one another closure speed in the closing position；And

For optionally apply the closed action to first jaw and the second jaw and to first jaw and Second jaw applies opening action so that first jaw and the second jaw optionally are moved to institute from the closing position State the device of open position.

11. surgical instruments according to claim 9, further include the firing member that can be axially moved, it is described can be axial The firing member of movement be supported for when first jaw and the second jaw are in one in the closing position Axially advance between first jaw and the second jaw.

12. surgical instruments according to claim 10, further includes：

The first cam slot in the end effector mounting assembly, first cam slot limit the first closure wedge Open wedge-like portion in shape part and first；And

The second cam slot in the end effector mounting assembly, second cam slot limit the second closure wedge Wedge-like portion is opened in shape part and second, and wherein described first jaw includes a pair of first opening members and a pair first and closes Component is closed, wherein one in first opening members and one in first enclosed member are by being movably received in State in the first cam slot, and it is another in another and first enclosed member in wherein described first opening members It is a to be received within second cam slot, and wherein described second jaw includes a pair of second opening members and a pair of the Two enclosed members, wherein one in second opening members is movably received with one in second enclosed member In first cam slot, and in another and second enclosed member in wherein described second opening members Another is movably received in second cam slot, and the described device for being wherein used to selectively apply is constructed Into first jaw and the second jaw can be made to move in the first direction, to make described one in first enclosed member It is one movably into the described first closure wedge-like portion, and described first closes in a and described second enclosed member Described another closed in component movably enters the described second closure wedge with described another in second enclosed member Shape part, so that first jaw and the second jaw move towards one another one in the closing position, for selecting The described device that selecting property applies is further configured to that first jaw and the second jaw can be made to move in a second direction, with Just make in one and described second opening members in first opening members one moves to described first Open in wedge-like portion, and it is described another in another and second opening members in first opening members One moves to described second and opens in wedge-like portion, so that first jaw and the second jaw move to away from each other The open position.

13. surgical instruments according to claim 12, wherein first cam slot is formed in and is connected to the end In first lobe plate of actuator mounting assembly, and wherein described second cam slot is formed in and is connected to the end execution In second lobe plate of device mounting assembly.

14. surgical instruments according to claim 10, wherein being performed for the described device selectively applied including end Device closes casing, and the end effector closure casing can be in response to being applied to the closed action and opening action thereon It is axially moved, the end effector closure casing includes：

First opens protuberance, and described first opens protuberance corresponding to one and described in first opening members It is one in second opening members, with the end effector closure casing moved along the second direction when with it is described One in one and described second opening members in first opening members operationally contacts；And

Second opens protuberance, and described second, which opens protuberance, corresponds to another and the institute in first opening members State in the second opening members it is described another, with the end effector closure casing moved along the second direction when with Described another in first opening members is operationally contacted with described another in second opening members.

15. surgical instruments according to claim 10, wherein one of first jaw and second jaw are included carefully Long-channel, the elongated passageway are configured to be operably supported surgery nail bin in the elongated passageway, and wherein The other of described first jaw and the second jaw include anvil block.

16. surgical instruments according to claim 15, further includes firing member, the firing member is supported in institute State the first jaw and when the second jaw is in one in the closing position in first jaw and the countershaft of the second jaw To traveling.

17. a kind of surgical instruments, including：

First jaw and the second jaw, first jaw and the second jaw are pivotally supported relative to each other, for beating Selectively pivot and advance between open position and closing position；And

Enclosed member, the enclosed member can be in response to being applied to closed action and opening action axial movement thereon, institute Stating enclosed member includes at least two opening protuberances to extend internally, and the opening protuberance is configured to beat described Start pair that at least one of first jaw and the second jaw are operatively engaged when being applied to the enclosed member Part is answered, so that at least one of first jaw and second jaw move to the open position.

18. surgical instruments according to claim 17, wherein in the described at least two opening protuberances to extend internally It is at least one to be integrally formed in the enclosed member.

19. surgical instruments according to claim 17, wherein in the described at least two opening protuberances to extend internally Each it is removably attached to the enclosed member.

20. surgical instruments according to claim 17, wherein one of first jaw and second jaw are included carefully Long-channel, the elongated passageway are configured to be operably supported surgery nail bin in the elongated passageway, and wherein The other of described first jaw and the second jaw include anvil block.