CN108882934B - Surgical instrument having a tensioning arrangement for a cable driven articulation system - Google Patents

Abstract

A surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis. An articulation cable is coupled to the surgical end effector at an attachment point and is journaled on a proximal pulley supported on the elongate shaft assembly. The proximal pulley defines a proximal pulley axis that is located at a tension distance from the attachment point. An articulation driver is coupled to the articulation cable for selectively causing the articulation cable to rotate about the proximal pulley in first and second articulation directions. An adjustable tensioning assembly interfaces with the proximal pulley to selectively adjust the tensioning distance.

Description

Surgical instrument having a tensioning arrangement for a cable driven articulation system

Background

The present invention relates to surgical instruments and, in various embodiments, to surgical stapling and cutting instruments and staple cartridges for use therewith.

The stapling instrument can include a pair of cooperating elongated jaw members, wherein each jaw member can be adapted to be inserted into a patient and positioned relative to tissue to be stapled and/or incised. In various embodiments, one of the jaw members can support a staple cartridge having at least two laterally spaced rows of staples housed therein, and the other jaw member can support an anvil having staple-forming pockets aligned with the rows of staples in the staple cartridge. In general, the stapling instrument can further include a pusher bar and a knife blade that are slidable relative to the jaw members to sequentially eject staples from the staple cartridge via camming surfaces on the pusher bar and/or camming surfaces on a wedge sled that is pushed by the pusher bar. In at least one embodiment, the camming surfaces can be configured to actuate a plurality of staple drivers carried by the cartridge and associated with the staples in order to push the staples against the anvil and form laterally spaced rows of deformed staples in tissue clamped between the jaw members. In at least one embodiment, the blade can follow the cam surface and cut the tissue along the line between the rows of staples.

The above discussion is intended to be merely illustrative of the present aspects of the relevant art in the field of the present invention and should not be taken as negating the scope of the claims.

Drawings

Various features of the embodiments described herein, along with their advantages, may be understood from the following description in conjunction with the following drawings:

FIG. 1 is a perspective view of an embodiment of a surgical instrument and an elongate shaft assembly;

FIG. 2 is an exploded assembly view of a handle or housing portion of the surgical instrument of FIG. 1;

FIG. 3 is an exploded assembly view of a portion of the elongate shaft assembly;

FIG. 4 is another exploded assembly view of another portion of the elongate shaft assembly of FIG. 3;

FIG. 5 is an exploded assembly view of a portion of a surgical end effector embodiment and a closure sleeve embodiment;

FIG. 6 is a partial cross-sectional view of a portion of the surgical end effector and closure sleeve configuration of FIG. 5;

FIG. 7 is a perspective view of the surgical end effector and closure sleeve configuration of FIGS. 5 and 6 with the anvil in an open position or configuration;

FIG. 8 is another perspective view of the surgical end effector and closure sleeve configuration of FIGS. 5-7 with the anvil in a closed position or configuration;

FIG. 9 is a perspective view of an embodiment of a surgical end effector and elongate shaft assembly with portions thereof omitted for clarity;

FIG. 10 is a top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIG. 9 with the surgical end effector in an articulated position or configuration;

FIG. 11 is a partially exploded assembly view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 9 and 10;

FIG. 12 is a top view of portions of the surgical end effector and elongate shaft assembly of FIGS. 9-11;

FIG. 13 is a perspective view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 9-12 with the surgical end effector in an articulated position or configuration;

FIG. 14 is a top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 9-13 with the surgical end effector in an articulated configuration and with some components shown in cross-section for clarity;

FIG. 15 is a perspective view of a portion of another elongate shaft assembly embodiment;

FIG. 16 is another perspective view of the elongate shaft assembly embodiment of FIG. 15 with the closure sleeve and closure sleeve components omitted for clarity;

FIG. 17 is a top view of a portion of the elongate shaft assembly embodiment of FIGS. 15 and 16;

FIG. 18 is a cross-sectional side elevational view of the elongate shaft assembly embodiment of FIGS. 15-17 with a surgical staple cartridge installed in the surgical end effector portion;

FIG. 19 is another cross-sectional side elevational view of the elongate shaft assembly of FIGS. 15-18 with a surgical staple cartridge installed in the surgical end effector portion;

FIG. 20 is a top view of portions of the surgical end effector and elongate shaft assembly of FIGS. 15-19 with the surgical end effector in an articulated position or configuration;

FIG. 20A is a side elevational view of a portion of another surgical end effector and closure sleeve embodiment;

FIG. 21 is a perspective view of another surgical end effector and elongate shaft assembly embodiment with portions thereof omitted for clarity;

FIG. 22 is an exploded assembly view of portions of the surgical end effector and elongate shaft assembly embodiment of FIG. 21;

FIG. 23 is a top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 21 and 22;

FIG. 24 is another top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 21-23 with portions thereof omitted for clarity;

FIG. 25 is another top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 21-24 with the surgical end effector in an articulated position or configuration;

FIG. 26 is an exploded perspective view of a portion of another elongate shaft assembly embodiment;

FIG. 27 is an exploded assembly view of portions of another surgical end effector and elongate shaft assembly embodiment;

FIG. 28 is a partial perspective view of a portion of the elongate shaft assembly embodiment of FIG. 27 with portions thereof omitted for clarity;

FIG. 29 is another partial perspective view of portions of the elongate shaft assembly embodiment of FIGS. 27 and 28 with portions thereof omitted for clarity;

FIG. 30 is another partial perspective view of portions of the elongate shaft assembly embodiment of FIGS. 27-29 with portions thereof omitted for clarity;

FIG. 31 is a top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 27-30 with portions thereof omitted for clarity;

FIG. 32 is another top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 27-31 with portions thereof omitted for clarity and with the surgical end effector in an articulated position or configuration;

FIG. 33 is a side elevational view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 27-32 with portions thereof omitted for clarity;

FIG. 34 is a perspective view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 27-33 with portions thereof omitted for clarity;

FIG. 35 is another partial perspective view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 27-34 with portions thereof omitted for clarity;

FIG. 36 is an exploded assembly view of portions of a distal firing beam assembly embodiment and a lateral load carrying member embodiment;

FIG. 37 is a perspective view of the distal firing beam assembly and lateral load carrying member of FIG. 36;

FIG. 38 is an enlarged cross-sectional view of portions of the distal firing beam assembly and the lateral load carrying member of FIGS. 36 and 37;

FIG. 39 is another cross-sectional view of the distal firing beam assembly and the lateral load carrying member of FIGS. 36-38;

FIG. 40 is a side elevational view of a portion of a distal firing beam assembly embodiment attached to a firing member embodiment;

FIG. 41 is a top view of a portion of the distal firing beam assembly embodiment and firing member embodiment of FIG. 40;

FIG. 42 is a cross-sectional view of a portion of the distal firing beam assembly embodiment of FIGS. 40 and 41 having a lateral load carrying member journaled thereon and in a flexed position or configuration;

FIG. 43 is a perspective view of the distal firing beam assembly embodiment and the lateral load carrying member embodiment of FIG. 42;

FIG. 44 is a perspective view of portions of another surgical end effector embodiment and elongate shaft assembly embodiment with portions thereof omitted for clarity and with the surgical end effector in an articulated position or configuration;

FIG. 45 is a top view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 44;

FIG. 46 is another top view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 45 with portions of the pivot connections shown in cross-section;

FIG. 47 is a partial perspective view of portions of another surgical end effector embodiment and elongate shaft assembly embodiment with portions thereof omitted for clarity;

FIG. 48 is a top view of portions of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 47 with portions thereof omitted for clarity;

FIG. 49 is another top view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 48;

FIG. 50 is a top perspective view of portions of the surgical end effector embodiment and elongate shaft assembly embodiment of FIGS. 47-49 with portions thereof omitted for clarity and with the surgical end effector in an articulated position or configuration;

FIG. 51 is another top perspective view of portions of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 50;

FIG. 52 is an enlarged perspective view of portions of the surgical end effector embodiment and the elongate shaft assembly embodiment of FIG. 51;

FIG. 53 is a top view of portions of another surgical end effector embodiment and elongate shaft assembly embodiment with portions thereof omitted for clarity and showing the surgical end effector in an unarticulated position or configuration and in an articulated position or configuration;

FIG. 54 is a top view of a portion of the elongate shaft assembly embodiment of FIG. 53 with the articulation system in a neutral or non-articulated position or configuration and with portions of the elongate shaft assembly omitted for clarity;

FIG. 55 is another top view of a portion of the elongate shaft assembly embodiment of FIG. 54 with the articulation system in a first articulation position or configuration;

FIG. 56 is another top view of a portion of the elongate shaft assembly embodiment of FIGS. 54 and 55 with the articulation system in a second articulation position or configuration;

FIG. 57 is a partial perspective view of other portions of the elongate shaft assembly embodiment of FIGS. 53-56 and portions of the surgical end effector embodiment in an unarticulated position or configuration with portions thereof omitted for clarity;

FIG. 58 is another partial perspective view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 57 with portions thereof omitted for clarity;

FIG. 59 is a top view of a portion of another elongate shaft assembly embodiment with portions thereof omitted for clarity;

FIG. 60 is a top view of portions of another articulation system embodiment in a neutral or non-articulated position;

FIG. 61 is a top view of a drive articulation disc embodiment of the articulation system of FIG. 60;

FIG. 62 is a top view of a driven articulation disc embodiment of the articulation system of FIG. 60;

FIG. 63 is another top view of the articulation system embodiment of FIG. 60 in a position or configuration after an articulation control motion has been initially applied thereto;

FIG. 64 is another top view of the articulation system embodiment of FIG. 63 in a first articulation position or configuration;

FIG. 65 is another top view of the articulation system embodiment of FIGS. 63 and 64 in a second articulation position or configuration;

FIG. 66 is a perspective view of another surgical end effector and closure sleeve embodiment with the jaws in a closed position or configuration;

FIG. 67 is another perspective view of the surgical end effector and closure sleeve embodiment of FIG. 66 with the jaws in an open position or configuration;

FIG. 68 is a side elevational view of the surgical end effector and closure sleeve embodiment of FIGS. 66 and 67, with the closure sleeve shown in cross-section with the jaws thereof in an open position or configuration;

FIG. 69 is a side elevational view, in cross-section, of the surgical end effector and closure sleeve embodiment of FIGS. 66-68 with the jaws in an open position or configuration;

FIG. 70 is an exploded assembly view of the surgical end effector and closure sleeve embodiment of FIGS. 66-69;

FIG. 71 is an exploded assembly view of another surgical end effector and closure sleeve embodiment;

FIG. 72 is a perspective view of another surgical end effector and closure sleeve embodiment with jaws in an open position or configuration;

FIG. 73 is another perspective view of the surgical end effector and closure sleeve embodiment of FIG. 72 with the jaws in a closed position or configuration;

FIG. 74 is an exploded perspective assembly view of the surgical end effector and closure sleeve embodiment of FIGS. 72 and 73;

FIG. 75 is a side elevational view of the surgical end effector and closure sleeve embodiment of FIGS. 72-74 with the jaws in a closed position or configuration;

FIG. 76 is a rear perspective view of the surgical end effector embodiment of FIGS. 72-75, with its closure sleeve embodiment shown in phantom for clarity;

FIG. 77 is a side cross-sectional view of the surgical end effector and closure sleeve embodiment of FIGS. 72-76 with the jaws in a closed position or configuration;

FIG. 78 is another side cross-sectional view of an embodiment of a closure sleeve and one of the cam plates comprising the surgical end effector of FIGS. 72-77 with the jaws in a closed position or configuration;

FIG. 79 is another side cross-sectional view of an embodiment comprising one of the cam plates and a closure sleeve of the surgical end effector of FIGS. 72-78 with jaws in an open position or configuration;

FIG. 80 is a partial perspective view of another surgical end effector and closure sleeve embodiment with the jaws in an open position or configuration;

FIG. 81 is a partial perspective view of the surgical end effector and closure sleeve embodiment of FIG. 80 with the jaws in a closed position or configuration;

FIG. 82 is an exploded perspective assembly view of the surgical end effector and closure sleeve embodiment of FIGS. 80 and 81;

FIG. 83 is a side elevational view of the surgical end effector and closure sleeve embodiment of FIGS. 80-82 with the jaws in a closed position or configuration;

FIG. 84 is a side elevational view of the surgical end effector and closure sleeve embodiment of FIGS. 80-83, with a portion of the closure sleeve shown in cross-section with the jaws thereof in an open position or configuration;

FIG. 85 is an exploded assembly perspective view of another surgical end effector and closure sleeve embodiment;

FIG. 86 is a side elevational view of the surgical end effector and closure sleeve embodiment of FIG. 85 with the jaws in a closed position or configuration;

FIG. 87 is a side elevational view of the surgical end effector and closure sleeve embodiment of FIGS. 85 and 86 with the jaws in an open position or configuration and with a portion of the closure sleeve shown in cross-section;

FIG. 88 is a perspective view of a portion of another elongate shaft assembly embodiment;

FIG. 89 is another perspective view of the elongate shaft assembly embodiment of FIG. 88 with some components thereof omitted for clarity;

FIG. 90 is another perspective view of the elongate shaft assembly of FIGS. 88 and 89 with the surgical end effector in an articulated position or configuration;

FIG. 91 is an exploded assembly view of the elongate shaft assembly of FIGS. 88-90;

FIG. 92 is a top view of the elongate shaft assembly of FIGS. 88-91, with some components omitted for clarity, and with the surgical end effector articulated in one direction;

FIG. 93 is another top view of the elongate shaft assembly of FIGS. 88-92, with some components thereof omitted for clarity, and with the surgical end effector articulated in another direction;

FIG. 94 is a perspective view of a surgical staple cartridge embodiment;

FIG. 95 is a perspective view of another surgical staple cartridge embodiment;

FIG. 96 is a perspective view of a portion of another elongate shaft assembly embodiment coupled to a surgical end effector;

FIG. 97 is another perspective view of the elongate shaft assembly and surgical end effector of FIG. 96 in a non-articulating orientation with portions thereof omitted for clarity;

FIG. 98 is a top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIGS. 96 and 97 with the surgical end effector in an articulated orientation;

FIG. 99 is another top view of portions of the surgical end effector embodiment and elongate shaft assembly embodiment of FIGS. 96-98 with portions thereof omitted for clarity;

FIG. 100 is another top view of the portion of the surgical end effector embodiment and the elongate shaft assembly embodiment of FIG. 99 in an articulated orientation;

FIG. 101 is another top view of portions of the surgical end effector embodiment and the elongate shaft assembly embodiment of FIG. 100 in a non-articulating orientation;

FIG. 102 is another top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIG. 101 with the surgical end effector articulated in a first articulation direction;

FIG. 103 is another top view of portions of the surgical end effector and elongate shaft assembly embodiment of FIG. 102 with the surgical end effector articulated in a second articulation direction;

FIG. 104 is a top view of portions of another surgical end effector embodiment and another elongate shaft assembly embodiment in an unarticulated orientation;

FIG. 105 is another top view of the surgical end effector and elongate shaft assembly embodiment of FIG. 104 with the surgical end effector in an articulated orientation;

FIG. 106 is a top view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 107 is another top view of the surgical end effector and elongate shaft assembly of FIG. 106 in a first articulation orientation;

FIG. 108 is another top view of the surgical end effector and elongate shaft assembly of FIG. 107 in a second articulation orientation;

FIG. 109 is a top view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 110 is another top view of the surgical end effector and elongate shaft assembly of FIG. 109 in a first articulation orientation;

FIG. 111 is another top view of the surgical end effector and elongate shaft assembly of FIG. 110 in a second articulation orientation;

FIG. 112 is a top view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 113 is another top view of the surgical end effector and elongate shaft assembly of FIG. 112 in a first articulation orientation;

FIG. 114 is another top view of the surgical end effector and elongate shaft assembly of FIG. 113 in a second articulation orientation;

FIG. 115 is a top view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 116 is another top view of the surgical end effector and elongate shaft assembly of FIG. 115 in a first articulation orientation;

FIG. 117 is another top view of the surgical end effector and elongate shaft assembly of FIG. 116 in a second articulation orientation;

FIG. 118 is a top view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 119 is another top view of the surgical end effector and elongate shaft assembly of FIG. 118 in a first articulation orientation;

FIG. 120 is a partial perspective view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 121 is a top view of the surgical end effector and elongate shaft assembly of FIG. 120 in a non-articulating orientation;

FIG. 122 is another top view of the surgical end effector and elongate shaft assembly of FIG. 121 in a first articulation orientation;

FIG. 123 is a partial perspective view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 124 is another perspective view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 123 in a non-articulating orientation;

FIG. 125 is an exploded assembly perspective view of the surgical end effector and elongate shaft assembly embodiment of FIGS. 123 and 124;

FIG. 126 is a top view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIGS. 123-125 in an unarticulated orientation;

FIG. 127 is another top view of the surgical end effector and elongate shaft assembly of FIGS. 123-126 in a first articulation orientation;

FIG. 128 is another top view of the surgical end effector and elongate shaft assembly of FIGS. 123-128 in a second articulation orientation;

FIG. 129 is a partial perspective view of a portion of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with portions thereof omitted for clarity;

FIG. 130 is a top view of the surgical end effector and elongate shaft assembly of FIG. 129 in a non-articulating orientation;

FIG. 131 is another top view of the surgical end effector and elongate shaft assembly of FIGS. 129 and 130 in a first articulation orientation;

FIG. 132 is a partial perspective view of a portion of a spine and firing beam coupler embodiment of the elongate shaft assembly;

FIG. 132A is a partial cross-sectional view of portions of the spine and another firing beam coupler and lock configuration of the elongate shaft assembly;

FIG. 133 is a top view of the ridge and firing beam coupler embodiment of FIG. 132 with the firing beam embodiment installed therein;

FIG. 134 is a top view of the proximal end of the firing beam embodiment;

FIG. 135 is a top view of the proximal end of another firing beam embodiment;

FIG. 136 is a top view of another surgical end effector embodiment and elongate shaft assembly embodiment in an unarticulated orientation with various components omitted for clarity;

FIG. 137 is another top view of the surgical end effector and elongate shaft assembly of FIG. 136 in a first articulation orientation;

FIG. 138 is a partial perspective view of another surgical end effector and elongate shaft assembly embodiment in an unarticulated orientation with various components thereof omitted for clarity;

FIG. 139 is an exploded perspective assembly view of the surgical end effector and elongate shaft assembly of FIG. 138;

FIG. 140 is another exploded perspective view of portions of the surgical end effector and elongate shaft assembly of FIG. 139;

FIG. 141 is another perspective view of the surgical end effector and elongate shaft assembly of FIGS. 138-140 in a first articulation orientation;

FIG. 142 is another perspective view of the surgical end effector and elongate shaft assembly of FIGS. 138-141 in a second articulation orientation;

FIG. 143 is a top view of a portion of another elongate shaft assembly;

FIG. 144 is a partially exploded assembly view of a portion of the elongate shaft assembly and surgical end effector of FIG. 143;

FIG. 145 is a perspective view of another surgical end effector embodiment and elongate shaft embodiment in an unarticulated orientation;

FIG. 146 is a top view of the cable member and pulley configuration of the surgical end effector and elongate shaft assembly of FIG. 145;

FIG. 147 is an exploded assembly view of portions of the surgical end effector and elongate shaft assembly of FIG. 145;

FIG. 148 is a side elevational view of a portion of another elongate shaft assembly;

FIG. 149 is an exploded assembly view of the elongate shaft assembly of FIG. 148;

FIG. 150 is a top view of a portion of another elongate shaft assembly with various components thereof omitted for clarity;

FIG. 151 is a partial cross-sectional view of a cable portion of the elongate shaft assembly and a portion of a tension screw configuration for introducing tension into the cable member;

FIG. 152 is a cut-away perspective view of an embodiment of a closure sleeve;

FIG. 153 is a cross-sectional view of another closure sleeve embodiment;

FIG. 154 is a cross-sectional view of a portion of another closure sleeve embodiment;

FIG. 155 is a cross-sectional view of a portion of another closure sleeve embodiment;

FIG. 156 is a cross-sectional view of a portion of another closure sleeve embodiment;

FIG. 157 is a cutaway perspective view of a portion of another elongate shaft assembly; and is

FIG. 158 is another cross-sectional view of a portion of the elongate shaft assembly of FIG. 157.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

Detailed Description

The applicant of the present application owns the following patent applications, filed on even date herewith and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. __________, attorney docket No. END7851USNP/150530 entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";

U.S. patent application Ser. No. __________ entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS", attorney docket No. END7854 USNP/150533;

-U.S. patent application serial No. __________ entitled "article minor filing WITH SINGLE article LINK ARRANGEMENTS," attorney docket No. END7852 USNP/150531;

-U.S. patent application Ser. No. __________ entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY", attorney docket number END7850 USNP/150529;

U.S. patent application Ser. No. __________ entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT", attorney docket No. END7849 USNP/150528;

U.S. patent application Ser. No. __________ entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS", attorney docket No. END7848 USNP/150527;

U.S. patent application Ser. No. __________ entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR", attorney docket No. END7847 USNP/150526; and

U.S. patent application Ser. No. __________ entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKEREDUCTION ARRANGEMENTS", attorney docket number END7855 USNP/150534.

The applicant of the present application owns the following patent applications filed on day 18/6/2015 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS";

U.S. patent application Ser. No. 14/742,941 entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES";

-U.S. patent application Ser. No. 14/742,933 entitled "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTITION WHEN A CARTRIDGE IS SPENT OR MISSING";

-U.S. patent application serial No. 14/742,914 entitled "MOVABLE filing bed SUPPORT FOR easy maintenance letters";

U.S. patent application Ser. No. 14/742,900 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT"; and

U.S. patent application Ser. No. 14/742,876 entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS".

The applicant of the present application owns the following patent applications filed 3/6/2015 and each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/640,746 entitled "POWERED minor instroment";

U.S. patent application Ser. No. 14/640,795 entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWER SURGICAL INSTRUMENTS";

-U.S. patent application Ser. No. 14/640,832 entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADAJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPE";

U.S. patent application Ser. No. 14/640,935 entitled "OVERAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION";

U.S. patent application Ser. No. 14/640,831 entitled "MONITORING SPEED CONTROL AND PRECISION INCREASING OF MOTOR FOR POWER SURGICAL INSTRUMENTS";

-U.S. patent application Ser. No. 14/640,859 entitled "TIME DEPENDENT EVALTION OF SENSOR DATA TO DETERMINE STATIONITY, CREPE, AND VISCELATIC ELEMENTS OF MEASURES";

-U.S. patent application serial No. 14/640,817 entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 14/640,844 entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE";

-U.S. patent application serial No. 14/640,837 entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING";

-U.S. patent application Ser. No. 14/640,765 entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER";

-U.S. patent application Ser. No. 14/640,799 entitled "SIGNAL AND Power COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT"; and

U.S. patent application Ser. No. 14/640,780 entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING".

The applicant of the present application owns the following patent applications filed 2015 on day 2, 27 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/633,576 entitled "SURGICAL INSTRUMENT SYSTEM COMPLISING AN INSPECTION STATION";

-U.S. patent application serial No. 14/633,546 entitled "minor applied configuration TO ASSESS WHETHER A minor PARAMETER OF THE minor applied PARAMETER IS WITHIN AN ACCEPTABLE minor PARAMETER BAND";

U.S. patent application Ser. No. 14/633,576 entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES";

-U.S. patent application serial No. 14/633,566 entitled "CHARGING SYSTEM THAT energy EMERGENCY resolution FOR CHARGING A BATTERY";

-U.S. patent application Ser. No. 14/633,555 entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENTS NEEDS TO BE SERVICED";

-U.S. patent application serial No. 14/633,542 entitled "related BATTERY FOR a SURGICAL INSTRUMENT";

-U.S. patent application serial No. 14/633,548 entitled "POWER ADAPTER FOR a SURGICAL insert";

-U.S. patent application serial No. 14/633,526 entitled "adaptive minor insert HANDLE";

-U.S. patent application serial No. 14/633,541 entitled "MODULAR station association"; and

-U.S. patent application serial No. 14/633,562 entitled "SURGICAL APPATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER";

the applicant of the present application owns the following patent applications filed 2014, 12, 18 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS A ARTICULATED END EFFECTOR AND MEANS FOR ADJUSE THE FIRING STROKE OF A FIRING";

U.S. patent application Ser. No. 14/574,483 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS";

-U.S. patent application Ser. No. 14/575,139 entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 14/575,148 entitled "LOCKING argemenets FOR DETACHABLE SHAFT association WITH article END effects";

-U.S. patent application Ser. No. 14/575,130 entitled "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE";

U.S. patent application Ser. No. 14/575,143 entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS";

U.S. patent application Ser. No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FILING BEAM SUPPORT ARRANGEMENTS";

U.S. patent application Ser. No. 14/575,154 entitled "SURGICAL INSTRUMENTS WITH ARTICULATED END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS";

-U.S. patent application Ser. No. 14/574,493 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPLEMENTING A FLEXIBLE ARTICULATION SYSTEM"; and

U.S. patent application Ser. No. 14/574,500 entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM".

The applicant of the present application owns the following patent applications filed 2013 on 3/1 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 13/782,295 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION", now U.S. patent application publication 2014/0246471;

U.S. patent application Ser. No. 13/782,323 entitled "Rolling Power operated vibration FOR minor Instrument," now U.S. patent application publication 2014/0246472;

U.S. patent application Ser. No. 13/782,338 entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/0249557;

-U.S. patent application Ser. No. 13/782,499 entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL Relay ARRANGEMENT", now U.S. patent application publication 2014/0246474;

U.S. patent application Ser. No. 13/782,460 entitled "MULTIPLE PROCESSOR MOTORS CONTROL FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0246478;

U.S. patent application Ser. No. 13/782,358 entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0246477;

U.S. patent application Ser. No. 13/782,481 entitled "SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR",

now U.S. patent application publication 2014/0246479;

U.S. patent application Ser. No. 13/782,518 entitled "CONTROL METHOD FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now U.S. patent application publication 2014/0246475;

U.S. patent application Ser. No. 13/782,375 entitled "Rolling Power weighted accumulation INSTRUMENTS WITH MULTIPLE layers OF FREEDOM", now U.S. patent application publication 2014/0246473; and

U.S. patent application Ser. No. 13/782,536 entitled "SURGICAL INSTRUMENT SOFT STOP," now U.S. patent application publication 2014/0246476.

The applicant of the present application also owns the following patent applications filed 2013, month 3, day 14 and each incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 13/803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE," now U.S. patent application publication 2014/0263542;

U.S. patent application Ser. No. 13/803,193 entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0263537;

U.S. patent application Ser. No. 13/803,053 entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263564;

U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPLISING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541;

U.S. patent application Ser. No. 13/803,210 entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263538;

U.S. patent application Ser. No. 13/803,148 entitled "Multi-functional Motor FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0263554;

U.S. patent application Ser. No. 13/803,066 entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263565;

U.S. patent application Ser. No. 13/803,117 entitled "ARTICULATION CONTROL FOR ARTICULATE SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/0263553;

U.S. patent application Ser. No. 13/803,130 entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263543; and

U.S. patent application Ser. No. 13/803,159 entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT," now U.S. patent application publication 2014/0277017.

The applicant of the present application also owns the following patent applications filed 3/7 2014 and incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2014/0263539.

The applicant of the present application also owns the following patent applications filed 3/26 2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/226,106 entitled "POWER MANAGEMENT CONTROL SYSTEM FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272582;

-U.S. patent application serial No. 14/226,099 entitled "serilization version CIRCUIT", now U.S. patent application publication 2015/0272581;

-U.S. patent application Ser. No. 14/226,094 entitled "VERIFICATION OF NUMBER OF Battery improvements/Process COUNT", now U.S. patent application publication 2015/0272580;

U.S. patent application Ser. No. 14/226,117 entitled "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now U.S. patent application publication 2015/0272574;

U.S. patent application Ser. No. 14/226,075 entitled "MODULAR POWER SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES", now U.S. patent application publication 2015/0272579;

U.S. patent application Ser. No. 14/226,093 entitled "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272569;

U.S. patent application Ser. No. 14/226,116 entitled "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION", now U.S. patent application publication 2015/0272571;

U.S. patent application Ser. No. 14/226,071 entitled "SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR," now U.S. patent application publication 2015/0272578;

U.S. patent application Ser. No. 14/226,097 entitled "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS," now U.S. patent application publication 2015/0272570;

U.S. patent application Ser. No. 14/226,126 entitled "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now U.S. patent application publication 2015/0272572;

U.S. patent application Ser. No. 14/226,133 entitled "MODULAR SURGICAL INSTRUMENTS SYSTEM," now U.S. patent application publication 2015/0272557;

-U.S. patent application serial No. 14/226,081 entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED circui", now U.S. patent application publication 2015/0277471;

U.S. patent application Ser. No. 14/226,076 entitled "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION," now U.S. patent application publication 2015/0280424;

U.S. patent application Ser. No. 14/226,111 entitled "SURGICAL STAPLING INSTRUMENTT SYSTEM," now U.S. patent application publication 2015/0272583; and

U.S. patent application Ser. No. 14/226,125 entitled "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT" is now U.S. patent application publication 2015/0280384.

The applicant of the present application also owns the following patent applications filed 2014, 9, 5 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/479,103 entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE";

-U.S. patent application Ser. No. 14/479,119 entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION";

U.S. patent application Ser. No. 14/478,908 entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION";

-U.S. patent application Ser. No. 14/478,895 entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR' S OUTPUT OR INTERPRETATION";

-U.S. patent application Ser. No. 14/479,110 entitled "USE OF POLARITY OF HALL MAGNET DETECTION TO DETECTION MISLOADED CARTRIDGE";

-U.S. patent application serial No. 14/479,098 entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION";

-U.S. patent application Ser. No. 14/479,115 entitled "MULTIPLE MOTOR CONTROL FOR POWER MEDICAL DEVICE"; and

U.S. patent application Ser. No. 14/479,108 entitled "LOCAL DISPLAY OF TIMSSUE PARAMETER STABILIZATION".

The applicant of the present application also owns the following patent applications filed 2014 on 4/9 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/248,590 entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now U.S. patent application publication 2014/0305987;

U.S. patent application Ser. No. 14/248,581 entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now U.S. patent application publication 2014/0305989;

U.S. patent application Ser. No. 14/248,595 entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCH FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305988;

U.S. patent application serial No. 14/248,588 entitled "POWERED LINEAR minor stable", now U.S. patent application publication 2014/0309666;

U.S. patent application Ser. No. 14/248,591 entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305991;

-U.S. patent application Ser. No. 14/248,584 entitled "MODULAR MOTOR DRIN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", now U.S. patent application publication 2014/0305994;

U.S. patent application serial No. 14/248,587 entitled "POWERED minor platform," now U.S. patent application publication 2014/0309665;

U.S. patent application Ser. No. 14/248,586 entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0305990; and

U.S. patent application Ser. No. 14/248,607 entitled "MODULAR MOTOR DRIN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS," now U.S. patent application publication 2014/0305992.

The applicant of the present application also owns the following patent applications filed 2013 on 16.4.2013 and each incorporated herein by reference in its entirety:

U.S. provisional patent application serial No. 61/812,365 entitled "minor entering WITH MULTIPLE functional electronic BY a SINGLE MOTOR";

-U.S. provisional patent application serial No. 61/812,376 entitled "LINEAR CUTTER WITH POWER";

-U.S. provisional patent application serial No. 61/812,382 entitled "LINEAR CUTTER WITH MOTOR AND piston GRIP";

U.S. provisional patent application Ser. No. 61/812,385 entitled "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTION MOTORS AND MOTOR CONTROL"; and

U.S. provisional patent application serial No. 61/812,372 entitled "minor entering WITH MULTIPLE functional PERFORMED BY A SINGLE MOTOR".

Numerous specific details are set forth herein to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments described in the specification and illustrated in the accompanying drawings. Well-known operations, components and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples and that specific structural and functional details disclosed herein are representative and illustrative. Variations and changes may be made to these embodiments without departing from the scope of the claims.

The term "comprises" (and any form of "comprising", such as "comprises" and "comprising)", "has" (and "has)", such as "has" and "has)", "contains" (and any form of "containing", such as "comprises" and "containing)", and "containing" (and any form of "containing", such as "containing" and "containing", are open-ended verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "contains," or "contains" one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, a system, apparatus, or device that "comprises," "has," "includes," or "contains" one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms "proximal" and "distal" are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term "proximal" refers to the portion closest to the clinician and the term "distal" refers to the portion located away from the clinician. It will be further appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in a variety of surgical procedures and applications, including, for example, in conjunction with open surgery. With continued reference to this detailed description, the reader will further appreciate that the various instruments disclosed herein can be inserted into the body in any manner, such as through a natural orifice, through an incision or puncture formed in tissue, and the like. The working portion or end effector portion of the instrument may be inserted directly into a patient or may be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

A surgical stapling system may include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. A staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable or at least easily replaceable from the first jaw. The second jaw includes an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to allow rotation or articulation of the end effector relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored in the cartridge body can then be deployed into tissue. The cartridge body includes staple cavities defined therein, wherein the staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other configurations of the staple cavities and staples are possible.

The staples are supported by staple drivers in the cartridge body. The driver is movable between a first, unfired position and a second, fired position to eject the staples from the staple cartridge. The driver is retained in the cartridge body by a retainer that extends around a bottom of the cartridge body and includes a resilient member configured to grip the cartridge body and retain the retainer to the cartridge body. The driver is movable between its unfired and fired positions by the sled. The slider is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramp surfaces configured to slide under and lift the drivers toward the anvil, and the staples are supported on the drivers.

In addition to the above, the sled can be moved distally by the firing member. The firing member is configured to contact the sled and urge the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive a firing member. The anvil also includes a slot configured to receive the firing member. The firing member also includes a first cam that engages the first jaw and a second cam that engages the second jaw. The first and second cams can control a distance or tissue gap between a deck of the staple cartridge and the anvil as the firing member is advanced distally. The firing member also includes a knife configured to incise tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially adjacent to the ramp surface so that the staples are ejected prior to the knife.

Fig. 1-4 illustrate a reusable or non-reusable motor driven surgical cutting and fastening instrument 10. In the illustrated embodiment, the instrument 10 includes a housing 12 including a handle 14 configured to be grasped, manipulated and actuated by a clinician. The housing 12 is configured for operable attachment to an elongate shaft assembly 200 having a surgical end effector 300 operably coupled thereto that is configured to perform one or more surgical tasks or procedures. The elongate SHAFT assembly 200 may be interchanged WITH other SHAFT ASSEMBLIES in various ways, such as that disclosed in U.S. patent application serial No. 14/226,075 (now U.S. patent publication 2015/0272579), entitled "MODULAR POWERED minor assembly WITH DETACHABLE short bed assembly accessories," the entire disclosure of which is hereby incorporated by reference. In other configurations, the elongate shaft assembly may not be interchangeable with other shaft assemblies and essentially comprise a dedicated, non-removable portion of the instrument.

With continued reference to the present detailed description, it will be appreciated that the various forms of interchangeable shaft assemblies disclosed herein may also be effectively used in conjunction with robotically controlled surgical systems. Thus, the term "housing" may also encompass a housing or similar portion of a robotic system that houses or otherwise operably supports at least one drive system configured to generate and apply at least one control action that may be used to actuate the elongate shaft assemblies disclosed herein and their respective equivalents. The term "frame" may refer to a portion of a hand-held surgical instrument. The term "frame" may also refer to a portion of a robotically-controlled surgical instrument and/or a portion of a robotic system that may be used to operably control a surgical instrument. For example, the shaft assemblies disclosed herein may be used WITH various robotic systems, INSTRUMENTS, components, and methods disclosed in U.S. patent application serial No. 13/118,241 (now U.S. patent 9,072,535), entitled "SURGICAL INSTRUMENTS WITH rotable stage, and which is hereby incorporated by reference in its entirety.

The housing 12 shown in fig. 1 is shown in connection with an elongate shaft assembly 200 that includes a surgical end effector 300 that includes a surgical cutting and fastening device configured to operably support a surgical staple cartridge 304 therein. Housing 12 may be configured for use in conjunction with a shaft assembly that includes an end effector that is adapted to support different sizes and types of staple cartridges, having different shaft lengths, sizes, types, etc. In addition, housing 12 may also be effectively used with a variety of other shaft assemblies, including those configured to apply other motions and forms of energy, such as, for example, Radio Frequency (RF) energy, ultrasonic energy, and/or motions, to end effector arrangements suitable for use in connection with various surgical applications and procedures. Further, the end effector, shaft assembly, handle, surgical instrument, and/or surgical instrument system may utilize any one or more suitable fasteners to fasten tissue. For example, a fastener cartridge including a plurality of fasteners removably stored therein can be removably inserted into and/or attached to an end effector of a shaft assembly.

Fig. 1 illustrates a housing 12 and handle 14 of a surgical instrument 10 having an interchangeable elongate shaft assembly 200 operably coupled thereto. As can be seen in fig. 1, the handle 14 may include a pair of interconnectable handle housing segments 16 and 18 that may be interconnected by means of screws, snap features, adhesives, and the like. In the illustrated construction, the handle housing segments 16 and 18 cooperate to form a pistol grip portion 19 that can be grasped and manipulated by a clinician. As will be discussed in further detail below, the handle 14 operably supports a plurality of drive systems therein that are configured to generate and apply various control actions to corresponding portions of the interchangeable shaft assembly operably attached thereto.

Referring now to fig. 2, the handle 14 may further include a frame 20 that operably supports a plurality of drive systems. For example, the frame 20 can operably support a "first" or closure drive system, generally designated 30, which can be used to apply closing and opening motions to the elongate shaft assembly 200 operably attached or coupled thereto. In at least one form, the closure drive system 30 can include an actuator in the form of a closure trigger 32 pivotally supported by the frame 20. More specifically, as shown in FIG. 2, the closure trigger 32 is pivotally coupled to the housing 14 via a pin 33. This configuration enables the closure trigger 32 to be manipulated by the clinician such that when the clinician grasps the pistol grip portion 19 of the handle 14, the closure trigger 32 can be easily pivoted by the clinician from the starting or "unactuated" position to the "actuated" position, and more specifically, to the fully compressed or fully actuated position. The closure trigger 32 may be biased into the unactuated position by a spring or other biasing arrangement (not shown). In various forms, the closure drive system 30 also includes a closure link assembly 34 that is pivotally coupled to the closure trigger 32. As can be seen in fig. 2, the closure link assembly 34 may include a first closure link 36 and a second closure link 38 pivotally coupled to the closure trigger 32 by a pin 35. The second closure link 38 may also be referred to herein as an "attachment member" and includes a lateral attachment pin 37.

Still referring to fig. 2, it can be observed that the first closure link 36 can have a locking wall or locking end 39 thereon that is configured to mate with a closure release assembly 60 pivotally coupled to the frame 20. In at least one form, the closure release assembly 60 can include a release button assembly 62 having a distally projecting locking pawl 64 formed thereon. The release button assembly 62 may be pivoted in a counterclockwise direction by a release spring (not shown). As the clinician depresses the closure trigger 32 from its unactuated position toward the pistol grip portion 19 of the handle 14, the first closure link 36 pivots upward to a point where the locking pawl 64 drops into engagement with the locking wall 39 on the first closure link 36, thereby preventing the closure trigger 32 from returning to the unactuated position. Thus, the closure release assembly 60 functions to lock the closure trigger 32 in the fully actuated position. When the clinician desires to unlock the closure trigger 32 to allow it to be biased to the unactuated position, the clinician need only pivot the closure release button assembly 62 such that the locking pawl 64 moves out of engagement with the locking wall 39 on the first closure link 36. When the locking pawl 64 has moved out of engagement with the first closure link 36, the closure trigger 32 may pivot back to the unactuated position. Other closure trigger locking and release configurations may also be employed.

The closure release button 62 pivots between a first position and a second position when the closure trigger 32 is moved from its unactuated position to its actuated position. Rotation of the closure release button 62 may be referred to as upward rotation; however, at least a portion of the closure release button 62 rotates toward the circuit board 100. Still referring to fig. 2, the closure release button 62 may include an arm 61 extending therefrom and a magnetic element 63 (such as a permanent magnet) mounted to the arm 61. When the closure release button 62 is rotated from its first position to its second position, the magnetic element 63 may move toward the circuit board 100. The circuit board 100 may include at least one sensor configured to detect movement of the magnetic element 63. In at least one embodiment, a "hall effect" sensor may be mounted to the bottom surface of the circuit board 100. The hall effect sensor can be configured to detect changes in the magnetic field surrounding the hall effect sensor caused by movement of the magnetic element 63. The Hall-effect sensor may be in signal communication with, for example, a microcontroller that can determine whether the closure release button 62 is in its first position associated with the unactuated position of the closure trigger 32 and the open configuration of the end effector, its second position associated with the actuated position of the closure trigger 32 and the closed configuration of the end effector, and/or any position therebetween.

Also in the illustrated construction, the handle 14 and frame 20 operably support another drive system, referred to herein as a firing drive system 80, which is configured to apply a firing motion to corresponding portions of the interchangeable shaft assembly attached thereto. The firing drive system 80 may also be referred to herein as a "secondary drive system". The firing drive system 80 may employ an electric motor 82 positioned in the pistol grip portion 19 of the handle 14. In various forms, the motor 82 may be, for example, a DC brushed driving motor having a maximum rotation of about 25,000 RPM. In other constructions, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 82 may be powered by a power source 90, which in one form may include a removable power pack 92. As can be seen in fig. 2, for example, the power pack 92 may include a proximal housing portion 94 configured for attachment to a distal housing portion 96. The proximal housing portion 94 and the distal housing portion 96 are configured to operably support a plurality of batteries 98 therein. Batteries 98 may each include, for example, a lithium ion ("LI") or other suitable battery. The distal housing portion 96 is configured for removable operable attachment to a control circuit board assembly 100 that is also operably coupled to the motor 82. A plurality of batteries 98, which may be connected in series, may be used as a power source for the surgical instrument 10. In addition, the power source 90 may be replaceable and/or rechargeable.

As outlined above with respect to the other various forms, the electric motor 82 includes a rotatable shaft (not shown) operably interfacing with a gear reducer assembly 84 mounted in meshing engagement with a set or rack of drive teeth 122 on a longitudinally movable drive member 120. In use, the polarity of the voltage provided by the power source 90 may operate the electric motor 82 in a clockwise direction, wherein the polarity of the voltage applied by the battery to the electric motor may be reversed to operate the electric motor 82 in a counterclockwise direction. When the electric motor 82 is rotated in one direction, the drive member 120 will be driven axially in the distal direction DD. When the motor 82 is driven in the opposite rotational direction, the drive member 120 will be driven axially in the proximal direction PD. The handle 14 may include a switch configured to reverse the polarity applied to the electric motor 82 by the power source 90. As with other versions described herein, the handle 14 may also include a sensor configured to detect the position of the drive member 120 and/or the direction in which the drive member 120 is moving.

Actuation of the motor 82 is controlled by a firing trigger 130 that is pivotally supported on the handle 14. The firing trigger 130 may be pivotable between an unactuated position and an actuated position. The firing trigger 130 may be biased into an unactuated position by a spring 132 or other biasing arrangement such that when the clinician releases the firing trigger 130, the firing trigger may be pivoted or otherwise returned to the unactuated position by the spring 132 or biasing arrangement. In at least one form, the firing trigger 130 can be positioned "outboard" of the closure trigger 32 as described above. In at least one form, the firing trigger safety button 134 may be pivotally mounted to the closure trigger 32 by a pin 35. A safety button 134 may be positioned between the firing trigger 130 and the closure trigger 32 and have a pivoting arm 136 protruding therefrom. See fig. 2. When the closure trigger 32 is in the unactuated position, the safety button 134 is housed in the handle 14, where it may not be easily accessible to the clinician and moved between a safety position preventing actuation of the firing trigger 130 and a firing position in which the firing trigger 130 may be fired. When the clinician depresses the closure trigger 32, the safety button 134 and the firing trigger 130 pivot downward and may then be manipulated by the clinician.

As discussed above, the handle 14 includes the closure trigger 32 and the firing trigger 130. The firing trigger 130 can be pivotally mounted to the closure trigger 32. As outlined above, the firing trigger 130 may descend downward as the closure trigger 32 moves from its unactuated position to its actuated position. After the safety button 134 has been moved to its firing position, the firing trigger 130 may be depressed to operate the motor of the surgical instrument firing system. In various instances, the handle 14 can include a tracking system configured to determine the position of the closure trigger 32 and/or the position of the firing trigger 130.

As mentioned above, in at least one form, the longitudinally movable drive member 120 has a rack of drive teeth 122 formed thereon for engagement with the corresponding drive gear 86 of the gear reducer assembly 84. At least one form further includes a manually actuatable "rescue" assembly 140 configured to enable a clinician to manually retract the longitudinally movable drive member 120 in the event the motor 82 becomes disabled. The rescue assembly 140 can include a lever or rescue handle assembly 142 configured to be manually pivoted into ratcheting engagement with the teeth 124 also provided in the drive member 120. Thus, the clinician may manually retract the drive member 120 by using the rescue handle assembly 142 to engage the drive member 120 in the proximal direction PD. U.S. patent application publication US2010/0089970 (now U.S. patent 8,608,045) discloses rescue configurations and other components, configurations, and systems that may also be used with the various instruments disclosed herein. U.S. patent application Ser. No. 12/249,117 (now U.S. Pat. No. 8,608,045), entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," is hereby incorporated by reference in its entirety.

Turning now to fig. 1 and 3, the elongate shaft assembly 200 includes a surgical end effector 300 that includes an elongate channel 302 configured to operably support a staple cartridge 304 therein. The end effector 300 may also include an anvil 310 that is pivotally supported relative to the elongate channel 302. As will be discussed in further detail below, the surgical end effector 300 can be articulated relative to the elongate shaft assembly about an articulation joint 270. As can be seen in fig. 3 and 4, the shaft assembly 200 can also include a proximal housing or nozzle 201 comprised of nozzle portions 202 and 203. The shaft assembly 200 also includes a closure sleeve 260 that may be used to close and/or open an anvil 310 of the end effector 300. As can be seen in fig. 4, the shaft assembly 200 includes a spine 210 that may be configured to fixably support the shaft frame portion 212 of the articulation lock 350. Details regarding the construction and operation of joint motion LOCK 350 are set forth in U.S. patent application serial No. 13/803,086 entitled "articular joint movement locking AN articular movement LOCK," now U.S. patent application publication 2014/0263541, the disclosure of which is hereby incorporated by reference. The ridge 210 is configured to: first, a firing member 220 is slidably supported therein; second, a closure sleeve 260 extending around the spine 210 is slidably supported. The spine 210 also slidably supports a proximal articulation driver 230. The proximal articulation driver 230 has a distal end 231 configured to operably engage the articulation lock 350. In one configuration, the articulation lock 350 interfaces with an articulation frame 352 that is adapted to operably engage a drive pin (not shown) on an end effector frame (not shown).

In the illustrated construction, the spine 210 includes a proximal end 211 rotatably supported in the base 240. In one configuration, for example, the proximal end 211 of the spine 210 has threads 214 formed thereon for threaded attachment to a spine bearing 216 configured to be supported within the base 240. See fig. 3. This configuration facilitates rotatably attaching the ridge 210 to the base 240 such that the ridge 210 may be selectively rotated relative to the base 240 about the axis SA-SA. The shaft assembly 200 also includes a closure shuttle 250 slidably supported within the base 240 such that the closure shuttle is axially movable relative to the base. As can be seen in fig. 3, the closure shuttle 250 includes a pair of proximally projecting hooks 252 configured for attachment to an attachment pin 37 attached to the second closure link 38, as will be described in greater detail below. See fig. 2. The proximal end 261 of the closure sleeve 260 is coupled to the closure shuttle 250 for rotation relative thereto. For example, the U-shaped connector 263 is inserted into the annular slot 262 in the proximal end 261 of the closure sleeve 260 such that it remains within the vertical slot 253 in the closure shuttle 250. See fig. 3. Such a configuration is used to attach the closure sleeve 260 to the closure shuttle 250 for axial travel therewith while enabling the closure sleeve 260 to rotate relative to the closure shuttle 250 about the shaft axis SA-SA. A closure spring 268 is journaled on the closure sleeve 260 for biasing the closure sleeve 260 in the proximal direction PD, and is operable to pivot the closure trigger to an unactuated position when the shaft assembly 200 is operably coupled to the handle 14.

Also as described above, the elongate shaft assembly 200 further includes a firing member 220 that is supported for axial travel within the shaft spine 210. The firing member 220 includes an intermediate firing shaft portion 222 configured for attachment to a distal cutting portion or firing beam 280. The firing member 220 may also be referred to herein as a "second shaft" and/or a "second shaft assembly". As can be seen in fig. 4, the intermediate firing shaft portion 222 can include a longitudinal slot 223 in a distal end thereof that can be configured to receive a tab 284 on a proximal end 282 of the distal firing beam 280. The longitudinal slot 223 and the proximal end 282 may be sized and configured to allow relative movement therebetween and may include a slip joint 286. The slip joint 286 can allow the intermediate firing shaft portion 222 of the firing drive 220 to move to articulate the surgical end effector 300 without moving, or at least substantially moving, the firing beam 280. Once the surgical end effector 300 has been properly oriented, the intermediate firing shaft portion 222 can be advanced distally until the proximal side wall of the longitudinal slot 223 comes into contact with the tab 284 in order to advance the firing beam 280 and fire a staple cartridge supported in the end effector 300. As can be further seen in fig. 4, the shaft spine 210 has an elongated opening or window 213 therein to facilitate assembly and insertion of the intermediate firing shaft portion 222 into the shaft frame 210. Once the intermediate firing shaft portion 222 has been inserted therein, the top frame segment 215 may be engaged with the shaft frame 212 to enclose the intermediate firing shaft portion 222 and the firing beam 280 therein. Further description of the operation of the firing member 220 may be found in U.S. patent application serial No. 13/803,086, now U.S. patent application publication 2014/0263541.

In addition to the above, the illustrated shaft assembly 200 includes a clutch assembly 400 that can be configured to selectively and releasably couple the articulation driver 230 to the firing member 220. In one form, the clutch assembly 400 includes a lock collar or lock sleeve 402 positioned about the firing member 220, wherein the lock sleeve 402 is rotatable between an engaged position in which the lock sleeve 402 couples the articulation driver 360 to the firing member 220 and a disengaged position in which the articulation driver 360 is not operably coupled to the firing member 200. When the locking sleeve 402 is in its engaged position, distal movement of the firing member 220 can move the articulation driver 360 distally and, correspondingly, proximal movement of the firing member 220 can move the proximal articulation driver 230 proximally. When the locking sleeve 402 is in its disengaged position, the motion of the firing member 220 is not transferred to the proximal articulation driver 230 and, therefore, the firing member 220 may move independently of the proximal articulation driver 230. In various circumstances, the proximal articulation driver 230 may be held in place by the articulation lock 350 when the firing member 220 is not moving the proximal articulation driver 230 in the proximal or distal direction.

As can be further seen in fig. 4, the locking sleeve 402 may comprise a cylindrical or at least substantially cylindrical body including a longitudinal aperture 403 defined therein configured to receive the firing member 220. The locking sleeve 402 may include diametrically opposed, inwardly facing locking projections 404 and outwardly facing locking members 406. The lock protrusion 404 can be configured to selectively engage with the firing member 220. More specifically, when the locking sleeve 402 is in its engaged position, the locking protrusion 404 is positioned within the drive notch 224 defined in the firing member 220 such that a distal pushing force and/or a proximal pushing force can be transmitted from the firing member 220 to the locking sleeve 402. When the locking sleeve 402 is in its engaged position, the second locking member 406 is received within a drive notch 232 defined in the proximal articulation driver 230 such that a distal pushing force and/or a proximal pulling force applied to the locking sleeve 402 may be transmitted to the proximal articulation driver 230. In fact, when the locking sleeve 402 is in its engaged position, the firing member 220, the locking sleeve 402, and the proximal articulation driver 230 will move together. On the other hand, when the locking sleeve 402 is in its disengaged position, the locking protrusion 404 may not be positioned within the drive notch 224 of the firing member 220; and, as such, the distal thrust and/or proximal thrust may not be transmitted from the firing member 220 to the locking sleeve 402. Accordingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal articulation driver 230. In such circumstances, the firing member 220 can slide proximally and/or distally relative to the locking sleeve 402 and the proximal articulation driver 230.

As can also be seen in fig. 4, the elongate shaft assembly 200 can further include a switch drum 500 rotatably received on the closure sleeve 260. The switching drum 500 includes a hollow shaft segment 502 having a shaft boss 504 formed thereon for receiving the outwardly projecting actuating pin 410 therein. In various circumstances, the actuation pin 410 extends through the slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when engaged with the proximal articulation driver 230. The rotational torsion spring 420 is configured to engage the shaft boss 504 on the switch drum 500 and a portion of the nozzle housing 203 to apply a biasing force to the switch drum 500. Referring to fig. 5 and 6, the switch drum 500 can further include at least partially circumferential openings 506 defined therein, which can be configured to receive a circumferential mount extending from the nozzle portions 202,203 and allow relative rotation, but not translation, between the switch drum 500 and the proximal nozzle 201. The mount also extends through an opening 266 in the closure sleeve 260 to be seated in a recess in the shaft ridge 210. However, rotation of the nozzle 201 to the point where the mount reaches the end of its corresponding slot 506 in the switch drum 500 will result in rotation of the switch drum 500 about the shaft axis SA-SA. Rotation of the switch drum 500 will ultimately result in rotation of the actuation pin 410 and locking sleeve 402 between their engaged and disengaged positions. Thus, in essence, nozzle 201 may be used to operatively engage and disengage an articulation drive system from a firing drive system in a variety of ways as described in more detail in U.S. patent application serial No. 13/803,086 (now U.S. patent application publication 2014/0263541).

As also shown in fig. 3-4, elongate shaft assembly 200 can include a slip ring assembly 600, which can be configured to conduct electrical power to and/or from end effector 300, and/or transmit and/or receive signals to and/or from surgical end effector 300, for example. The slip ring assembly 600 may include a proximal connector flange 604 mounted to a base flange 242 extending from the base 240 and a distal connector flange 601 positioned within a slot defined in the shaft housings 202, 203. The proximal connector flange 604 may comprise a first face and the distal connector flange 601 may comprise a second face, wherein the second face is positioned adjacent to the first face and is movable relative to the first face. The distal connector flange 601 is rotatable relative to the proximal connector flange 604 about the shaft axis SA-SA. The proximal connector flange 604 may include a plurality of concentric or at least substantially concentric conductors 602 defined in a first face thereof. The connector 607 may be mounted on the proximal face of the distal connector flange 601 and may have a plurality of contacts (not shown) each corresponding to and in electrical contact with one of the conductors 602. This configuration allows relative rotation between the proximal connector flange 604 and the distal connector flange 601 while maintaining electrical contact therebetween. For example, the proximal connector flange 604 may include an electrical connector 606 that may place the conductor 602 in signal communication with a shaft circuit board 610 mounted to the shaft base 240. In at least one instance, a wire harness including a plurality of conductors can extend between the electrical connector 606 and the shaft circuit board 610. The electrical connector 606 may extend proximally through a connector opening 243 defined in the base mounting flange 242. See fig. 7. U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thickingsenser SYSTEM," filed on 13/3/2013, and now U.S. patent application publication 2014/0263552 is incorporated by reference herein in its entirety. U.S. patent application serial No. 13/800,025 entitled "STAPLE CARTRIDGE TISSUE thickingsenser SYSTEM," filed on 13/3/2013, and now U.S. patent application publication 2014/0263551 is incorporated by reference herein in its entirety. Further details regarding slip ring assembly 600 may be found in U.S. patent application serial No. 13/803,086, now U.S. patent application publication 2014/0263541.

As discussed above, the elongate shaft assembly 200 can include a proximal portion that can be fixedly mounted to the handle 14, and a distal portion that can be rotated about the longitudinal shaft axis SA-SA. The rotatable distal shaft section may be rotated relative to the proximal section about the slip ring assembly 600 as described above. The distal connector flange 601 of the slip ring assembly 600 may be positioned within the rotatable distal shaft portion. Also, in addition to the above, the switch drum 500 may be positioned within a rotatable distal shaft portion. When the rotatable distal shaft portion is rotated, the distal connector flange 601 and the switch drum 500 may be rotated in synchronization with each other. Additionally, the switch drum 500 is rotatable relative to the distal connector flange 601 between a first position and a second position. When the switch drum 500 is in its first position, the articulation drive system (i.e., the proximal articulation driver 230) may be operably disengaged from the firing drive system, and thus, operation of the firing drive system may not articulate the end effector 300 of the shaft assembly 200. When the switch drum 500 is in its second position, the articulation drive system (i.e., the proximal articulation driver 230) can be operably engaged with the firing drive system such that operation of the firing drive system can articulate the end effector 300 of the shaft assembly 200. When the switch drum 500 moves between its first position and its second position, the switch drum 5500 moves relative to the distal connector flange 601. In various instances, the shaft assembly 200 can include at least one sensor configured to detect the position of the switch drum 500.

Referring again to fig. 4, the closure sleeve assembly 260 includes a double pivot closure sleeve assembly 271. According to various forms, the dual pivot closure sleeve assembly 271 includes an end effector closure sleeve 272 having distally projecting upper and lower tangs 273, 274. The upper double pivot link 277 includes upwardly projecting distal and proximal pivot pins that engage upper distal pin holes in the upper proximally projecting tang 273 and upper proximal pin holes in the upper distally projecting tang 264, respectively, on the closure sleeve 260. The lower double pivot link 278 includes upwardly projecting distal and proximal pivot pins that engage respectively a lower distal pin hole in the proximally projecting inferior tang 274 and a lower proximal pin hole in the distally projecting inferior tang 265. See also fig. 6.

Fig. 5-8 illustrate one form of a surgical end effector 300 configured to be operably attached to an elongate shaft assembly of a surgical instrument of the type described above or other surgical instrument configuration that includes a closure system configured to generate a control action for axially moving a closure member configured to apply closing and opening motions to portions of the surgical end effector. In the example shown, the surgical end effector is configured to articulate relative to the proximal portion of the elongate shaft assembly about an articulation joint, generally designated 339, as will be discussed in further detail below. However, other configurations may not be capable of articulation. As can be seen in fig. 6, the articulation joint 339 defines an articulation axis B-B about which the surgical end effector 300 may be selectively articulated. In the example shown, the articulation axis B-B is substantially transverse to the shaft axis SA-SA of the elongate shaft assembly.

The illustrated surgical end effector 300 includes a first jaw 308 and a second jaw 309 that is selectively movable relative to the first jaw 308 between an open position (fig. 7) and various closed positions (fig. 8). In the illustrated embodiment, the first jaw 308 includes an elongate channel 302 configured to operably support a surgical staple cartridge 304 therein, and the second jaw 309 includes an anvil 310. However, other surgical jaw configurations may be employed without departing from the spirit and scope of the present invention. As can be seen in fig. 5, a support tray 305 may be attached to the surgical staple cartridge 304 to provide additional support thereto to also prevent staple drivers (not shown) supported in staple pockets 306 formed in the surgical staple cartridge 304 from falling out of the surgical staple cartridge prior to use. As can be seen in fig. 5, the elongate channel 302 has a proximal end portion 320 that includes two upstanding lateral walls 322. The anvil 310 includes an anvil body 312 having a staple forming bottom surface 313 formed thereon. The proximal end 314 of the anvil body is bifurcated by a firing member slot 315, thereby defining a pair of anvil attachment arms 316. Each anvil attachment arm 316 includes a sloped upper surface 321 and includes a laterally projecting anvil trunnion 317 and a cam slot 318 defining a cam surface or "slotted cam surface" 319. See fig. 5. One of the cam slots 318 may be referred to herein as a "first cam slot" and its cam surface is referred to as a "first cam surface". Similarly, the other cam slot 318 may be referred to as a "second cam slot" with its cam surface referred to herein as a "second cam surface". A trunnion aperture 324 is provided in each lateral wall 322 of the elongate channel 302 for receiving a corresponding one of the anvil trunnions 317 therein. Such a configuration serves to movably attach the anvil 310 to the elongate channel 302 for selective pivotal travel about an anvil axis A-A defined by the ear canal aperture 324 and transverse to the shaft axis SA-SA. See fig. 6.

In the illustrated construction, the anvil 310 is pivotally moved to the open position relative to the elongate channel 302 and the surgical staple cartridge 304 supported therein by a pair of open cams 354 which may be removably supported in, or removably attached to, or permanently attached to, or otherwise integrally formed in, the anvil actuator member. In the illustrated embodiment, the anvil actuator member comprises an end effector closure sleeve 272. See fig. 5. Each opening cam 354 includes an outer body portion 356 having a cam tab 358 projecting inwardly therefrom. In at least one configuration, the outer body portion 356 is configured to snap into a removable engagement within a corresponding cam hole 355 formed in the end effector closure sleeve 272. For example, the outer body portion 356 may include a truncated-angle stop portion 357 that is configured to snappingly engage a corresponding portion of an end effector closure sleeve wall defining the cam hole 355. Another portion of the outer body portion 356 may have a dogleg feature 359 formed thereon that is configured to be received within a portion of the end effector closure sleeve 272 adjacent the cam hole 355. Other snap tab configurations may also be employed to removably attach the outer body portion 356 to the end effector closure sleeve 272. In other configurations, for example, the outer body portion may not be configured to snap into engagement with the end effector closure sleeve 272. In such a configuration, the outer body portion may be held in place by an annular crimp ring that extends around the outer circumference of the end effector closure sleeve over the entire outer body portion of the opening cam and is crimped in place. The crimp ring is used to clamp the outer body portion against the outer surface of the end effector closure sleeve. To provide a relatively smooth or uninterrupted outer surface to the end effector closure sleeve (which may advantageously avoid damage to adjacent tissue and/or collection of tissue/fluid between such components, etc.), the crimp ring may actually be crimped into an annular recess formed in the end effector closure sleeve.

When the split cam 350 is installed in the end effector closure sleeve 272, each cam tab 358 extends through the elongate slot 326 in the corresponding lateral wall 322 of the elongate channel 302 that is received in the corresponding cam slot 318 in the anvil 310. See fig. 6. In such a configuration, the split cams 350 are diametrically opposed to one another in the end effector closure sleeve. In use, the closure sleeve 260 is translated distally (direction DD) to close the anvil 310, for example, in response to actuation of the closure trigger 32. As the closure sleeve 260 translates in the distal direction DD, the anvil 310 closes, bringing the distal end 275 of the end effector closure sleeve 272 into contact with the closure lip 311 on the anvil body 312. Specifically, as the closure sleeve 260 is moved distally to begin pivoting the anvil 310 to the closed position, the distal end 275 of the end effector closure sleeve 272 rides on the upper surface 321 of the anvil attachment arm 316. For example, in one configuration, closure of the anvil 310 is caused entirely by contact of the end effector closure sleeve 272 with the anvil 310, rather than by the interaction of a split cam with the anvil. However, in other configurations, the opening cams may be arranged to also apply a closing motion to the anvil when the closure sleeve 260 is moved distally. The anvil 310 is opened by translating the closure sleeve 260 proximally in the proximal direction PD, which causes the cam tabs 358 to move in the proximal direction "PD" within the cam slots 318 on the cam surfaces 319 to pivot the anvil 310 into the open position as shown in fig. 6 and 7.

Even under load, the surgical end effector embodiment 300 employs two opening cams to effect positive opening of the end effector jaws. Other configurations are contemplated that use only one shedding cam or more than two shedding cams without departing from the spirit and scope of the invention. In the illustrated example, the open cams are removably attached to the end effector closure sleeve, which facilitates easy assembly or attachment of the surgical end effector components to the elongate shaft assembly, as well as easy disassembly thereof. Such configurations also enable one to use more compact or shorter articulation joint configurations, which further facilitates better manipulation of the surgical end effector within the confined space within the patient. To facilitate easy separation of those opening cams that snap into place, additional strategically placed holes may be provided in the end effector closure sleeve to enable a pry member to be inserted therethrough to pry the opening cams out of the end effector closure sleeve. In other constructions, the split cam can be integrally formed in the anvil actuator member or the end effector closure sleeve. For example, the opening cams can each include a tab that is cut or otherwise formed into the wall of the anvil actuator member or end effector closure sleeve and then bent, crimped, or permanently deformed inwardly to engage a corresponding cam surface on the second jaw. For example, the tabs may be bent inward at ninety degrees (90 °) relative to the outer wall of the end effector closure sleeve. Such a configuration avoids the need for a separate opening cam component. Other variations may employ one or more pins attached to the second jaw that are configured to straddle a corresponding cam surface on the first jaw. For example, one or more pins may be pressed into the first jaw, knurled, and then pressed and/or welded onto the first jaw. While the above-described open cam configuration has been described in the context of a surgical end effector that is configured to support a surgical staple cartridge and that includes an anvil that is configured to move relative to the surgical staple cartridge, the reader will appreciate that the open cam configuration may also be employed with other end effector configurations having jaws that are movable relative to one another.

Fig. 9 and 10 illustrate an elongate shaft assembly, generally designated 200', that utilizes many of the features of elongate shaft assembly 200 described above. In the example shown, the elongate shaft assembly 200' includes a dual articulation link configuration, indicated at 800, that employs an articulation lock 810 similar to the articulation lock 350 described above. Those components of the articulation lock 810 that are different from the articulation lock 350 and that may be required to understand the operation of the articulation lock 350 are discussed in further detail below. Additional details regarding joint motion LOCK 350 may be found in U.S. patent application serial No. 13/803,086, entitled "articular motor surgery compensation AN articular LOCK," now U.S. patent application publication 2014/0263541, the entire disclosure of which is hereby incorporated by reference. The articulation lock 810 may be configured and operable to selectively lock the surgical end effector 300 in various articulation positions. This configuration enables the surgical end effector 300 to rotate or articulate relative to the shaft closure sleeve 260 when the articulation lock 810 is in its unlocked state.

As described above, the firing member 220 can move the proximal articulation driver 230 proximally and/or distally when the proximal articulation driver 230 is operatively engaged with the firing member 220 via the clutch system 400. For example, proximal movement of the firing member 220 can move the proximal articulation driver 230 proximally, and similarly, distal movement of the firing member 220 can move the proximal articulation driver 230 distally. Movement of the proximal articulation driver 230, whether it is proximal or distal, may unlock the articulation lock 810, as described in more detail below. As can be seen in fig. 9, for example, the elongate shaft assembly 200' includes a shaft frame 812 that is somewhat coextensive with the first distal articulation driver 820. A first distal articulation driver 820 is supported within the elongate shaft assembly 200' for selective longitudinal travel in the distal direction DD and the proximal direction PD in response to corresponding articulation control motions applied thereto. The shaft frame 812 includes a distal end portion 814 having a downwardly projecting pivot pin (not shown) thereon that is adapted to be pivotally received within a pivot hole 328 formed in the proximal end portion 320 of the elongate channel 302. See, for example, a similar configuration as shown in fig. 5. This configuration facilitates pivotal travel of the elongate channel 302 of the surgical end effector 300 relative to the shaft frame 812 about an articulation axis B-B defined by the pivot hole 328. As described above, the articulation axis B-B is transverse to the shaft axis SA-SA defined by the elongate shaft assembly 200'.

Referring again to fig. 9, the first distal articulation driver 820 may comprise a first or distal locking lumen 822 and a second or proximal locking lumen 824, wherein the first and second locking lumens 822, 824 may be separated by an intermediate frame member 825. The articulation lock 810 can further include at least one first locking element 826 at least partially positioned within the first locking cavity 822, which can be configured to inhibit or prevent proximal movement of the first distal articulation driver 820. In the embodiment shown in fig. 9, for example, there are three first locking elements 826 positioned within the first locking cavity 822 that may all act in a similar, parallel manner and may cooperatively act as a single locking element. Other embodiments are contemplated in which more or less than three first locking elements 826 may be utilized. Similarly, the articulation lock 810 can further include at least one second lock element 828 positioned at least partially within the second lock cavity 824, which can be configured to inhibit or prevent distal movement of the first distal articulation driver 820. For the particular embodiment shown in fig. 9, there are three second lock elements 828 positioned within the second lock cavity 824 that may all act in a similar, parallel manner and may cooperatively act as a single lock element. Other embodiments are contemplated in which more or less than three second locking elements 828 may be utilized.

In addition to the above, referring primarily to fig. 9, each first locking element 826 is slidably supported on the frame rail 830 and includes a locking tang 827. Each first locking element 826 has a locking aperture (not shown) therein for receiving a frame rail 830 therethrough. The locking tang 827 may be disposed within the first locking cavity 822 and the locking aperture may be slidably engaged with the frame rail 830 mounted to the shaft frame 812. First locking element 826 is not oriented in a perpendicular arrangement with frame rail 830; instead, the first locking element 826 is arranged and aligned at a non-perpendicular angle relative to the frame rail 830 such that an edge or sidewall of the locking aperture engages the frame rail 830. Further, the interaction between the sidewalls of the lock aperture and the frame rail 830 may create a resistive or frictional force therebetween that may inhibit relative movement between the first lock element 826 and the frame rail 830, and thus resist a proximal pushing force P applied to the first distal articulation driver 820. In other words, the first locking element 826 can prevent, or at least partially inhibit, the surgical end effector 300 from rotating in the direction indicated by arrow 821. If torque is applied to the end effector 300 in the direction of arrow 821, proximal thrust force P will be transmitted to the distal articulation driver 820. The proximal pushing force P will only serve to support the locking engagement between the first locking element 826 and the frame rail 830. More specifically, a proximal pushing force P may be transmitted to tang 827 of first locking element 826, which may cause first locking element 826 to rotate and reduce an angle defined between first locking element 826 and frame rail 830, and thus enhance a snap force between a sidewall of the locking aperture and frame rail 830. Finally, the first locking element 826 may lock the motion of the first distal articulation driver 820 in one direction.

To release the first locking element 826 and allow the surgical end effector 300 to rotate in the direction indicated by arrow 821, the proximal articulation driver 230 can be pulled proximally to straighten, or at least substantially straighten, the first locking element 826 into a perpendicular, or at least substantially perpendicular, position. In this position, the biting or resistance between the side walls of the locking aperture and the frame rail 830 may be sufficiently reduced or eliminated such that the first distal articulation driver 820 may be moved proximally. To straighten first locking element 826, proximal articulation drive 230 may be pulled proximally such that distal arm 233 of proximal articulation drive 230 contacts first locking element 826, thereby pulling and rotating first locking element 826 to its straightened position. In various circumstances, the proximal articulation driver 230 can continue to be pulled proximally until the proximal arm 235 extending therefrom contacts or abuts the proximal drive wall 832 of the first distal articulation driver 820 and pulls the distal articulation driver 820 proximally to articulate the surgical end effector 300. In essence, proximal pulling forces may be applied from the proximal articulation driver 230 to the distal articulation driver 820 through the interaction between the proximal arms 235 and the proximal drive wall 832, wherein such pulling forces may be transmitted through the first distal drive member 820 to the end effector 300, as will be described below, to articulate the end effector 300 in the direction indicated by arrow 821. After the surgical end effector 300 has been properly articulated in the direction of arrow 821, in various circumstances, the first distal articulation driver 820 can be released to allow the articulation lock 810 to re-lock the first distal articulation driver 820 and the surgical end effector 300 in place.

Meanwhile, referring again to fig. 9, the second locking element 828 may remain in the tilted position when the first locking element 826 is locked and unlocked as described above. The reader will appreciate that although the second lockout element 828 is disposed and aligned in an angular position relative to the shaft guide 830, the second lockout element 828 is not configured to impede, or at least substantially impede, proximal movement of the first distal articulation driver 820. When the first distal articulation driver 820 and articulation lock 810 slide proximally as described above, in various circumstances, the second lock element 828 may slide distally along the frame rail 830 without changing, or at least substantially changing, its angular alignment relative to the frame rail 830. While the second lockout element 828 allows proximal movement of the first distal articulation driver 820 and articulation lock 810, the second lockout element 828 is configured to selectively prevent or at least inhibit distal movement of the first distal articulation driver 820, as discussed in more detail below.

Each second locking element 828 may include a locking aperture (not shown) and a locking tang 829. The locking tangs 829 may be disposed within the second locking cavity 824 and the locking aperture may be slidably engaged with the frame rail 830 mounted to the shaft frame 812. The frame rail 830 extends through an aperture in the second lock member 828. The second locking element 828 is not oriented in a perpendicular arrangement to the frame rail 830; in contrast, the second locking element 828 is disposed and aligned at a non-perpendicular angle relative to the frame rail 830 such that the edges or sidewalls of the locking aperture engage the frame rail 830. Further, the interaction between the sidewalls of the lock apertures and the frame rail 830 can create a resistance or friction force therebetween, which can inhibit relative movement between the second lock element 828 and the frame rail 830, thereby resisting the distal force D applied to the first distal articulation driver 820. In other words, the second lockout element 828 may prevent, or at least partially inhibit, rotation of the surgical end effector 300 in the direction indicated by arrow 823. If torque is applied to the end effector 300 in the direction of arrow 823, a distal pulling force D will be transmitted to the first distal articulation driver 820. The distal pulling force D will only serve to support the locking engagement between the second locking element 828 and the frame rail 830. More specifically, the distal pulling force D may be transmitted to the tang 829 of the second locking element 828, which may cause the second locking element 828 to rotate and reduce the angle defined between the second locking element 828 and the frame rail 830, thereby enhancing the biting force between the sidewalls of the locking aperture and the frame rail 830. Finally, the second locking element 828 may lock the motion of the first distal articulation driver 820 in one direction.

To release the second lock element 828 and allow the surgical end effector 300 to articulate in the direction indicated by arrow 823, the proximal articulation drive 230 can be pushed distally to straighten, or at least substantially straighten, the second lock element 828 to a perpendicular, or at least substantially perpendicular, position. In this position, the biting or resistance between the side walls of the locking aperture and the frame rail 830 may be sufficiently reduced or eliminated such that the first distal articulation driver 820 may be moved distally. To straighten the second lock element 828, the proximal articulation driver 230 can be pushed distally such that the proximal arms 235 of the proximal articulation driver 230 contact the second lock element 828, thereby pushing and rotating the second lock element 828 to its straightened position. In various circumstances, the proximal articulation driver 230 can continue to be pushed distally until the distal arm 233 extending therefrom contacts or abuts the distal drive wall 833 of the first distal articulation driver 820 and pushes the first distal articulation driver 820 distally to articulate the surgical end effector 300. In essence, a distal pushing force may be applied from the proximal articulation driver 230 to the first distal articulation driver 820 through the interaction between the distal arm 233 and the distal drive wall 833, where such pushing force may be transmitted through the first distal articulation driver 820 to articulate the end effector 300 in the direction indicated by arrow 823. After the surgical end effector 300 has been properly articulated in the direction of arrow 823, in various circumstances, the first distal articulation driver 820 may be released to allow the articulation lock 810 to re-lock the first distal articulation driver 820 and the surgical end effector 300 in place.

Meanwhile, the first locking element 826 may remain in the tilted position when the second locking element 828 is locked and unlocked as described above. The reader will appreciate that although the first lock element 826 is arranged and aligned in an angular position relative to the shaft guide 830, the first lock element 826 is not configured to impede, or at least substantially impede, the distal movement of the first distal articulation driver 820. When the first distal articulation driver 820 and articulation lock 810 slide distally as described above, in various circumstances, the first locking element 826 may slide distally along the frame rail 830 without changing, or at least substantially changing, its angular alignment relative to the frame rail 830. When the first locking element 826 allows distal movement of the first distal articulation driver 820 and articulation lock 810, the first locking element 826 is configured to selectively prevent or at least inhibit proximal movement of the first distal articulation driver 820, as discussed above.

In accordance with the above, the articulation lock 810 in the locked state is configured to resist proximal and distal movement of the first distal articulation driver 820. In terms of resistance, the articulation lock 810 is configured to prevent, or at least substantially prevent, proximal and distal movement of the first distal articulation driver 820. In general, when the first lock element 826 is in its locked orientation, proximal motion of the first distal articulation driver 820 is resisted by the first lock element 826, and when the second lock element 828 is in its locked orientation, distal motion of the first distal articulation driver 820 is resisted by the second lock element 828, as described above. In other words, the first locking element 826 comprises a first one-way lock and the second locking element 828 comprises a second one-way lock that locks in the opposite direction.

Discussed in connection with the exemplary embodiment shown in fig. 9 and 10, initial proximal movement of the proximal articulation driver 230 may unlock the proximal movement of the first distal articulation driver 820 and articulation lock 810, while further proximal movement of the proximal articulation driver 230 may drive the first distal articulation driver 820 and articulation lock 810 proximally. Similarly, an initial distal movement of the proximal articulation driver 230 may unlock the distal movement of the first distal articulation driver 820 and articulation lock 810, while a further distal movement of the proximal articulation driver 230 may drive the first distal articulation driver 820 and articulation lock 810 distally. This general concept is discussed in connection with a number of other exemplary embodiments disclosed below. In light of the discussion provided above, such discussion is not repeated for the sake of brevity, given that it is repetitive or generally cumulative.

Still referring to fig. 9 and 10, the dual articulation link configuration 800 is configured to establish a "push/pull" configuration when an articulation force is applied thereto by the first distal articulation driver 820. As can be seen in these figures, the first distal articulation driver 820 has a first drive rack 842 formed therein. A first articulation rod 844 projects distally of the first distal articulation driver 820 and is attached to a first movable coupler 850, which is attached to the first distal articulation driver 820 by a first ball joint 852. The first coupler 850 may also be pivotally pinned to the proximal end portion 320 of the elongate channel 302 by a first pin 854, as can be seen in fig. 9. The dual articulation linkage configuration 800 also includes a second distal articulation driver 860 having a second drive rack 862 formed therein. A second distal articulation driver 860 is movably supported within the elongate shaft assembly 200' for longitudinal travel in the distal direction DD and the proximal direction PD. The second articulation rod 864 distally protrudes the second distal articulation driver 860 and is attached to a second movable coupler 870 that is attached to the second distal articulation driver 860 by a second spherical joint 872. The second coupler 870 may also be pivotally pinned to the proximal end portion 320 of the elongate channel 302 by a second pin 874, as can be seen in fig. 9. As can be seen in fig. 9, the first coupler 850 is attached to the elongate channel 302 on one lateral side of the shaft axis SA, and the second coupler 870 is attached to the elongate channel 302 on the opposite lateral side of the shaft axis. Thus, by simultaneously pulling on one of the couplers 850,870 and pushing on the other of the couplers 850,870, the surgical end effector 300 will articulate about articulation axis B-B relative to the elongate shaft assembly 200'. In the illustrated construction, while the coupler 850,870 (which facilitate relative movement between the first and second distal articulation drivers 820,860, respectively, and the elongate channel 302) is made of relatively rigid components, other constructions may use a relatively "flexible" coupler construction. For example, cables or the like may extend through one or both of the distal articulation driver 820,860, the coupler 850,870, and the ball joint 852,872 to couple to the elongate channel to facilitate the transmission of articulation motions thereto.

As can also be seen in fig. 9 and 10, a proximal pinion gear 880 and a distal pinion gear 882 are centrally disposed between and in meshing engagement with the first drive rack 842 and the second drive rack 862. In alternative embodiments, only one pinion gear or more than two pinion gears may be used. Therefore, at least one pinion gear is employed. A proximal pinion gear 880 and a distal pinion gear 882 are rotatably supported in the shaft frame 812 for free rotation relative thereto such that as the first distal articulation driver 820 is moved in the distal direction DD, the pinion gear 870,872 serves to drive the second distal articulation driver 860 in the proximal direction PD. Similarly, when the first distal articulation driver 820 is pulled in the proximal direction PD, the pinion gear 880,882 drives the second distal articulation driver 860 in the distal direction DD. Thus, to articulate the end effector 300 about articulation axis B-B in the direction of arrow 821, the articulation driver 230 is operably engaged with the firing member 220 via the clutch system 400 such that the firing member 220 moves or pulls the proximal articulation driver 230 in the proximal direction PD. Movement of the proximal articulation driver 230 in the proximal direction also moves the first distal articulation driver 820 in the proximal direction. When the first distal articulation driver 820 is moved in the proximal direction, the pinion gear 880,882 is used to drive the second distal articulation driver 860 in the distal direction DD. This movement of the first and second distal articulation drivers 820, 860 causes the surgical end effector 300, and more specifically the elongate channel 302 of the surgical end effector 300, to pivot about the articulation axis B-B in the articulation direction of arrow 821. Conversely, to articulate the end effector 300 in the direction of arrow 823, the firing member 220 is actuated to push the first distal articulation driver 820 in the distal direction DD. Pinion gear 880,882 is used to drive second distal articulation driver 860 in the proximal direction PD when first distal articulation driver 820 is moved in the distal direction. This movement of the first and second distal articulation drivers 820, 860 causes the surgical end effector 300, and more specifically the elongate channel 302 of the surgical end effector 300, to pivot about the articulation axis B-B in the articulation direction of arrow 823.

The dual solid link articulation configuration 800 and variations thereof can provide a greater range of articulation for the surgical end effector than other articulatable surgical end effector configurations. In particular, the solid link articulation configurations disclosed herein may facilitate articulation ranges in excess of the 45-50 range, with 45-50 being the range typically achieved by other articulatable end effector configurations. The use of at least one pinion gear to interface between the distal articulation drivers enables the end effector to be "pushed" and "pulled" into position, which may also reduce the amount of "tilt," or undesirable or accidental movement of the end effector during use. The dual solid link articulation configurations disclosed herein also include articulation systems having improved strength characteristics compared to other articulation system configurations.

As briefly described above, the intermediate firing shaft portion 222 is configured to operably interface with the distal cutting or firing beam 280. The distal firing beam 280 may comprise a laminate structure. Such a configuration can enable sufficient bending of the distal firing beam 280 as the surgical end effector 300 is articulated about the articulation axis B-B. The distal firing beam 280 is supported for axial movement within the shaft assembly 200' and is slidably supported by two upstanding lateral support walls 330 formed on the proximal end of the elongate channel 302. Referring to fig. 11, the distal firing beam 280 is attached to a firing member 900 that includes a vertically extending firing member body 902 having a tissue cutting surface or blade 904 thereon. In addition, a wedge sled 910 can be mounted within the surgical staple cartridge 304 to drive contact with the firing member 900. As the firing member 900 is driven distally through the cartridge body 304, the wedge surface 912 on the wedge sled 910 contacts the staple drivers, thereby actuating the upwardly supported drivers and surgical staples in the surgical staple cartridge 304.

End effectors that employ a firing beam or firing member and that are capable of articulation in a range of, for example, forty-five degrees may present a number of challenges to overcome. To facilitate operable articulation of such end effectors, the firing member or firing beam must be sufficiently flexible to accommodate such range of articulation. However, the firing beam or firing member must also avoid bending when encountering a compressive firing load. To provide additional support to the firing beam or firing member, various "support" or "blow out" plate arrangements have been developed. Several such configurations are disclosed in U.S. patent 6,964,363 entitled "SURGICAL STAPLING INSTRUMENTS AND METHOD OF SUPPORTING A FIRING BAR" and U.S. patent 7,213,736 entitled "SURGICAL STAPLING INSTRUCTION APPARATUS AND METHOD OF TRANSACTING THE SAME AND METHOD OF SUPPORTING A FIRING BAR", the entire disclosure of each of which is incorporated herein by reference. Blow out plates that provide sufficient resistance to bending are also generally difficult to bend, which increases the force that the articulation joint system must accommodate. Other FIRING BEAM SUPPORT configurations are disclosed in U.S. patent application Ser. No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FILING BEAM SUPPORT ARRANGEMENTS," the entire disclosure of which is hereby incorporated by reference herein.

Referring to fig. 11-15, the elongate shaft assembly 200' further includes a multi-support link assembly 920 for providing lateral support to the distal firing beam 280 as the surgical end effector 300 is articulated about the articulation axis B-B. As can be seen in fig. 11, the multiple support link assembly 920 includes an intermediate support member 922 that is movably coupled to the surgical end effector 300 and the elongate shaft assembly 200'. For example, the intermediate support member 922 is pivotally pinned to the proximal end 320 of the elongate channel 302 such that it can pivot relative thereto about a pivot axis PA. As can be seen in fig. 11, the intermediate support member 922 includes a distally projecting tab 923 having a distal pivot hole 924 therein for receiving the upstanding support pin 332 formed on the proximal end portion 320 of the elongate channel 302. As can be further seen in fig. 11, the intermediate support member 922 also includes a proximally projecting tab 926 having an elongate proximal slot 928 therein. The proximal slot 928 is configured to slidably receive the intermediate support pin 816 formed on the frame portion 812. For example, such a configuration enables the intermediate support member 922 to pivot and move axially relative to the elongate shaft assembly 200'. As seen in fig. 11-13, the intermediate support member 922 also includes a centrally disposed slot 930 for movably receiving the distal firing beam 280 therethrough.

Still referring to fig. 11-15, the multiple support link assembly 920 further includes a proximal support link 940 and a distal support link 950. The proximal support link 940 includes an elongated proximal body 942 having a rounded proximal nose portion 943 and a rounded distal nose portion 944. The proximal support link 940 also includes a pair of downwardly projecting opposing proximal support walls 945,946 defining a proximal slot 947 therebetween. Similarly, the distal support link 950 includes an elongate distal body 952 having a rounded proximal nose portion 953 and a rounded distal nose portion 954. The distal support link 950 further includes a pair of downwardly projecting opposing distal support walls 955,956 defining a distal slot 957 therebetween. As can be seen in fig. 14, the flexible distal firing beam 280 is configured to extend between the proximal support wall 945,946 of the proximal support link 940 and the distal support walls 955,956 of the distal support link 950. Proximal support wall 945 includes an inwardly facing proximal arcuate surface 948, and proximal support wall 946 includes an inwardly facing proximal arcuate support surface 949 that is opposite the inwardly facing proximal arcuate surface 948. The proximal arcuate support surface 948,949 functions to provide lateral support to a proximal portion of the flexible distal firing beam 280 as the portion flexes and traverses the articulation joint as the portion laterally moves during articulation of the end effector. Depending on the direction of articulation, the radiused surface may match the outer radius of the distal end firing beam 280. Similarly, distal support wall 955 includes an inwardly facing distal arcuate surface 958, and distal support wall 956 includes an inwardly facing distal arcuate support surface 959 opposite said distal arcuate surface 958. The distal arcuate support surface 958,959 functions to provide lateral support to the lateral side portion of the distal firing beam 280 as it flexes and traverses the articulation joint during articulation of the surgical end effector 300. Depending on the direction of articulation, the distal arcuate surface 958,959 may match the outer radius of the distal firing beam 280. As can be seen in fig. 12 and 13, the distal end 217 of the shaft ridge 210 includes a distally facing arcuate ridge recess 218 into which extends a rounded proximal nose portion 943 of the proximal support link 940. The rounded distal nose portion 944 of the proximal support link 940 is pivotally received in an arcuate proximal recess 932 in the medial support member 922. In addition, a rounded proximal nose portion 953 of the distal support link is received in an arcuate distal support member pocket 934 in the distal end of the intermediate support member 922. The rounded distal nose portion 954 of the distal support link 950 is movably received within the V-shaped channel cavity 334 in the upstanding lateral support wall 330 formed on the proximal end 320 of the elongate channel 302.

The multi-support linkage assembly may provide higher lateral support for the flexible firing beam laminate as the beam bends over higher articulation angles. Such a configuration also prevents the firing beam from buckling under high firing loads and at relatively high articulation angles. The elongated support link connected with the intermediate support member provides improved lateral support of the firing beam across the entire articulation region when compared to many prior art support configurations. In alternative configurations, the support link may be configured to physically interlock with the intermediate support member at various articulation angles. The U-shaped support link facilitates easy installation and serves to provide support to the flexible support beam on each lateral side as well as the top of the firing beam to prevent the firing beam from bending upward while articulating during firing.

In those embodiments where the firing member includes a tissue cutting surface, it may be desirable for the elongate shaft assembly to be configured in such a manner that: accidental advancement of the firing member is prevented unless the unspent staple cartridge is properly supported in the elongate channel 302 of the surgical end effector 300. For example, if a staple cartridge were not present at all and the firing member was advanced distally through the end effector, the tissue would be severed, but not stapled. Similarly, if there is a spent staple cartridge in the end effector (i.e., a staple cartridge from which at least some staples have been fired) and the firing member is advanced, the tissue will be severed, but may not be fully stapled. It will be appreciated that this situation may lead to undesirable catastrophic results during the surgical procedure. U.S. patent 6,988,649 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT," U.S. patent 7,044,352 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISM FOR PREVENTION OF FIRING," and U.S. patent 7,380,695 entitled "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCUT MECHANISM FOR PREVENTION OF FIRING," each OF which is hereby incorporated by reference herein, each disclose various FIRING member LOCKOUT configurations.

Such a lockout configuration may be effectively used with a variety of surgical stapling instruments. However, these configurations may not be particularly well suited for use in connection with the various surgical stapling instruments disclosed herein that employ relatively compact and short articulation joint configurations. For example, fig. 15-19 illustrate a surgical end effector 300 operably attached to an elongate shaft assembly 200 'via an articulation joint 270'. The elongate shaft assembly 200' defines a shaft axis SA-SA, and the articulation joint 270' facilitates selective articulation of the surgical end effector 300 relative to the elongate shaft assembly 200' about an articulation axis B-B that is transverse to the shaft axis SA-SA. In the illustrated embodiment, a dual solid link articulation configuration 800 (described above) may be employed to selectively apply articulation motions to the surgical end effector 300. The elongate shaft assembly 200' includes a distal firing beam 280 of the type described above that is selectively axially movable from a starting position to an ending position within the surgical end effector 300 when a firing motion is applied. The distal firing beam 280 extends through the articulation joint 270' and is configured to bend about an articulation axis B-B to accommodate articulation of the surgical end effector 300 in the various manners described herein. In the illustrated embodiment, the articulation joint 270' includes a middle support member 922 that is movably attached to the distal end 814 of the shaft frame 812 and the proximal end 320 of the elongate channel 302. As described above, the intermediate support member 922 includes a distally projecting tab 923 having a distal pivot hole 924 therein for receiving the upstanding support pin 332 formed on the proximal end portion 320 of the elongate channel 302. The intermediate support member 922 also includes a proximally projecting tab 926 having an elongate proximal slot 928 therein. The proximal slot 928 is configured to slidably receive the intermediate support pin 816 formed on the frame portion 812. The intermediate support member 922 also includes a centrally disposed slot 930 for axially receiving the distal firing beam 280 therethrough. The middle support member 922 provides lateral support to the distal firing beam 280 during articulation of the surgical end effector 300 about the articulation axis B-B while facilitating axial passage thereof through the distal firing beam 280 during firing.

In the illustrated embodiment, a firing beam lock assembly 980 is employed to prevent the distal firing beam 280 from being inadvertently advanced from a starting position to an ending position unless an unfired surgical staple cartridge 304 has been operably disposed in the staple cartridge support member or elongate channel 302. As can be seen in fig. 15-19, one form of firing beam lock assembly 980 includes a lock cam or detent 281 formed in the distal firing beam 280 such that the latter projects upwardly from an upper surface of the former. The biasing member 984 is supported on and attached to the intermediate support member 922. As can be seen in fig. 16, for example, the biasing member 984 is substantially planar and includes a window 985 configured to receive the lock cam 281 therein during articulation of the surgical end effector 300. Thus, the biasing member 984 does not apply any biasing force or load to the distal activation beam 280 as the surgical end effector 300 is articulated about the articulation axis B-B. This feature may avoid increasing the amount of articulation force that must be generated to articulate the surgical end effector 300 about the articulation axis B-B. The biasing member 984 may be spot welded to the intermediate support member 922 or attached thereto by other fastening methods such as by screws, pins, adhesives, etc. The window 985 may also define a locking band or portion 986 that contacts the locking cam 281 when the distal firing beam 280 is in the starting position. The lock cam 281 may be formed with a distally facing ramped surface 283 and a proximally facing ramped surface 285 to reduce the amount of firing and retraction forces required to axially move the distal firing beam 280. See fig. 19.

As described above, the distal firing beam 280 is operably attached to the firing member 900, which includes a tissue cutting surface 904 on the firing member body 902. In alternative configurations, the tissue cutting surface can be attached to or otherwise formed on or directly supported by a portion of the distal firing beam 280. In the illustrated construction, laterally extending legs 905 are formed on the bottom of the firing member body 902. The firing member body 902 also includes a wedge sled engagement member 906 that is configured to engage a wedge sled in the surgical staple cartridge 304, as will be discussed in further detail below.

FIG. 18 illustrates an "unspent" or "unfired" surgical staple cartridge 304 that has been properly installed in the elongate channel 302. As can be seen in this figure, the wedge sled 910 is positioned in an "unfired" (most proximal) position of the surgical staple cartridge 304. The wedge sled 910 includes a proximally facing sloped surface 914 that is configured to engage the wedge sled engaging member 906 on the firing member 900, thereby biasing the firing member 900 in an upward direction, represented by arrow 988, such that the bottom portion of the firing member 900 and the foot 905 are free to clear the lockout wall 307 formed by the lockout opening 303 in the bottom of the elongate channel 302. When in this position, the distal firing beam 280 and firing member 900 can be advanced distally within the elongate channel 302, that is, the surgical staple cartridge 304 mounted therein is advanced distally from the starting position shown in fig. 18 to an ending position in the surgical staple cartridge 304 where the wedge sled 910 has ejected all of the surgical staples operably supported in the surgical staple cartridge 304. In such a configuration, after the firing member 900 has been fully fired (i.e., fully advanced from its starting position to an ending position within the surgical staple cartridge 304), the firing member 900 is retracted to the starting position shown in fig. 19. Because the wedge sled 910 has been advanced distally by the firing member 900 to an end position in the staple cartridge 304, and the firing member 900 is not attached to the wedge sled 910, when the firing member 900 is retracted to the starting position, the wedge sled 910 remains at the end position within the surgical staple cartridge 304 and does not return to the starting position with the firing member 900. As such, the surgical staple cartridge 304 is said to be in a "used," "spent," or "fired" state. As can be seen in FIG. 19, when no wedge sled is in the unfired state, the bottom of the body portion 902 and the foot 905 of the firing member 900 extend into the lock opening 303 in the bottom of the elongate channel 302 due to the biasing motion applied by the lock strap 986 of the biasing member 984 to the lock cam 281 on the distal firing beam 280. When in this position, if the clinician inadvertently attempts to re-fire a spent surgical staple cartridge, the body portion 902 and/or the foot 905 will contact the wall 307 in the elongate channel 302 and will be prevented from moving from the starting position to the ending position. Thus, unless an unfired or unspent surgical staple cartridge has been properly/operably installed in the elongate channel of the surgical end effector, the firing beam lock assembly 980 prevents the distal firing beam 280, and thus the firing member 900, from advancing from the starting position to the ending position. It should also be appreciated that the firing beam lock assembly 980 also prevents advancement of the distal firing beam 280 when no staple cartridge is installed in the elongate channel 302 at all. In addition to accommodating articulation of the surgical end effector 300 about the articulation axis B-B without applying additional loads to the distal firing beam (which may result in the need to increase articulation forces to articulate the surgical end effector), once the firing beam lock assembly 980 has been advanced distally past the lock wall (whether the end effector jaws are open or closed), it does not apply additional loads on the firing member and/or the distal firing beam.

FIG. 20A illustrates another articulatable surgical end effector embodiment 300 ' that employs a firing beam lock assembly 980' that includes a biasing member 984' mounted within an end effector closure sleeve 272. As can be seen in this figure, for example, the biasing member 984' applies a biasing force to the sloped or tapered portion 283' of the distal end firing beam 280 '. The firing beam lock assembly 980' operates in the same manner as described above with respect to the firing beam lock assembly 980. More specifically, the biasing member 984' applies a biasing force to the distal firing beam 280' forcing the distal firing beam 280' and firing member to attach downwardly within the elongate channel. Unless an unspent surgical staple cartridge having a wedge sled or other staple ejector member in an unfired position has been properly installed within the elongate channel or the staple cartridge support member to operably engage the firing member or firing beam to move the firing member/firing beam out of engagement with the lockout wall, the firing member/firing beam will be prevented from being axially advanced from the starting position to the ending position.

In addition to the various differences discussed in further detail below, fig. 21-25 illustrate a portion of another elongate shaft assembly 1200 that is similar to elongate shaft assembly 200 described above. Those components of the elongate shaft assembly 1200 that have been discussed in detail above are identified with like element numbers and will not be discussed in further detail for the sake of brevity except as may be necessary to understand the operation of the shaft assembly 1200, such as for use with portions of the surgical instrument 10 as described above. As can be seen in fig. 21, the elongate shaft assembly 1200 includes an articulation lock 1810 that is substantially similar to the articulation lock 810 and operates in substantially the same manner. As can be seen in fig. 22, the elongate shaft assembly 1200 includes a shaft frame 1812 having a proximal cavity 1815 configured to movably support a proximal portion 1821 of a first distal articulation driver 1820 therein. A first distal articulation driver 1820 is movably supported within the elongate shaft assembly 1200 for selective longitudinal travel in the distal direction DD and the proximal direction PD in response to articulation control motions applied thereto. The axle frame 1812 also includes a distal end portion 1814 with a pivot pin 1818 formed thereon. The pivot pin 1818 is adapted to be pivotally received within a pivot hole (not shown) of the proximal end portion 1320 of the elongate channel 1302 of the surgical end effector 1300. This configuration facilitates pivotal travel (i.e., articulation) of the elongate channel 1302 of the surgical end effector 1300 relative to the shaft frame 1812 about an articulation axis B-B defined by the pivot hole and pin 1818. The shaft frame 1812 also includes a centrally disposed cavity 1817, and a distal notch 1819 positioned between the distal end 1814 and the centrally disposed cavity 1817.

The shaft assembly 1200 also includes a second distal articulation drive 1860 that includes an endless member 1862 rotatably journaled on a proximal pulley 1840 and a distal pulley 1340. Still referring to fig. 22, the proximal pulley 1840 is rotatably journaled on a pulley spindle 1842 that is mounted within a cavity 1817 centrally disposed within the shaft frame 1812. The distal pulley 1340 is non-rotatably supported or formed on the proximal end 1320 of the elongate channel 1302 of the surgical end effector 1300. In one form, the endless member 1862 comprises a cable made of, for example, stainless steel, tungsten, aluminum, titanium, or the like. The cable may be braided or a multi-strand structure, with a different number of strands to achieve the desired level of tensile strength and flexibility. For example, in various configurations, the cable 2382 may have a diameter in the range of 0.03 inches to 0.08 inches, and more preferably in the range of 0.05 to 0.08 inches. Preferred cables may be made, for example, from 300 series stainless steel-half hard to full hard. For example, in various configurations, the cables may also be coated, for example

Copper, etc. to improve lubricity and/or reduce stretching. A first ear 1863 is attached to one end of the cable and a second ear 1864 is attached to the other end of the cable by, for example, crimping. The cable is tensioned under force and the ends and/or ears 1863,1864 are welded, glued, mechanically secured, etc. to form the endless member 1862. The mandrel 1842 may include a cam mount that engages the proximal pulley 1840 to move the pulley 1840 proximally. Other forms of tensioning arrangements, such as belt tensioners, turnbuckle arrangements, etc., may also be used to tension the endless member 1862.

Still referring to fig. 22, the endless member 1862 is coupled to the distal end 1821 of the first distal articulation driver 1820 by a coupler assembly 1830. The coupler assembly 1830 includes an upper coupler portion 1832 formed on the distal end 1822 of the first distal articulation driver 1820 and a lower coupler portion 1834. Lower coupler portion 1834 is formed with two cradles 1835 configured to receive ears 1862,1864 therein. A pair of attachment pins 1836 are configured to be pressed into holes 1837 in the upper coupler portion 1832 to attach the two coupler portions 1832 and 1834 together. Other fastener configurations, screws, rivets, adhesives, etc. may also be used. When the endless member 1862 is journaled on the pulleys 1840 and 1340, the coupler assembly 1830 is free to move axially within the distal notch 1819 in the shaft frame 1812 in response to axial movement of the first distal articulation driver 1820. The articulation motion generated by the axial movement of the first distal articulation driver 1820 is transmitted to the second distal articulation driver 1860 or the endless member 1862. Attachment balls or ears 1866 are attached to the endless member 1862 and received in grooves or pockets 1342 formed in the distal pulley 1340. Thus, the motion of the endless member 1862 is transferred to the surgical end effector 1300, and more specifically, to the elongate channel 1302 of the surgical end effector 1300, to articulate the end effector about the articulation axis B-B. Thus, when the first distal articulation driver 1820 is moved in the distal direction DD, the endless member 1862 causes the surgical end effector 1300 to articulate about the articulation axis B-B in the articulation direction represented by arrow 823. See fig. 21. Similarly, when the first distal articulation driver 1820 is moved in the proximal direction PD, the endless member 1862 articulates the surgical end effector 1300 about the articulation axis B-B in the articulation direction represented by arrow 821. See fig. 21 and 25. As shown in fig. 21, articulation direction 823 is opposite to articulation direction 821.

In addition to various differences discussed in further detail below, fig. 26-31 illustrate portions of another elongate shaft assembly 2200 similar to elongate shaft assembly 200 described above. Those components of the elongate shaft assembly 2200 that have been discussed in detail above are identified with like element numbers and will not be discussed in further detail for the sake of brevity except as may be necessary to understand the operation of the elongate shaft assembly 2200, such as for use with portions of the surgical instrument 10 as described above. As can be seen in fig. 26, the elongate shaft assembly 2200 includes a proximal housing or nozzle 201 comprised of nozzle portions 202 and 203. The elongate shaft assembly 2200 also includes an anvil actuator member in the form of a closure sleeve 2260 that can be used to close and/or open the anvil 2310 of a surgical end effector 2300 that is operably attached thereto. As can be seen in fig. 26, the elongate shaft assembly 2200 includes a proximal ridge 2210 configured to operably interface with an articulation lock 2350. The proximal spine 2210 is configured to: first, a firing member 2220 is slidably supported therein; second, a closure sleeve 2260 extending around the proximal spine 2210 is slidably supported. The proximal spine 2210 also slidably supports a proximal articulation driver 2230. The proximal articulation driver 2230 has a distal end 2231 configured to operably engage the articulation lock 2350.

In the illustrated construction, the proximal spine 2210 includes a proximal end 2211 rotatably supported in the base 240. In one configuration, for example, the proximal end 2211 of the proximal spine 2210 has threads 2214 formed thereon for threaded attachment to a spine bearing configured to be supported within the base 240. This configuration facilitates rotatably attaching the proximal ridge 2210 to the base 240 such that the proximal ridge 2210 can be selectively rotated relative to the base 240 about the shaft axis SA-SA. As described in detail above, the proximal end of the closure sleeve 2260 is attached to a closure shuttle supported in the base. When the elongate shaft assembly 2200 is operably coupled to the handle or housing of the surgical instrument 10, operation of the closure trigger advances the closure sleeve 2260 distally.

As also described above, the elongate shaft assembly 2200 also includes a firing member 2220 that is supported for axial travel within the proximal spine 2210. The firing member 2220 includes an intermediate firing shaft portion 2222 that is configured for attachment to a distal cutting or firing beam assembly 2280. See fig. 27. The intermediate firing shaft portion 2222 can include a longitudinal slot 2223 in a distal end thereof that is configured to receive a tab on a proximal end of the distal firing beam assembly 2280. The longitudinal slot 2223 and the proximal end of the distal firing beam assembly 2280 can be sized and configured such that they allow relative movement therebetween and can include a sliding joint. The sliding joint can allow the intermediate firing shaft portion 2222 of the firing drive 2220 to be moved to articulate the end effector 300 without moving, or at least substantially moving, the distal firing beam assembly 2280. Once the surgical end effector 2300 has been properly oriented, the intermediate firing shaft portion 2222 can be advanced distally until the proximal side wall of the longitudinal slot 2223 comes into contact with the tabs in order to advance the distal firing beam assembly 2280 and fire the staple cartridge supported in the end effector 300. The proximal spine 2210 is also coupled to the distal spine 2212.

Similar to the elongate shaft assembly 200, the illustrated elongate shaft assembly 2200 includes a clutch assembly 2400 that can be configured to selectively and releasably couple the proximal articulation driver 2230 to the firing member 2220. In one form, the clutch assembly 2400 includes a lock collar or lock sleeve 2402 positioned about the firing member 2220 wherein the lock sleeve 2402 is rotatable between an engaged position in which the lock sleeve 2402 couples the proximal articulation driver 2230 to the firing member 2220 and a disengaged position in which the proximal articulation driver 2230 is not operably coupled to the firing member 2220. When the lock sleeve 2402 is in its engaged position, distal movement of the firing member 2220 can move the proximal articulation driver 2230 distally and, correspondingly, proximal movement of the firing member 2220 can move the proximal articulation driver 2230 proximally. When the lock sleeve 2402 is in its disengaged position, the motion of the firing member 2220 is not transferred to the proximal articulation driver 2230 and, therefore, the firing member 2220 can be moved independently of the proximal articulation driver 2230. In various circumstances, the proximal articulation driver 2230 can be held in place by the articulation lock 2350 when the firing member 2220 has not moved the proximal articulation driver 2230 in the proximal or distal direction.

As described above, the lock sleeve 2402 can comprise a cylindrical or at least substantially cylindrical body including a longitudinal bore 2403 defined therein configured to receive the firing member 2220. The locking sleeve 2402 may include diametrically opposed, inwardly facing locking protrusions 2404 and outwardly facing locking members 2406. The lock protrusions 2404 can be configured to selectively engage with the firing member 2220. More specifically, when the lock sleeve 2402 is in its engaged position, the lock protrusions 2404 are positioned within a drive notch 2224 defined in the firing member 2220 such that a distal pushing force and/or a proximal pushing force can be transmitted from the firing member 2220 to the lock sleeve 2402. When the lock sleeve 2402 is in its engaged position, the second lock member 2406 is received within a drive notch 2232 defined in the articulation driver 2230 such that a distal pushing force and/or a proximal pulling force applied to the lock sleeve 2402 can be transmitted to the proximal articulation driver 2230. In fact, when the lock sleeve 2402 is in its engaged position, the firing member 2220, lock sleeve 2402, and proximal articulation driver 2230 will move together. On the other hand, when the lock sleeve 2402 is in its disengaged position, the lock protrusions 2404 may not be positioned within the drive notch 2224 of the firing member 2220; and, as such, the distal pushing force and/or the proximal pushing force may not be transmitted from the firing member 2220 to the lock sleeve 2402. Accordingly, the distal pushing force and/or the proximal pulling force may not be transmitted to the proximal articulation driver 2230. In such instances, the firing member 2220 can slide proximally and/or distally relative to the lock sleeve 2402 and the proximal articulation driver 2230.

Also as described above, the elongate shaft assembly 2200 may also include a switch barrel 2500 rotatably received on a closure sleeve 2260. The switch drum 2500 includes a hollow shaft segment 2502 having a shaft boss 2504 formed thereon for receiving an outwardly projecting actuation pin 2410 therein. In various circumstances, the actuation pin 2410 extends through a slot into a longitudinal slot provided in the lock sleeve 2402 to facilitate axial movement of the lock sleeve 2402 when engaged with the articulation driver 2230. The rotational torsion spring 2420 is configured to engage the boss 2504 on the switch drum 2500 and a portion of the nozzle housing 203 to apply a biasing force to the switch drum 2500. The switch barrel 2500 may also include at least a partial peripheral opening 2506 defined therein that is configured to receive a peripheral mount extending from the nozzle halves 202, 203 and allow relative rotation, but not relative translation, between the switch barrel 2500 and the proximal nozzle 201. As described above, rotation of the switch drum 2500 will ultimately result in rotation of the actuation pin 2410 and the lock sleeve 2402 between their engaged and disengaged positions. Thus, in essence, nozzle 201 may be used to operatively engage and disengage an articulation drive system from a firing drive system in the various manners described above and in more detail in U.S. patent application serial No. 13/803,086 (now U.S. patent application publication 2014/0263541).

Referring to fig. 27, the closure sleeve assembly 2260 includes a dual pivot closure sleeve assembly 2271. According to various forms, the dual pivot closure sleeve assembly 2271 includes an end effector closure sleeve 2272 having upper and lower distally projecting tangs 2272. The upper double pivot connection 2277 includes upwardly projecting distal and proximal pivot pins that engage upper distal and proximal pin holes in the upper proximally projecting tang on the closure sleeve 2260, respectively. The lower double pivot link 2278 includes upwardly projecting distal and proximal pivot pins that engage lower distal and proximal pin holes in the proximally projecting inferior tang, respectively.

The elongate shaft assembly 2200 also includes a surgical end effector 2300 similar to the surgical end effector 300 described above. As can be seen in fig. 27, the surgical end effector 2300 comprises an elongate channel 2302 that is configured to operably support a surgical staple cartridge 2304 therein. The elongate channel 2302 has a proximal end portion 2320 that includes two upstanding lateral walls 2322. The surgical end effector 2300 also includes an anvil 2310 having an anvil body 2312 with a staple-forming bottom surface 2313 formed thereon. The proximal end 2314 of the anvil body 2312 is bifurcated by a firing member slot 2315 to form two anvil attachment arms 2316. Each anvil attachment arm 2316 includes a laterally projecting anvil trunnion 2317. A trunnion slot 2324 is provided in each lateral wall 2322 of the elongate channel 2302 for receiving a corresponding one of the anvil trunnions 2317 therein. Such a configuration serves to movably attach the anvil 2310 to the elongate channel 2302 to enable selective pivotal travel between an open position and a closed or clamped position. By advancing the closure sleeve 2260, and more particularly the end effector closure sleeve 2272 on the tapered attachment arms 2316, distally, this causes the anvil 2310 to move distally while pivoting to the closed position, whereby the anvil 2310 moves to the closed position. The end effector closure sleeve 2272 has disposed therein a horseshoe-shaped opening 2273 configured to engage the upstanding tab 2318 on the anvil 2310 of the end effector 2300. To open the anvil 2310, the closure sleeve 2260, and more specifically the end effector closure sleeve 2272, is moved in a proximal direction. As such, the central tab portion defined by the horseshoe-shaped opening 2273 cooperates with the tab 2318 on the anvil 2310 to pivot the anvil 2310 back to the open position.

Turning to fig. 26, 28, and 29, as described above, the elongate shaft assembly 2200 includes an articulation lock 2350 that is substantially similar to the articulation locks 350 and 810 described above. The components of the articulation lock 2350 that are different from the articulation lock 350 and are necessary to understand the operation of the articulation lock 350 are discussed in further detail below. As described above, the articulation lock 2350 can be configured and operable to selectively lock the end effector 2300 in place. This configuration enables the surgical end effector 2300 to rotate or articulate relative to the shaft closure sleeve 2260 when the articulation lock 2350 is in its unlocked state. When the proximal articulation driver 2230 is operatively engaged with the firing member 2220 via the clutch system 2400, in addition to the above, the firing member 2220 can move the proximal articulation driver 2230 proximally and/or distally. Movement of the proximal articulation driver 2230, whether it is proximal or distal, may unlock the articulation lock 2350, as described above. This embodiment includes a proximal lock adapter member 2360 movably supported between a proximal spine 2210 and a distal spine 2212. The proximal lock adapter 2360 includes a lock cavity 2362 for receiving a first lock element 2364 and a second lock element 2366 therein, which are journaled on frame rails 2368 extending between the proximal frame 2210 and the distal frame 2212. The articulation lock 2350 operates in the various manners described above and, for the sake of brevity, is not discussed further herein.

As can be seen in fig. 26, 28, and 29, a first distal articulation driver 2370 is attached to a proximal lock adapter 2360. The first distal articulation driver 2370 is operably attached to a second distal articulation driver 2380 that operably interfaces with the elongate channel 2302 of the end effector 2300. The second distal articulation drive 2380 includes a cable 2382 rotatably journaled on a proximal pulley 2383 and a distal pulley 2392. The distal pulley 2392 is non-rotatably supported on or integrally formed with the end effector mounting assembly 2390 and includes a detent or pocket 2396. In the example shown, the end effector mounting assembly 2390 is non-movably attached to the proximal end 2320 of the elongate channel 2302 by a spring pin 2393 that extends through an aperture in the end effector mounting assembly 2390 and an aperture 2394 in the proximal end 2320 of the elongate channel 2302. The proximal pulley 2383 is rotatably supported on the distal spine 2212. The distal end of the distal spine 2212 has a pivot pin 2213 formed thereon that is configured to be rotatably received within a pivot hole 2395 formed in the end effector mounting member 2390. This configuration facilitates pivotal travel (i.e., articulation) of the elongate channel 2302 relative to the distal spine 2212 about an articulation axis BB defined by the pivot hole 2395 and the pin 2213.

In one form, the cable 2382 can be made of, for example, stainless steel, tungsten, aluminum, titanium, and the like. The cable may be braided or a multi-strand structure, with a different number of strands to achieve the desired level of tensile strength and flexibility. For example, in various configurations, the cable 2382 may have a range of 0.03 inches to 0.08 inches, and more preferablyA diameter in the range of 0.05 to 0.08 inches. Preferred cables may be made, for example, from 300 series stainless steel-half hard to full hard. For example, in various configurations, the cables may also be coated, for example

Copper, etc. to improve lubricity and/or reduce stretching. In the example shown, the cable 2382 has a lug 2384 attached to one end thereof and a lug 2385 attached to the other end thereof by, for example, crimping. The first distal articulation driver 2370 includes a pair of spaced apart cleats 2372,2374 that are spaced apart from one another sufficiently large to receive the ears 2384,2385 therebetween. For example, the proximal cleat 2372 includes a proximal slot 2373 for receiving a portion of the cable 2382 adjacent the ear 2384, and the distal cleat 2374 includes a distal slot 2375 for receiving a corresponding portion of the cable 2382 adjacent the ear 2385. Slots 2373 and 2375 are each sized relative to ear 2384,2385 to prevent ear 2384,2385 from passing therethrough. The proximal slot 2375 is oriented at an angle compared to the distal slot 2375 so as to tightly grasp a corresponding portion of the cable 2382 therein. See fig. 30. An attachment ball or lug 2398 is attached to the annular member 2382 and is received in a detent or pocket 2396 formed in the distal pulley 2392. See fig. 31. Thus, when the first distal articulation driver 2370 is axially retracted in the proximal direction PD in the manner described above, the annular member 2382 will articulate the end effector 2300 in the direction indicated by arrow 2376 in fig. 31. Conversely, when the first distal articulation driver 2370 is axially advanced in the distal direction DD, the surgical end effector 2300 is articulated in the direction indicated by arrow 2399 in fig. 31. Additionally, the proximal and distal cleats 2372,2374 are spaced apart sufficiently to receive the ears 2384,2385 therebetween. The tensioning wedge 2378 is used as in fig. 29-32 to apply sufficient tension to the cable 2382 so that when the cable is actuated, it will apply an articulation motion to the end effector 2300. In an alternative configuration shown in fig. 35, the proximal splint 2374' is not initially attached to the first articulation driver 2370. The proximal splint 2374' is positioned to articulate distally The driver 2370 is moved to capture the ears 2384 and 2385 between the distal and proximal cleats 2372 and 2374'. The proximal jaw 2374 'is moved toward the distal jaw 2372 until sufficient tension is created in the cables 2382, and then the proximal jaw 2374' is attached to the first distal articulation driver 2370. For example, the proximal splint 2374' may be attached to the first distal articulation driver 2370 by laser welding or other suitable form of attachment means or fastener configuration.

Referring to fig. 36-39, the surgical instrument includes, for example, a central firing beam support member 2286 configured to extend through the articulation joint to provide support to a flexible firing beam assembly 2280. In one form, the central firing beam support member 2286 comprises a flexible plate member or band and includes a downwardly projecting distal attachment tab 2287 that is attached to the surgical end effector and an upwardly extending proximal end portion 2288 that is attached to the elongate shaft assembly. In at least one configuration, the distal attachment tab 2287 is attached to the end effector mounting assembly 2390 by a spring pin 2393 and the proximal end portion 2288 is pinned to the distal spine 2212 by a pin (not shown). The central firing beam support member 2286 is positioned along the centerline or shaft axis of the device and is used to provide support to the firing beam during articulation. This is different from those configurations that employ "blow out" plates or lateral support plates that are positioned on the lateral sides of the firing beam and are thus offset from the shaft axis, increasing the tensile and compressive forces to which they are subjected during articulation. In the example shown, the longitudinally movable flexible firing beam assembly 2280 comprises a laminated beam structure comprising at least two beam layers, wherein at least one beam layer is configured to pass adjacent one lateral side of the central firing beam support member and at least one other beam member is configured to pass adjacent the other lateral side of the central firing beam support member. In the example shown, two laminate layers 2282 and 2284 are configured to pass adjacent each side of the flexible tension carrying member. See, for example, fig. 35 and 36. In various embodiments, laminate layers 2282 and 2284 can comprise, for example, stainless steel bands interconnected to one another by, for example, being welded or pinned together at their proximal ends, while their respective distal ends are not connected together so as to allow the laminate or bands to splay relative to one another as the end effector is articulated. Each pair of laminate layers or bands 2282,2284 is represented as a lateral firing band assembly 2285 of the firing beam assembly 2280. Thus, as shown in fig. 36, one lateral firing band assembly 2285 is supported on each lateral side of the central articulation bar 2286 for axial travel relative thereto by a series of lateral load carrying members 2290. Each lateral load carrying member 2290 may be made of, for example, stainless steel, aluminum, titanium, liquid crystal polymer material, plastic material, nylon, Acrylonitrile Butadiene Styrene (ABS), polyethylene, etc., and formed with opposing arcuate ends 2292. Each lateral load carrying member 2290 also has an axial passageway 2294 extending therethrough to receive the assembly of the lateral firing band assembly 2285 and the central articulation bar 2286. As can be most particularly seen in fig. 38, each axial passage is defined by two opposing arcuate surfaces 2295, the two arcuate surfaces 2295 facilitating movement of the lateral load carrying member 290 on the longitudinally movable flexible firing beam assembly 2280. The lateral load carrying members 2290 are arranged in series on the lateral firing band assembly 2285 and the central articulation bar 2286 such that the opposing arcuate ends 2292 abut corresponding arcuate ends 2292 of adjacent lateral load carrying members 2290. See, for example, fig. 36 and 37.

Referring again to fig. 37, it can be seen that the proximal end portion 2288 of the central articulation bar 2286 extends downward to attach to the distal spine 2212. For example, the distal end 2287 of the firing beam assembly 2280 is attached to a firing member 2900 of the type and configuration described above. As can be seen in this figure, the firing member 2900 includes a vertically extending firing member body 2902 having a tissue cutting surface or blade 2904 thereon. Additionally, a wedge sled 2910 may be mounted within the surgical staple cartridge 2304 to drive contact with the firing member 2900. As the firing member 2900 is driven distally through the cartridge body 2304, the wedge surfaces 2912 of the wedge sled 2910 contact the staple drivers, actuating the drivers and the surgical staples supported thereon upwardly in the staple cartridge 2304. The firing beam assembly 2280 operates in the various manners described above. As the firing beam assembly 2280 advances distally about the articulation joint, the lateral load carrying member 2290 may help resist bending loads on the firing beam assembly 2280. The lateral load carrying member 2290 may also reduce the amount of force required to articulate the end effector and may also accommodate a greater articulation angle than other articulation joint configurations. The fixed central firing beam support member 2286 is used to carry the tension loads generated during articulation and firing.

As described above, the firing beam assembly includes a laminated beam structure that includes at least two beam layers. As the firing beam assembly is advanced distally (during firing), the firing beam assembly is substantially bifurcated by the central firing beam support member such that a portion of the firing beam assembly (i.e., the laminate layer) passes on both sides of the central firing beam support member.

Fig. 40-43 illustrate a portion of another firing beam assembly 2280' attached to the firing member 2900. As can be seen in those figures, the firing beam assembly 2280 comprises a laminated structure including two outer side beams or layers 2282', each having a thickness designated as "a", and four central layers 2284', each having a thickness designated as "b". For example, in at least one configuration, "a" may be about 0.005-0.008 inches, and still more preferably 0.008 inches, and "b" may be about 0.008-0.012 inches, and still more preferably 0.010 inches. However, other thicknesses may be employed. In the example shown, "a" is less than "b". In other configurations, "a" is greater than "b". For example, in an alternative configuration, the laminate may be composed of three different thicknesses "a", "b", "c", where "a" is 0.006 inches, "b" is 0.008 inches, and "c" is 0.010 inches (the thickest laminate or tape is in the center of the assembly). In various configurations, there may be an odd number of laminates or ribbons, where "c" is the single layer thickest laminate at the center.

The composition of the laminate plays a significant role because the amount of strain applied to the beam assembly is based on its thickness and distance from the bend centerline. Thicker laminates or ribbons closer to the centerline may experience the same level of strain as thinner laminates or ribbons further from the centerline, because they must bend more in view of the fact that they are stacked together. The radius of curvature on the inner side of the curve further from the centerline is larger. Given the same radius of curvature, thicker laminates or tapes tend to experience more internal stress than thinner laminates. Thus, thinner side laminates or tapes with the smallest radius of curvature may have the same likelihood of plastic deformation as thicker layers near the centerline. In other words, when the end effector is articulated in one direction, the laminate or band positioned away from the articulation direction has the largest radius of curvature and the laminate or band closest to the articulation direction has the tightest radius of curvature. However, the opposite is true when the end effector is articulated in the opposite direction. The laminates inside the laminate stack experience the same deflection, but their bend radius will always fall within the range of the outer layer laminate. Thus, to maintain flexibility, it may be desirable to position a thinner laminate on the outer layers of the stack. However, to maximize stiffness and resistance to bending, an additional benefit is provided by the thicker material inside. Alternatively, if the end effector only needs to articulate in a single direction, the laminate or band positioned away from the articulation direction will experience the largest bend radius, and the laminate or band positioned in the articulation direction will have the tightest bend radius. However, since the end effector does not articulate in the opposite direction, the reverse is no longer true, and the laminate stack need not be symmetrical. Thus, in such a configuration, it is expected that the thinnest laminate or belt will be the laminate or belt that will experience the tightest bend radius (the laminate or belt on the articulation direction side).

In other constructions, the laminate or tape may be made of different metals having different strengths and moduli. For example, the outer laminate or band may have the same thickness as the inner laminate or band, wherein the inner laminate or band is made of 300 series stainless steel and the outer laminate or band is made of titanium or nitinol.

As can also be seen in fig. 42 and 43, the distal firing beam assembly 2280' can be effectively used with the series of lateral load carrying members 2290 described above. It should be appreciated that the distal firing beam assembly 2280 may also be used in conjunction with the central articulation bar 2286 in the manner described above such that some of its layers or side beams (or bands or laminates) are advanced axially along the sides of the central articulation bar. In some embodiments, the layers advanced on each side of the central articulation rod 2286 may have the same thickness, composition, shape, and configuration. In other configurations, one or more layers passing along one side of the central articulation rod may have a different thickness and/or composition and/or shape than one or more layers passing along an opposite side of the central articulation rod in order to achieve a desired range of travel and flexibility while maintaining a desired amount of stiffness to avoid buckling during firing.

Fig. 44-46 illustrate a portion of another elongate shaft assembly 3200 that includes a surgical end effector 300 of the type and construction described above. Other forms of surgical end effectors may also be employed. The elongate shaft assembly 3200 also includes a longitudinally movable flexible firing beam assembly 3280 attached to the firing member 900. In alternative configurations, the distal end of the firing beam assembly 3280 can be configured to perform various motions within the surgical end effector without the need to attach firing members. The flexible firing beam assembly 3280 can include various types of laminate beam configurations described herein. In one configuration, at least two compression bands are employed to provide lateral support to the flexible firing beam assembly 3280 as it traverses the articulation joint. The illustrated embodiment employs a total of four compression bands to provide lateral support to the flexible firing beam as it traverses the articulation joint. For example, elongate shaft assembly 3200 also includes a ridge 3210 that includes a distal end 3217 having two distal lumens or notches 3219, and two proximal lumens or notches 3219' formed therein. One distal cavity 3219 houses the first proximal end 3904 of a first compression band 3900 positioned on one lateral side 3281 of the flexible firing beam assembly 3280, and the other distal cavity 3219 houses the second proximal end 3905 of a second compression band 3901 positioned on the other lateral side 3283 of the flexible firing beam assembly 3280. The first compression band 3900 includes a first distal end 3902 that fits within a corresponding upstanding lateral support wall 330 formed on the proximal end 320 of the elongate channel 302 of the surgical end effector 300. Similarly, the second compression band 3901 includes a second distal end 3907 that is also mounted within a corresponding upstanding lateral support wall 330 formed on the proximal end 320 of the elongate channel 302 of the surgical end effector 300. First and second distal compression bands 3900, 3901 can be made of spring steel or the like, and proximal end 3904,3905 can be folded in a U-shaped manner to form a biasing portion configured to be movably received within distal recess 3219 as shown. This configuration allows the first and second distal compression bands 3900, 3901 to bend in response to articulation of the surgical end effector 300 while retaining the proximal ends 3904,3905 within their respective distal notches 3219.

As can also be seen in fig. 44-46, the elongate shaft assembly 3200 also includes a third compression band 3910 and a fourth compression band 3911. As with first compression band 3900 and second compression band 3901, third compression band 3910 and fourth compression band 3911 may be made of spring steel. As can be seen in fig. 44-46, a third compression band 3910 may be located between the first compression band 3900 and the lateral side 3281 of the flexible firing beam assembly 3280, and a fourth compression band 3911 may be located between the second compression band 3901 and the other lateral side 3283 of the flexible firing band assembly 3280. Third proximal end 3914 of third compression band 3910 and fourth proximal end 3915 of fourth compression band 3911 may each be folded in a U-shaped manner to form a biasing portion movably received within a respective proximal cavity 3219' in ridge 3210. The third distal end 3912 of the third compression band 3910 and the fourth distal end 3917 of the fourth compression band 3911 are mounted in the respective lateral support walls 330 in the surgical end effector 300.

The elongate shaft assembly 3200 also includes a movable support link assembly 3920 for providing further lateral support to the flexible firing beam assembly 3280 as the end effector 300 is articulated about the articulation axis. As can be seen in fig. 44-46, the movable support connector assembly 3920 includes an intermediate support member 3922 that is movably coupled to the surgical end effector 300 and the elongate shaft assembly 3200. In one embodiment, intermediate support member 3922 is pivotally pinned to distal end 320 of elongate channel 302. The intermediate support member 3922 also includes a proximally projecting tab 3926 having an elongated proximal slot 3928 therein. The proximal slot 3928 is configured to slidably receive an intermediate support pin 3211 formed on the ridge 3210. Such a configuration allows for relative pivotal and axial movement between the intermediate support member 3922 and the spine 3210 of the elongate shaft assembly 3200 to accommodate a greater range of articulation while being dynamically movable to maintain adequate lateral support on the firing beam assembly 3280. As can be seen in fig. 44-46, the intermediate support member 3922 further includes a centrally disposed slot 3930 for axially receiving the firing beam assembly 3280 therethrough.

As can be further seen in fig. 44-46, movable support link assembly 3920 further includes an elongated movable pivot link 3940. The pivotal connection 3940 includes a central body portion 3942 having a proximally projecting proximal nose portion 3943 and a distally projecting distal nose portion 3944. Pivotal connection 3940 further includes a first downwardly projecting lateral support wall 3945 and a second downwardly projecting lateral support wall 3946 that define a beam slot 3947 therebetween. As can be seen in fig. 46, the firing beam assembly 3280 is configured to extend between the first and second lateral support walls 3945, 3946 during actuation of the firing beam assembly 3280 and articulation of the surgical end effector 300. Further, in the configuration shown, for example, first compression band 3900 extends between first lateral support wall 3945 and third compression band 3910, and second compression band 3901 extends between second lateral support wall 3946 and fourth compression band 3911. First lateral support wall 3945 includes an inwardly facing first arcuate surface 3948 and second lateral support wall 3946 includes an inwardly facing second arcuate surface 3949. The first and second arcuate surfaces 3948, 3949 serve to provide lateral support to the firing beam assembly 3280 as it flexes during articulation of the end effector 300. Depending on the direction and degree of articulation, the rounded surfaces may match the outer radius of the firing beam assembly 3280 and compression band 3900,3901,3910,3911. As can also be seen in fig. 44 and 45, the distal end 3217 of the ridge 3210 includes a pair of left and right opposed shaft notches 3218 into which the proximally projecting rounded proximal nose portion 3943 of the pivot connection 3940 extends depending on the direction in which the surgical end effector is articulated about the articulation axis. Similarly, left and right opposing support notches 3932 are provided in intermediate support 3922 to accommodate the distally projecting distal nose portion 3944 of pivot connection 3940 depending on the direction in which the end effector is articulated. Such a notch configuration serves to properly align pivotal connection 3940 in an orientation suitable to accommodate the direction of articulation while providing lateral support to pivotal connection 3940.

In addition to various differences discussed in further detail below, fig. 47-51 illustrate another elongate shaft assembly 4200 that is similar in some respects to the elongate shaft assembly 2200 described above. Those components of the elongate shaft assembly 2200 that have been discussed in detail above will contain similar element numbers and will not be discussed in further detail for the sake of brevity except as may be necessary to understand the operation of the elongate shaft assembly 4200, e.g., for use with portions of the surgical instrument 10 as described above. As can be seen in fig. 47, in at least one example, the elongate shaft assembly 4200 includes an articulation lock 2350. As discussed in detail above, the articulation lock assembly 2350 includes a proximal lock adapter 2360 that is coupled (e.g., pinned) to a first distal articulation driver 4370. As can be seen in fig. 47 and 50, the first distal articulation driver 4370 includes a first proximal gear rack segment 4371 and a first distal gear rack segment 4373 formed on a distal end 4372 thereof. The elongate shaft assembly 4200 also includes a second distal articulation driver 4380 that includes a second proximal gear rack segment 4381 and a second distal gear rack segment 4383 formed on a distal end 4382 thereof.

The first distal articulation driver 4370 and the second distal articulation driver 4380 are configured to be axially movable in the proximal direction PD and the distal direction DD relative to the distal spine assembly 4212. As can be seen in fig. 50, the first proximal gear rack segment 4371 and the second proximal gear rack segment 4381 are in meshing engagement with a proximal power transfer gear 4390 rotatably supported by the distal spine assembly 4212. Similarly, the first distal gear rack segment 4373 and the second distal gear rack segment 4383 are in meshing engagement with the distal power transfer gear assembly 4392. Specifically, in at least one configuration, the distal power transfer gear assembly 4392 includes a pinion gear 4393 in meshing engagement with a first distal gear rack segment 4373 and a second distal gear rack segment 4383. The distal power transfer gear assembly 4392 further includes a drive gear 4394 arranged in meshing engagement with an idler gear 4395. The idler gear 4395 is, in turn, supported in meshing engagement with a driven gear 4306 formed on a proximal end portion 4320 of the elongate channel 4302 of the surgical end effector 4300. Additionally, the surgical end effector 4300 may be similar to the surgical end effector 2300 and include an anvil 4310 that may be opened and closed in the various manners described above. Referring to fig. 48, 49, and 51, the distal spine assembly 4212 may comprise an upper spine portion 4212A and a lower spine portion 4212B. The distal power transfer gear assembly 4392, the idler gear 4395 and the driven gear portion 4306 of the elongate channel 4302 are each pivotally attached to or supported on the bottom portion 4212B of the distal spine assembly 4212.

The elongate shaft assembly 4200 shown in fig. 47 includes a firing beam assembly 3280 attached to a firing member (not shown). The firing beam assembly 3280 may include a laminated beam construction of the type described herein. The operation of the firing member is described in detail above and will not be repeated below for the sake of brevity. As can also be seen in fig. 47, a FIRING BEAM SUPPORT member 4400 of the type disclosed in U.S. patent application serial No. 14/575,117 entitled "SURGICAL INSTRUMENTS WITH a FIRING BEAM END effector AND a MOVABLE FIRING BEAM SUPPORT mechanism" is employed to provide SUPPORT for a FIRING BEAM assembly 3280 during articulation of the SURGICAL END effector 4300, the entire disclosure of which is hereby incorporated by reference. Fig. 52 illustrates the use of a distal firing beam assembly 2280 in an elongate shaft assembly 4200. As can be seen in this figure, a plurality of lateral load carrying members 2290 are employed in the manner described above to provide support to the distal firing beam assembly 2280 as the surgical end effector 4300 is articulated.

In addition to various differences discussed in further detail below, fig. 53-58 illustrate another elongate shaft assembly 5200 that is similar in some respects to the elongate shaft assembly 2200 described above. Those components of the elongate shaft assembly 5200 that have been discussed in detail above with respect to the elongate shaft assembly 2200 are identified with like element numbers and, for the sake of brevity, will not be discussed in further detail except as may be necessary to understand the operation of the elongate shaft assembly 5200, such as for use with portions of the surgical instrument 10 as described above.

Similar to the elongate shaft assembly 2200, the illustrated elongate shaft assembly 5200 includes a clutch assembly 2400 configured to operably engage an articulation system 5600 configured to apply push and pull articulation motions to a surgical end effector 300 operably coupled thereto. In this embodiment, the clutch assembly 2400 includes a lock collar or lock sleeve 2402 positioned about the firing member 2220 wherein the lock sleeve 2402 can be rotated between an engaged position in which the lock sleeve 2402 operably engages the articulation system 5600 to the firing member 2220 and a disengaged position in which the articulation system 5600 is not operably coupled to the firing member 2220. Referring specifically to fig. 54-56, in the example shown, an articulation system 5600 includes an articulation disc or rotary member 5602 supported for rotational motion within the nozzle 201. The articulation disc 5602 is rotatably driven by the drive connection assembly 5610. In the example shown, the drive connection assembly 5610 includes a drive pin 5612 attached to the articulation disc 5602. The articulation drive link 5614 is operably attached to the drive pin 5612 by a connector 5616 that facilitates some movement of the articulation drive link 5614 relative to the drive pin 5612. See fig. 54-56. The articulation drive link 5614 includes a drive coupler 5618 that is configured to drivingly engage an outwardly facing lock member 2406 on the lock sleeve 2402. See fig. 53.

As described above, the lock sleeve 2402 can comprise a cylindrical or at least substantially cylindrical body including a longitudinal bore 2403 defined therein configured to receive the firing member 2220. See fig. 53. The locking sleeve 2402 may include diametrically opposed, inwardly facing locking protrusions 2404 and outwardly facing locking members 2406. The lock protrusions 2404 can be configured to selectively engage with the firing member 2220. More specifically, when the lock sleeve 2402 is in its engaged position, the lock protrusions 2404 are positioned within a drive notch 2224 defined in the firing member 2220 such that a distal pushing force and/or a proximal pushing force can be transmitted from the firing member 2220 to the lock sleeve 2402. When the lock sleeve 2402 is in its engaged position, the outwardly facing lock member 2406 is received within a drive notch 5619 in the drive coupling 5618 shown in fig. 53 such that a distal pushing force and/or a proximal pushing force applied to the lock sleeve 2402 may be transmitted to the articulation drive link 5614. In fact, when the lock sleeve 2402 is in its engaged position, the firing member 2220, the lock sleeve 2402, and the articulation drive link 5614 will move together. On the other hand, when the lock sleeve 2402 is in its disengaged position, the lock protrusions 2404 may not be positioned within the drive notch 2224 of the firing member 2220; and, as such, the distal pushing force and/or the proximal pushing force may not be transmitted from the firing member 2220 to the lock sleeve 2402. Accordingly, the driving force DF may not be applied to the articulation disc 5602. In such instances, the firing member 2220 can slide proximally and/or distally relative to the lock sleeve 2402 and the proximal articulation driver 2230.

Also as described above, the elongate shaft assembly 5200 may also include a switch drum 2500 rotatably received on a closure sleeve 2260. See fig. 53. The switch drum 2500 includes a hollow shaft segment 2502 having a shaft boss 2504 formed thereon for receiving an outwardly projecting actuation pin 2410 therein. In various circumstances, the actuation pin 2410 extends into a longitudinal slot 2401 provided in the lock sleeve 2402 to facilitate axial movement of the lock sleeve 2402 when engaged with the articulation drive link 5614. The rotational torsion spring 2420 is configured to engage the boss 2504 on the switch drum 2500 and a portion of the nozzle housing 201 to apply a biasing force to the switch drum 2500. As described above, the switch drum 2500 may also include at least a partial peripheral opening defined therein, which may be configured to receive a peripheral mount extending from the nozzle half and allow relative rotation, but not relative translation, between the switch drum 2500 and the nozzle housing 201. As described above, rotation of the switch drum 2500 will ultimately result in rotation of the actuation pin 2410 and the lock sleeve 2402 between their engaged and disengaged positions. Thus, in essence, the nozzle housing 201 can be used to operatively engage and disengage the articulation system 5600 from the firing drive system in the various manners described above and in more detail in U.S. patent application serial No. 13/803,086 (now U.S. patent application publication 2014/0263541).

Referring again to fig. 53-56, the example articulation system 5600 illustrated also includes a "first" or right articulation linkage 5620 and a "second" or left articulation linkage 5640. The first articulation linkage 5620 includes a first articulation link 5622 that includes a first articulation pin 5624 that is movably received within a first articulation slot 5604 in the articulation disc 5602. The first articulation link 5622 is movably pinned to a first articulation connector 5626 that is configured to engage an articulation lock 2350. As described above, the articulation lock 2350 can be configured and operable to selectively lock the surgical end effector 300 in place. This configuration enables the surgical end effector 300 to rotate or articulate relative to the shaft closure sleeve 2260 when the articulation lock 2350 is in its unlocked state. When the articulation drive link 5614 is operatively engaged with the firing member 2220 via the clutch system 2400, in addition to the above, the firing member 2220 may rotate the articulation disc 6502 to move the first articulation linkage 5620 proximally and/or distally. Movement of the first articulation connector 5626 of the first articulation linkage 5620, whether proximal or distal, may unlock the articulation lock 2350, as described above. The proximal lock adapter 2360 includes a lock cavity 2362 for receiving a first locking element 2364 and a second locking element 2366 therein, which are journaled on frame rails extending between the proximal frame 2210 and the distal frame. The operation of the articulation lock 2350 is described above and, for the sake of brevity, is not discussed further herein. As can be seen in fig. 53, the first distal articulation driver 5370 is attached to the proximal lock adapter 2360. The first distal articulation driver 5370 is operably attached to the proximal end 320 of the elongate channel 302 of the surgical end effector 300.

As described above, the example articulation system 5600 illustrated also includes a "second" or left articulation linkage 5640. As can be seen in fig. 54-56, the second articulation linkage 5640 includes a second articulation link 5642 that includes a second articulation pin 5644 that is movably received within a second articulation slot 5606 in the articulation disc 5602. The second articulation link 5642 is pinned to a second articulation bar 5646 attached to the proximal end 320 of the elongate channel 302 of the surgical end effector 300. Referring to fig. 54, the articulation system 5600 further includes a first articulation biasing member 5628 received within the first articulation slot 5604 and a second articulation biasing member 5648 received within the second articulation slot 5606. Fig. 54 illustrates the articulation system 5600 in a neutral or non-articulated configuration. As can be seen in this figure, the first articulation pin 5624 is in contact with the first articulation biasing member 5628 and the second articulation pin 5644 is in contact with the second articulation biasing member 5648. However, when in this intermediate position, the first and second articulation biasing members 5628, 5648 may not be in a compressed state. Fig. 55 shows the application of a driving force DF to the articulation disc 5602 in the proximal direction PD by the articulation drive link 5614 in the manner described above. Application of a driving force DF in the proximal direction PD causes rotation of the articulation disc 5602 in the rotational direction represented by arrow 5601. As the articulation disc 5602 rotates in the rotational direction 5601, the end of the second articulation slot contacts the second articulation pin 5644 and applies a pushing force to the second articulation linkage 5640 and ultimately to the second articulation bar 5646. Conversely, the first articulation biasing member 5628 urges the first articulation pin 5624 in the direction of arrow 5601 within the first articulation slot 5604 such that a pulling force is applied to the first articulation linkage 5620 in the proximal direction PD. This proximal pulling force is transmitted through the articulation lock 2350 to the first distal articulation driver 5370. This "push and pull motion" applied to the surgical end effector causes the surgical end effector 300 to articulate about an articulation axis in the direction represented by arrow 5300. See fig. 53. When the articulation disc 5602 is in the position shown in fig. 55, the second articulation biasing member 5648 may be in a compressed state and the first articulation biasing member may not be compressed. Thus, when the application of the driving force DF to the articulation drive link 5614 is interrupted, the second articulation biasing member 5648 may bias the articulation disc 5602 back to the neutral position shown in fig. 54, for example.

Conversely, when the driving force DF is applied to the articulation drive link 5614 in the distal direction DD as shown in fig. 56, the articulation disc 5602 rotates in the rotational direction indicated by arrow 5603. As the articulation disc 5602 rotates in the rotational direction 5603, the end of the first articulation slot 5604 contacts the first articulation pin 5624 and applies a pushing force to the first articulation linkage 5620 and ultimately to the first distal articulation driver 5370 through the articulation lock 2350. In addition, the second articulation biasing member 5648 urges the second articulation pin 5644 in the direction of arrow 5603 within the second articulation slot 5606 such that a pulling force is applied to the second articulation linkage 5640 in the proximal direction PD. This proximal pulling force is transmitted to the second articulation bar 5646. This "push and pull motion" applied to the surgical end effector 300 causes the surgical end effector 300 to articulate about an articulation axis in the direction represented by arrow 5302. See fig. 53. When the articulation disc 5602 is in the position shown in fig. 56, the first articulation biasing member 5628 may be in a compressed state and the second articulation biasing member 5648 may not be compressed. Thus, when the application of the driving force DF to the articulation drive link 5614 is interrupted, the first articulation biasing member 5628 may bias the articulation disc 5602 back to the neutral position shown in fig. 54, for example.

Fig. 57 illustrates the attachment of the distal end portion 814 of the shaft frame 812 to a surgical end effector 300 operably coupled to an elongate shaft assembly 5200. As described above, the distal end portion 814 has a downwardly projecting pivot pin (not shown) thereon that is adapted to be pivotally received within a pivot hole (not shown) formed in the proximal end portion 320 of the elongate channel 302. This configuration facilitates pivotal travel of the elongate channel 302 relative to the shaft frame 812 about the articulation axis B-B defined by the pivot bore. As can also be seen in fig. 57, the first distal articulation driver 5370 is attached to the first coupler 850 by a first ball joint 852. The first coupler 850 may also be pivotally pinned to the proximal end portion 320 of the elongate channel 302 by a first pin 854, as can be seen in fig. 57. Similarly, the second articulation bar 5646 is attached to the second coupler 870 by a second ball joint 872. The second coupler 870 may also be pivotally pinned to the proximal end portion 320 of the elongate channel 302 by a second pin 874, as can be seen in fig. 57.

Referring to fig. 53 and 58, the elongate shaft assembly 5200 can further include a firing beam assembly 2280 attached to a firing member 900 of the type described above. The firing beam assembly 2280 is attached to the firing member 2220 and can be axially advanced and retracted in the various manners described above. The elongate shaft assembly 5200 can also include a multi-support link assembly 920 for providing lateral support to the distal firing beam 2280 as the surgical end effector 300 is articulated about the articulation axis B-B. As can be seen in fig. 58, the multiple support link assembly 920 includes a middle support member 922 that is pivotally pinned to the proximal end 320 of the elongate channel 302 in the manner described above. The intermediate support member 922 also includes a centrally disposed slot 930 for axially receiving a distal firing beam 2280 therethrough. The multiple support link assembly 920 further includes a proximal support link 940 and a distal support link 950. The proximal support link 940 includes a body portion 942 having a rounded proximal end 943 and a rounded distal end 944. Proximal support link 940 also includes a pair of downwardly projecting lateral support walls 945 defining a proximal slot therebetween. Similarly, the distal support link 950 includes a body portion 952 having a rounded proximal end 953 and a rounded distal end 954. The distal support link 950 further includes a pair of downwardly projecting lateral support walls 955 defining a proximal slot therebetween. As can be seen in fig. 58, the distal firing beam 2280 is configured to extend between the lateral support wall 945 of the proximal support link 940 and the lateral support wall 955 of the distal support link 950. Each support wall 945 and 955 includes an inwardly facing arcuate surface, as described above. The support surfaces serve to provide lateral support to the distal firing beam 2280 as it flexes during articulation of the surgical end effector 300. Additionally, the closure sleeve assembly 2260 may comprise a double pivoting closure sleeve assembly of the type described above that is configured to operably interact with an anvil on the surgical end effector 300. Operation of the closure sleeve assembly 2260 causes the anvil of the surgical implement to open and close in the various manners described above.

Fig. 59 illustrates a portion of another elongate shaft assembly 5700 that is substantially similar to the elongate shaft assembly 5200, except for the differences discussed below. Specifically, the articulation disc 5702 of the articulation system 5701 is rotated by a worm gear motor 5710 that is operably supported in the nozzle housing 201. For example, in one embodiment, the driven gear 5703 is integrally formed or otherwise non-movably attached to the articulation disc 5702 such that it is in meshing engagement with the worm gear drive 5712 of the motor 5710. In the example shown, the first articulation rod or member 5720 may be directly attached to a portion of the surgical end effector in any of the various manners described herein. A first articulation pin 5722 is attached to the first articulation rod 5720 and is received within an arcuate first articulation slot 5704 formed in the articulation disc 5702. A first articulation biasing member 5705 is received within the first articulation slot 5704 for biasing contact with the first articulation pin 5722. Likewise, the second articulation rod or member 5730 may be attached directly or indirectly to a portion of the surgical end effector in any of the various manners described herein. A second articulation pin 5732 is attached to the second articulation rod 5730 and is received within an arcuate second articulation slot 5706 formed in the articulation disc 5702. A second articulation biasing member 5707 is received within the second articulation slot 5706 for biasing contact with the second articulation pin 5732.

Fig. 59 illustrates an articulation system 5701 in a neutral or non-articulated configuration. As can be seen in this figure, the first articulation pin 5722 is in contact with the first articulation biasing member 5705 and the second articulation pin 5732 is in contact with the second articulation biasing member 5707. However, when in this intermediate position, the first and second articulation biasing members 5705, 5707 may not be in compression. Actuation of the motor 5710 rotates the articulation disc 5702 in a rotational direction as shown by arrow 5601, which applies a pulling motion to the first articulation rod 5720 to move the first articulation rod 5720 in the proximal direction PD and a pushing motion to the second articulation rod 5730 to move the second articulation rod 5730 in the distal direction DD. Conversely, actuation of the motor 5710 rotates the articulation disc 5702 in a rotational direction as shown by arrow 5603, which applies a pushing motion to the first articulation rod 5720 to move the first articulation rod 5720 in the distal direction DD and a pulling motion to the second articulation rod 5730 to move the second articulation rod 5730 in the proximal direction PD. This "push and pull action" applied to the surgical end effector causes the surgical end effector to articulate about an articulation axis in the various manners described above.

Fig. 60-65 illustrate another articulation system 5800 that can be used with the various elongate shaft assembly and effector configurations described herein. However, in this embodiment, the articulation system 5800 includes a dual articulation disc assembly 5810 that includes a driver articulation disc 5820 and a driven articulation disc 5830. For example, two articulation discs 5820,5830 may be rotatably supported within a nozzle housing of an elongate shaft assembly such that both discs 5820,5830 are independently rotatable about a common axis. In various embodiments, a drive motion may be applied to the driver articulation disc 5820 by the articulation drive link 5614 and firing member configuration 2220 as described above. In other embodiments, a rotational drive motion can be applied to the driver articulation disc 5820 by the worm gear motor 5710 in the manner described above.

FIG. 61 shows one form of a drive disk 5820. As can be seen in this figure, the driver disk 5820 includes a first pair of first arcuate articulation slots 5822L,5822R each having a first arcuate length FL. In addition, the driver articulation disc 5820 also includes driver slots 5824 centrally disposed between the first articulation slots 5822, as can be seen in fig. 61. Depending on the method used to drive the driver articulation disc 5820, the articulation drive link 5614 or worm gear motor 5710 may interface with the driver articulation disc 5820 in the various manners described above to impart rotational motion to the driver articulation disc 5820. Fig. 62 illustrates one form of a driven articulation disc 5830. As can be seen in this figure, the driven articulation disc 5830 includes a second pair of second arcuate articulation slots 5832L,5832R each having a second arcuate length SL that is less than the first arcuate length FL. In addition, the driven articulation disc 5830 also includes a driver post 5834 configured to be movably received within the driver slot 5824.

Referring now to fig. 60 and 63-65, the articulation system 5800 further comprises a first articulation rod 5840 that can be attached, directly or indirectly, to a portion of a surgical end effector in any of the various manners described herein. A first articulation pin 5842 is attached to the first articulation rod 5840 and is received within the corresponding first and second arcuate articulation slots 5822L, 5832L. Likewise, the second articulation rod or member 5850 may be directly attached to a portion of the same surgical end effector in any of the various manners described herein. A second articulation pin 5852 is attached to the second articulation rod 5850 and is received within the corresponding first and second arcuate articulation slots 5822R, 5832R. FIG. 60 illustrates the articulation system 5800 in a zero position in which the surgical end effector is free to move. Fig. 63 illustrates the position of the articulation system 5800 when rotational motion is initially imparted to the driver articulation disc 5820 in the direction indicated by arrow 5860. As can be seen from this figure, upon initial rotation of the driver articulation disc 5820, the articulation slots 5822L,5832L are offset from one another and the articulation slots 5822R,5832R are offset from one another, but no motion has been transferred to the articulation bar 5840,5850. Fig. 64 illustrates the position of the articulation system 5800 when rotational motion sufficient to cause, for example, seventy-five degrees of articulation of the surgical end effector relative to the shaft axis continues to be applied to the driver articulation disc 5820 in the direction of arrow 5860. As can be seen in this figure, a pushing motion is applied to the first articulation rod 5840 to axially move the first articulation rod 5840 in the distal direction DD and a pulling motion is applied to the second articulation rod 5850 to axially move the second articulation rod 5850 in the proximal direction PD. Movement of the first and second articulation rods 5840,5850 in opposite directions results in articulation of the surgical end effector operably interfacing therewith. Fig. 65 illustrates the position of the articulation system 5800 when rotational motion is applied to the driver articulation disc 5820 in the opposite direction represented by arrow 5862 sufficient to cause, for example, seventy-five degrees of articulation of the surgical end effector relative to the shaft axis in the opposite articulation direction. As can be seen in this figure, a pushing motion is applied to the second articulation rod 5850 to axially move the second articulation rod 5850 in the distal direction DD and a pulling motion is applied to the first articulation rod 5840 to axially move the first articulation rod 5840 in the proximal direction PD. This opposing movement of the first and second articulation rods 5840,5850 causes the surgical end effector operably attached thereto to articulate. In one configuration, the first articulation rod 5840 may apply a pulling force to the surgical end effector only when the articulation drive disc 5820 has rotated a sufficient distance to reach a seventy-five degree articulation range.

Fig. 66-70 illustrate a surgical end effector 6300 including first and second jaws that are simultaneously movable between open and closed positions relative to a shaft axis SA-SA. The first and second jaws may comprise a variety of surgical jaw configurations without departing from the spirit and scope of the present invention. Accessing target tissue with jaws of a surgical end effector can sometimes be challenging. Maneuverability of a surgical end effector, particularly one configured to cut and staple tissue, can be enhanced if the distance between the point at which the jaws support relative to one another and the most proximal staple location is minimized. For example, those surgical end effectors that employ only one movable jaw (i.e., one of the jaws is fixed relative to the shaft axis) may require a relatively large range of travel for the one movable jaw to accommodate the target tissue. Such a large range of travel may complicate the process of using the end effector to facilitate positioning of the target tissue. The surgical end effector 6300 employs first and second jaws that move relative to each other and about a shaft axis of a common pivot axis. For example, such a configuration can shorten the distance between the pivot axis and the proximal-most staple location as compared to the same distance on some surgical end effectors that employ only one movable jaw.

In the example shown, the first jaw 6310 includes an elongate channel 6312 configured to support a surgical staple cartridge 6320 therein. As can be seen in fig. 70, the surgical staple cartridge 6320 is configured to operably support a plurality of staple drivers 6322 therein that operably support surgical staples 6324 thereon. The staple drivers 6322 are movably supported within corresponding driver slots 6321 formed in the surgical staple cartridge 6320. The staple drivers 6322 are retained within their respective driver slots 6321 by a cartridge tray 6330 that is clamped or otherwise attached to the surgical staple cartridge 6320. The staple drivers 6322 are arranged in rows on each side of an elongate slot 6326 in the surgical staple cartridge 6320 to accommodate the axial passage of the firing member 6340 therethrough. A wedge sled 6350 is movably supported within the surgical staple cartridge 6320 and is configured to be driven into engagement by the firing member 6340 as the firing member 6340 is driven from a starting position adjacent to the proximal end of the surgical staple cartridge 6320 and an ending position within the distal portion of the surgical staple cartridge 6320. As described above, as the wedge sled 6350 is driven in a distal direction through the surgical staple cartridge 6320, the wedge sled 6350 drivingly contacts the staple drivers 6322 to drive them toward the cartridge deck surface 6323. The firing member 6340 includes a tissue cutting surface 6346 that is used to cut tissue clamped between the jaws when the firing member 6340 is driven distally. Various types of distal firing beams (not shown) described herein are operably attached to the firing member 6340 as well as the intermediate firing shaft portion 2222 or other firing system configuration. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam has been discussed in detail above and will not be repeated for the sake of brevity. Other firing beam and firing system configurations (both motor-driven and manually-driven) may be used to power the firing member without departing from the spirit and scope of the present invention.

The illustrated surgical end effector 6300 is also configured for selective articulation about an articulation axis B-B that is substantially transverse to the shaft axis SA-SA. As can be seen in fig. 66-70, the surgical end effector 6300 includes an end effector mounting assembly 6390 that is adapted to be pivotally mounted to, for example, a distal shaft frame (not shown) that includes a pivot pin that is configured to be rotatably received within a mounting hole 6392 in the end effector mounting assembly 6390. The surgical end effector 6300 may be articulated by an articulation lock and first and second articulation rod configurations of the type described above. As can be seen in fig. 70, the end effector mounting assembly 6390 further includes a pair of opposed laterally extending trunnion pins 6394. A trunnion pin 6394 extends laterally from an opposite lateral side 6391 of the end effector mounting assembly 6390, which also defines a pocket region 6395 that is configured to receive the firing member 6340 therein. The trunnion pins 6394 are used to define a pivot axis PA-PA about which the first and second jaws 6310, 6360 are pivotable. The proximal end 6314 of the first jaw 6310 or elongate channel 6312 includes a pair of opposed U-shaped or open-ended slots 6316 adapted to receive a corresponding one of the trunnion pins 6394 therein. Such a configuration serves to movably or pivotally journal the first jaw 6310 to the end effector mounting assembly 6390.

The illustrated surgical end effector 6300 also includes a second jaw 6360, which may include an anvil 6362. The illustrated anvil 6362 comprises an anvil body 6364 that includes an elongate slot 6366 and two staple forming surfaces 6368 formed on each side thereof. The anvil 6362 also has a proximal end portion 6370 having a pair of U-shaped or open-ended slots 6372 that are also adapted to receive a corresponding one of the trunnion pins 6394 therein. Such a configuration serves to movably or pivotally journal the second jaw 6360 to the end effector mounting assembly 6390 such that the first and second jaws may move relative to each other and relative to the shaft axis SA-SA. The first and second jaws 6310, 6360 may be movably actuated by various types of closure systems disclosed herein. For example, a first closure drive system of the type described herein may be used to actuate the closure sleeve in the manner described above. The closure sleeve may also be attached to an end effector closure sleeve 6272, which may be pivotally attached to the closure sleeve by a double pivot closure sleeve assembly in the manner described above. As described above, for example, axial movement of the closure sleeve may be controlled by actuating the closure trigger 32. As can be seen in fig. 67-69, the end effector closure sleeve 6272 extends over the end effector mounting assembly 6390 and is configured to engage the proximal end 6370 of the second jaw 6360 and the proximal end 6314 of the first jaw 6310. At least one cam surface 6336 may be formed on the proximal end 6314 of the first jaw 6310 such that when the distal end 6274 of the end effector closure sleeve 6272 contacts the cam surface 6336, the first jaw 6310 cams toward the second jaw and shaft axis SA-SA. Likewise, one or more cam surfaces 6376 can be formed on the proximal end portion 6370 of the second jaw 6360 such that, when contacted by the distal end 6274 of the end effector closure sleeve 6272, the second jaw 6360 is oriented toward The first jaw 6310 and the shaft axis SA-SA move. The camming surfaces 6336,6376 may be configured and positioned relative to one another such that the first and second jaws close at different "closing rates" or closing times relative to one another. One such configuration is shown in fig. 68. As can be seen in fig. 68, along point P on the first jaw 6310 when the first and second jaws are in their respective fully open positions₁And a corresponding point P on the second jaw 6360₂The distance of the arcuate path between is represented by D_TAnd (4) showing. First point P₁And a second point P₂Are said to "correspond" to each other. For example, the first point P₁And a second point P₂May each lie on a common line or axis extending between two points and perpendicular to the shaft axis SA-SA. Along another point P on the first jaw 6310_AThe distance of the arcuate path from the shaft axis SA-SA is represented by D₁Is shown and is along another corresponding point P on the second jaw_BAnd the distance of another arcuate path between the shaft axis SA-SA is represented by D₂And (4) showing. Point P_AAnd point P_BAlso referred to as corresponding to each other. For example, point P_AAnd point P_BMay be located on a common line or axis extending between the two points and perpendicular to the shaft axis SA-SA. In the illustrated construction, the second jaw 6360 or anvil 6362 is moved a distance D from a fully open position to a closed position in which the staple forming surfaces of the anvil 6362 are disposed along the shaft axis SA-SA ₂A distance D greater than the movement of the first jaw 6310 or surgical staple cartridge 6320 from the fully open position to the closed position in which the cartridge deck surface is disposed along the shaft axis SA-SA₁. For example, in at least one configuration, the second jaw or anvil will open or move a distance D_T2/3 (or another distance along another path of travel between the jaws), and the first jaw or staple cartridge will open or move a distance D _T1/3 (or other distance along another path of travel between the jaws) such that one jaw reaches its fully closed position substantially faster than the other jaw reaches its fully closed position, even if one or more closing motions are initially applied to both jaws at the same or similar time. For example, without departing from the spirit and scope of this embodiment of the inventionThe cam surfaces on the first and second jaws may be arranged/configured to achieve different rates/rates of jaw movement. An open spring 6380 (fig. 70) may be positioned between the proximal end 6314 of the first jaw 6310 and the proximal end 6370 of the second jaw 6360 to bias the first and second jaws 6310, 6360 to an open position when the end effector closure sleeve 6272 is positioned in a starting or unactuated position. See fig. 67-69.

To move the first and second jaws 6310, 6360 to the closed position (fig. 66), the clinician actuates the closure system to move the end effector closure sleeve 6272 in the distal direction DD into contact with both the camming surfaces 6336, 6376 on the proximal ends 6314, 6370 of the first and second jaws 6310, 6360, thereby biasing the first and second jaws 6310, 6360 toward each other (and the shaft axis SA-SA) to the position shown in fig. 66. When the end effector closure sleeve 6272 is held in this position, the first and second jaws 6310, 6360 are held in the closed position. The firing system may then be actuated to advance the firing member 6340 axially distally through the surgical end effector 6300. As can be seen in fig. 70, the firing member 6340 may have a base portion 6342 configured to slidably engage the slotted passage 6374 of the anvil 6362 and a top tab portion 6344 adapted to be slidably received within the slotted passage 6318 in the elongate channel 6312. See fig. 69. Accordingly, such firing members are configured to positively retain the first and second jaws 6310, 6360 in a desired spaced arrangement during firing of the firing member (i.e., during firing of the staples and cutting of tissue clamped between the first and second jaws 6310, 6360). A first jaw cover 6315 is removably attached to the elongate channel 6312 and a second jaw cover 6363 is removably attached to the anvil 6362 for assembly purposes, as well as to prevent tissue and/or bodily fluids from infiltrating the first and second jaws, which may hinder or interfere with the operation of the firing member 6340.

FIG. 71 illustrates another surgical end effector 6300' that is similar to the surgical end effector 6300. As can be seen in this figure, the surgical end effector 6300' includes two jaws that are simultaneously movable between an open position and a closed position relative to the shaft axis SA-SA. In the example shown, the first jaw 6310 ' includes an elongate channel 6312 ' configured to support a surgical staple cartridge 6320' therein. The surgical staple cartridge 6320' is configured to operably support a plurality of staple drivers 6322 therein that operably support surgical staples 6324 thereon. The staple drivers 6322 are movably supported within corresponding driver pockets 6321 'formed in the surgical staple cartridge 6320'. The staple drivers 6322 are retained within their respective driver pockets 6321' by a cartridge tray 6330', which is clamped or otherwise attached to the surgical staple cartridge 6320 '. The staple drivers 6322 are arranged in rows on each side of an elongate slot 6326 'in the surgical staple cartridge 6320 to accommodate the axial passage of a firing member 6340' therethrough. A wedge sled 6350 'is movably supported within the surgical staple cartridge 6320' and is configured to be drivingly engaged by the firing member 6340 'as the firing member 6340' is driven from a starting position adjacent to the proximal end of the surgical staple cartridge 6320 'and an ending position within the distal portion of the surgical staple cartridge 6320'. As described above, as the wedge sled 6350 'is driven in a distal direction through the surgical staple cartridge 6320', the wedge sled 6350 'drivingly contacts the staple drivers 6322 to drive them toward the cartridge deck surface 6323'. The firing member 6340 'includes a tissue cutting surface 6346' that is used to cut tissue clamped between the jaws when the firing member 6340 is driven distally. Various types of distal firing beams (not shown) described herein are operably attached to the firing member 6340' as well as the intermediate firing shaft portion 2222 or other firing system configurations. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam has been discussed in detail above and will not be repeated for the sake of brevity. Other firing beam and firing system configurations (both motor-driven and manually-driven) may be used to power the firing member without departing from the spirit and scope of the present invention.

The illustrated surgical end effector 6300' is also configured for selective articulation about an articulation axis B-B that is substantially transverse to the shaft axis SA-SA. The end effector 6300 'includes an end effector mounting assembly 6390' that is adapted to be pivotally mounted to, for example, a distal shaft frame that includes a pivot pin configured to be rotatably received within a mounting hole 6392 'in the end effector mounting assembly 6390'. The surgical end effector 6300' may be articulated by an articulation lock and first and second articulation rod configurations of the type described above. As can be seen in fig. 71, the end effector mounting assembly 6390 'further includes a pair of opposed laterally extending trunnion pins 6394'. A trunnion pin 6394 ' extends laterally from an opposite lateral side 6391 ' of the end effector mounting assembly 6390', which also defines a pocket region 6395 ' configured to receive a firing member 6340 ' therein. The trunnion pins 6394 ' serve to define a pivot axis PA-PA about which the first and second jaws 6310 ', 6360 ' are pivotable. The proximal end 6314 ' of the first jaw 6310 ' or the elongate channel 6312 ' includes a pair of opposed U-shaped or open-ended slots 6316 ' adapted to receive a corresponding one of the trunnion pins 6394 ' therein. Such a configuration serves to movably or pivotally journal the first jaw 6310 'to the end effector mounting assembly 6390'.

The illustrated surgical end effector 6300 ' also includes a second jaw 6360 ', which may include an anvil 6362 '. The illustrated anvil 6362 ' includes an anvil body 6364 ' that includes an elongated slot 6366 ' and two staple forming surfaces formed on each side thereof. The anvil 6362 'also has a proximal end portion 6370' having a pair of U-shaped or open-ended slots 6372 'that are also adapted to receive a corresponding one of the trunnion pins 6394' therein. Such a configuration serves to movably or pivotally journal the second jaw 6360 'to the end effector mounting assembly 6390'. The first and second jaws 6310 ', 6360' are movably actuated by various types of closure systems disclosed herein. For example, the first closure drive system 30 may be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 may also be attached to an end effector closure sleeve 6272, which may be pivotally attached to the closure sleeve 260 by a double pivot closure sleeve assembly 271 in the manner described above. As described above, for example, axial movement of the closure sleeve 260 may be controlled by actuation of the closure trigger 32. The end effector closure sleeve 6272 extends over the end effector mounting assembly 6390 ' and is configured to engage the proximal end 6370 ' of the second jaw 6360 ' and the proximal end 6314 ' of the first jaw 6310 '. At least one cam surface 6336 'may be formed on the proximal end 6314' of the first jaw 6310 'such that when the distal end 6274 of the end effector closure sleeve 6272 contacts the cam surface 6336', the first jaw 6310 'cams toward the second jaw 6360' and the shaft axis SA-SA. Likewise, one or more cam surfaces 6376 ' may be formed on the proximal end portion 6370 ' of the second jaw 6360 ' such that, when contacted by the distal end 6274 of the end effector closure sleeve 6272, the second jaw 6360 ' is moved toward the first jaw 6310 ' and the shaft axis SA-SA. A spring (not shown) may be positioned between the proximal end 6314 'of the first jaw 6310' and the proximal end 6370 'of the second jaw 6360' to bias the first and second jaws 6310 ', 6360' to the open position when the end effector closure sleeve 6272 is positioned in the starting or unactuated position.

To move the first and second jaws 6310 ', 6360' to the closed position, the clinician actuates the closure system to move the end effector closure sleeve 6272 in the distal direction DD into simultaneous contact with the cam surfaces 6336 ', 6376' on the proximal ends 6314 ', 6370' of the first and second jaws 6310 ', 6360' to bias the first and second jaws 6310 ', 6360' toward each other (and the shaft axis SA-SA). When the end effector closure sleeve 6272 is held in this position, the first and second jaws 6310 ', 6360' are held in the closed position. The firing system may then be actuated to axially advance the firing member 6340 'distally through the surgical end effector 6300'. The firing member 6340 'may have a top tab portion 6344' configured to slidably engage the slotted passage 6374 'of the anvil 6362' and a base portion 6342 'adapted to be slidably received within the slotted passage in the elongate channel 6312'. Accordingly, such firing member is configured to positively retain the first and second jaws 6310 ', 6360' in a desired spaced arrangement during firing of the firing member (i.e., during firing of the staples and cutting of tissue clamped between the first and second jaws 6310 ', 6360'). A first jaw cover 6315 ' is removably attached to the elongate channel 6312 ' and a second jaw cover 6363 ' is removably attached to the anvil 6362 ' for assembly purposes, as well as to prevent tissue and/or bodily fluids from infiltrating the first and second jaws, which may hinder or interfere with the operation of the firing member 6340 '.

The surgical end effector embodiments described herein may provide various advantages over other surgical end effector configurations employing jaws that move both relative to each other and relative to a shaft axis, wherein one of the jaws is fixed and does not move, e.g., relative to the shaft axis. In such a configuration, it is generally desirable for the movable jaw to have a relatively large range of motion relative to the fixed jaw so that the target tissue can be manipulated, positioned, and then clamped between the two jaws. In embodiments where both jaws are movable, each jaw does not require a large range of movement to accommodate manipulation, positioning, and clamping of the target tissue between the jaws. For example, such reduced movement of the anvil may provide improved tissue positioning. This configuration may also enable the distance between the pivot axis and the first staple position to be minimized. In addition, the firing member can remain engaged with the movable jaws (anvil and elongate channel) at all times, even during opening and closing motions.

Fig. 72-79 illustrate another surgical end effector 6400 configured to be operably attached to an elongate shaft assembly of the type described herein, which defines a shaft axis SA-SA. The surgical end effector 6400 includes two jaws that are simultaneously movable between an open position and a closed position relative to the shaft axis SA-SA. The first and second jaws can include a variety of different surgically-related jaw configurations. In the example shown, the first jaw 6410 includes an elongate channel 6412 configured to support a surgical staple cartridge 6420 therein. As in the various surgical staple cartridges discussed above, the surgical staple cartridge 6420 is configured to operably support a plurality of staple drivers (not shown) therein that operably support surgical staples (not shown) thereon. The staple drivers are movably supported within corresponding driver pockets formed in the surgical staple cartridge 6420. The staple drivers are arranged in rows on each side of an elongate slot (not shown) in the surgical staple cartridge 6420 to accommodate the axial passage of a firing member 6440 therethrough. A wedge sled (not shown) is movably supported within the surgical staple cartridge 6420 and is configured to be drivingly engaged by the firing member 6440 as the firing member 6440 is driven from a starting position adjacent to a proximal end of the surgical staple cartridge 6420 and an ending position within a distal portion of the surgical staple cartridge 6420. As described above, as the wedge sled is driven in a distal direction through the surgical staple cartridge 6420, the wedge sled drivingly contacts the staple drivers to drive them toward the cartridge deck surface (not shown). The firing member 6440 includes a tissue cutting surface 6446 that serves to cut tissue clamped between the jaws as the firing member 6440 is driven distally. Various types of distal firing beams (not shown) described herein are operably attached to the firing member 6440 as well as to the intermediate firing shaft portion 2222 or other firing system configuration. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam has been discussed in detail above and will not be repeated for the sake of brevity. Other firing beam and firing system configurations (both motor-driven and manually-driven) may be used to power the firing member without departing from the spirit and scope of the present invention.

The illustrated surgical end effector 6400 is also configured for selective articulation about an articulation axis B-B that is substantially transverse to the shaft axis SA-SA. As can be seen in fig. 72-79, the surgical end effector 6400 includes an end effector mounting assembly 6490 that is adapted to be pivotally mounted to, for example, a distal shaft frame that includes a pivot pin that is configured to be rotatably received within a mounting hole 6492 in the end effector mounting assembly 6490. The surgical end effector 6400 may be articulated by an articulation lock and first and second articulation rod configurations of the type described above. As can be seen in fig. 74, a pair of cam plates 6500 are non-movably attached to the end effector mounting assembly 6490, such as by spring pins 6502. As can be further seen in fig. 74, each cam plate 6500 has a cam slot 6504 with a closing wedge portion 6505 and an opening wedge portion 6507. The closing wedge portion 6505 is formed by two opposing closing cam surfaces 6506 and the opening wedge portion 6507 is formed by two opposing opening cam surfaces 6508. The elongate channel 6412 includes two proximally extending actuator arms 6416, each having an opening trunnion pin 6418 and a closing trunnion pin 6419 projecting laterally therefrom. The open trunnion pin 6418 and the closed trunnion pin 6419 are received by the cam slot 6504 of the corresponding cam plate 6500. Such a configuration serves to movably or pivotally journal the first jaw 6410 to the end effector mounting assembly 6490.

The illustrated surgical end effector 6400 also includes a second jaw 6460, which can include an anvil 6462. The illustrated anvil 6462 includes an anvil body 6464 that includes an elongated slot 6466 and two staple forming surfaces 6468 formed on each side thereof. The anvil 6462 also has a proximal end portion 6470 that includes two proximally extending actuator arms 6472 protruding therefrom. Each actuator arm 6472 has an opening trunnion pin 6474 and a closing trunnion pin 6476 protruding laterally therefrom that are also received in the cam slot 6504 of the corresponding cam plate 6500. Such a configuration serves to movably or pivotally journal the second jaw 6460 to the end effector mounting assembly 6490.

The first jaw 6410 and the second jaw 6460 are movably actuated by various types of closure systems disclosed herein. For example, the first closure drive system 30 may be used to actuate the closure sleeve in the manner described herein. The closure sleeve 260 may also be attached to an end effector closure sleeve 6572, which may be pivotally attached to the closure sleeve by a double pivot closure sleeve assembly in the manner described above. As described above, for example, axial movement of the closure sleeve may be controlled by actuating the closure trigger. As can be seen in fig. 77 and 78, the end effector closure sleeve 6572 extends over the end effector mounting assembly 6490 and the actuator arms 6416 and 6472 of the first and second jaws 6410 and 6460. As the closure sleeve 6572 is advanced distally, the distal end 6574 of the closure sleeve 6572 contacts the proximal end 6411 of the first jaw 6410 and the proximal end 6461 of the second jaw 6460 and moves the first jaw 6410 and the second jaw 6460 in the distal direction DD. As the first and second jaws 6410, 6460 move distally, the closure trunnions 6419,6476 enter the closure wedge portion 6505 of the camming slot 6504, and the closure camming surfaces 6506 cam the first and second jaws 6410, 6460 toward one another into a closed position (fig. 73, 75, 77, and 78).

To facilitate opening of the first and second jaws 6410, 6460 by the closure sleeve 6572, the closure sleeve 6572 is provided with two inwardly extending opening tabs 6576 that are configured to engage the closure trunnions 6419,6476 when the closure sleeve 6572 is retracted in the proximal direction PD by the closure system. As can be seen in fig. 72 and 76, as the closure sleeve 6572 moves in the proximal direction PD, the opening tab 6576 also contacts the closure trunnions 6419,6476 and drives the closure trunnions 6419,6476 in the proximal direction. Proximal movement of the closing trunnions 6419,6476 causes the opening trunnions 6418 and 6474 to enter the opening wedge portion 6507 of the cam plate slot 6504. The opening cam surface 6508 interacts with the opening trunnion 6418,6474 and causes the actuator arms 6416 and 6472 to rock open on their respective rocker arm surfaces 6417 and 6475, as shown in fig. 76 and 79. As with the above-described configuration in which both the first and second jaws move relative to the shaft axis SA-SA, the closing wedge portion 6505 and the opening wedge portion 6507 can be configured such that upon application of a closing motion thereto, the first and second jaws close at different closing rates or closing times relative to each other.

Fig. 80-84 illustrate another surgical end effector 7400 that includes two jaws, one of which is movable relative to the other between an open position and a closed position. In the example shown, the first jaw 7410 includes an anvil 7412. The illustrated anvil 7412 has an anvil body 7414 with a proximal end portion 7416 non-movably attached to an end effector mounting assembly 7430. For example, the proximal end portion 7416 includes two upstanding lateral walls 7418, each having a mounting hole 7419. See fig. 82. An end effector mounting assembly 7430 is received between the upright lateral walls 7418 and is non-movably attached thereto by a spring pin 7421 that extends therethrough into the bore 7419. The end effector mounting assembly 7430 is adapted to be pivotally mounted to, for example, a distal shaft frame that includes a pivot pin configured to be rotatably received within a mounting hole 7432 in the end effector mounting assembly 7430. The surgical end effector 7400 may be articulated by an articulation lock and first and second articulation rod configurations of the type described above or by any of the various articulation systems and articulation rod and/or rod/cable configurations described herein without departing from the spirit and scope of the present invention. As can also be seen in fig. 80 and 82, the anvil body 7414 further includes an elongated slot 7422 having two staple forming surfaces 7424 formed on each side thereof.

The surgical end effector 7400 further comprises a second jaw 7440 comprising an elongate channel 7442 configured to support a surgical staple cartridge 7450 therein. As in certain surgical staple cartridges discussed above, the surgical staple cartridge 7450 is configured to operably support a plurality of staple drivers (not shown) therein that operably support surgical staples (not shown) thereon. The staple drivers are movably supported within corresponding driver pockets 7452 formed in the surgical staple cartridge 7450. The staple drivers are arranged in rows on each side of an elongate slot 7454 in the surgical staple cartridge 7450 to accommodate the axial passage of a firing member 7460 therethrough. A cartridge tray 7451 is attached to the staple cartridge 7450 to prevent the staple drivers from falling out of their respective driver pockets 7452 as the surgical end effector 7400 is manipulated into various orientations. A wedge sled 7462 is movably supported within the surgical staple cartridge 7450 and is configured to be drivingly engaged by the firing member 7460 as the firing member 7460 is driven from a starting position adjacent to the proximal end of the surgical staple cartridge 7450 and an ending position within the distal portion of the surgical staple cartridge 7450. As described above, as the wedge sled 7462 is driven in a distal direction through the surgical staple cartridge 7450, the wedge sled 7462 drivingly contacts the staple drivers to drive them toward the cartridge deck surface (not shown). The firing member 7460 includes a tissue cutting surface 7464 for cutting tissue clamped between the jaws 7410,7440 as the firing member 7460 is driven distally. A distal firing beam 280, or other various types of distal firing beams described herein, is operably attached to the firing member 7460 as well as to the intermediate firing shaft portion 2222 or other firing system configuration. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam 280 has been discussed in detail above and will not be repeated for the sake of brevity. Other firing beam and firing system configurations (both motor-driven and manually-driven) may be used to power the firing member without departing from the spirit and scope of the present invention. A first jaw cover 7415 is removably attached to the anvil 7412 and a second jaw cover 7441 is removably attached to the second jaw 7440 for assembly purposes and to prevent tissue and/or body fluids from seeping into the first and second jaws which may hinder or interfere with the operation of the firing member 6340.

As can be seen in fig. 82, the elongate channel 7442 includes a proximal end portion 7444 having two lateral side portions 7445. Each lateral side portion 7445 has a corresponding U-shaped or open-ended slot 7446 therein that is adapted to receive a corresponding pivot pin 7426 that projects laterally from the proximal end portion 7416 of the anvil body 7414. Such a configuration serves to movably or pivotally journal the second jaw 7440 or elongate channel 7442 to the first jaw 7410 or anvil 7412. As can be seen most particularly in fig. 80, 82 and 84, closure ramp segments 7447 are formed on the proximal end 7444 of the elongate channel 7442. In addition, each lateral side 7445 of the proximal end portion 7444 has a lateral recessed area 7448 formed therein. Each lateral recessed area 7448 is positioned proximal to a corresponding closure ramp segment 7447. An opening ramp or cam 7449 is formed adjacent the proximal end of each lateral recessed region 7448. Each opening ramp or cam 7449 terminates in a top surface 7580. See fig. 82 and 84.

The second jaw 7440 or elongate channel 7442 can be movably actuated relative to the first jaw 7410 or anvil 7412 by various types of closure systems disclosed herein. For example, a closure drive system of the type described herein may be used to actuate a closure sleeve of the type described herein, as discussed in detail above. The closure sleeve may also be attached to an end effector closure sleeve 7572, which may be pivotally attached to the closure sleeve by a double pivot configuration in the manner described above. As described above, for example, axial movement of the closure sleeve may be controlled by actuating the closure trigger. In other constructions, the closure sleeve may be moved axially by means of a robotic control system or the like. As can be seen in fig. 80, 81, 83, and 84, the end effector closure sleeve 7572 extends over the end effector mounting assembly 7430 and the proximal end portion 7444 of the elongate channel 7442 of the second jaw 7440. The end effector closure sleeve 7572 includes two diametrically opposed opening members 7574 configured to operably engage the proximal end portion 7444 of the second jaw 7440 or elongate channel 7442. In the illustrated embodiment, the opening member 7574 includes an inwardly extending opening tab 7576 that is formed in a portion of the end effector closure sleeve 7572.

By advancing the end effector closure sleeve 7572 in the distal direction DD, the second jaw 7440 is moved to the closed position (fig. 81 and 83). As the end effector closure sleeve 7572 moves distally, its distal end 7575 contacts closure ramp segments 7447 formed on the proximal end 7444 of the elongate channel 7442 and serves to cam the elongate channel 7442 toward the anvil 7412. Once the end effector closure sleeve 7552 has been moved to its distal-most position, the distal end 7575 contacts the abutment surface 7443 on the elongate channel 7442 to maintain the closure load or closure force on the elongate channel 7442. See fig. 81 and 83. When the end effector closure sleeve 7572 is in the fully closed position, the ends of the opening tabs 7576 are received in the corresponding lateral recessed areas 7448. To move the second jaw 7440 or elongate channel 7442 to the open position, the closure system is actuated to move the closure sleeve 7572 in the proximal direction PD. As the end effector closure sleeve 7572 moves proximally, the opening tabs 7572 ride up the corresponding opening ramps or cams 7449 onto the proximal end portion 7444 of the elongate channel 7442 to cam or pivot the elongate channel 7442 away from the anvil 7412. Each tab overlaps the cam 7449 up onto the top surface 7580 and serves to positively retain the elongate channel 7442 in this fully open position. See fig. 84.

Fig. 85-87 illustrate another surgical end effector 8400 that includes two jaws 8410,8440 that are simultaneously movable between an open position and a closed position relative to a shaft axis SA-SA. In the example shown, the first jaw 8410 includes an anvil 8412. The illustrated anvil 8412 has an anvil body 8414 with a proximal end portion 8416 that movably interfaces with an end effector adapter 8600. As can be seen in fig. 85, the end effector adapter 8600 includes two distally extending distal walls 8602, each having a lateral pivot pin 8604 projecting laterally therefrom. Each lateral pivot pin 8604 is received in a corresponding open-ended U-shaped slot 8418 formed in a lateral side wall 8417 of the proximal end portion 8416 of the anvil 8412. See fig. 85. This configuration allows the elongate channel 8412 to move or pivot relative to the end effector adapter 8600. As can be further seen in fig. 85, the end effector adapter 8600 is non-movably attached to the end effector mounting assembly 8430. For example, the end effector adapter 8600 also includes two upstanding lateral walls 8606, each having a mounting hole 8608 therein. The end effector mounting assembly 8430 is received between the upstanding lateral walls 8606 and is non-movably attached thereto by a spring pin 8421 that extends therethrough into the hole 8608. The effector mounting assembly 8430 is adapted to be pivotally mounted to, for example, a distal shaft frame that includes a pivot pin configured to be rotatably received within a mounting hole 8432 in the end effector mounting assembly 8430. The surgical end effector 8400 may be articulated by an articulation lock and first and second articulation rod configurations of the type described above or by any of the various articulation systems and articulation rod and/or rod/cable configurations described herein without departing from the spirit and scope of the present invention. As can also be seen in fig. 85, the anvil body 8414 further includes an elongated slot 8422 having two staple forming surfaces 8424 formed on each side thereof.

The surgical end effector 8400 further includes a second jaw 8440 that includes an elongate channel 8442 that is configured to support a surgical staple cartridge 8450 therein. As in the various surgical staple cartridges discussed above, the surgical staple cartridge 8450 is configured to operably support a plurality of staple drivers (not shown) therein that operably support surgical staples (not shown) thereon. The staple drivers are movably supported within corresponding driver pockets 8452 formed in the surgical staple cartridge 8450. The staple drivers are arranged in rows on each side of an elongate slot 8454 in the surgical staple cartridge 8450 to accommodate the axial passage of a firing member 8460 therethrough. A cartridge pan 8451 is attached to the staple cartridge 8450 to prevent the staple drivers from falling out of their respective driver pockets 8452 as the surgical end effector 8400 is manipulated into various orientations. The wedge sled 8462 is movably supported within the surgical staple cartridge 8450 and is configured to be drivingly engaged by the firing member 8460 as the firing member 8460 is driven from a starting position adjacent to a proximal end of the surgical staple cartridge 8450 and an ending position within a distal portion of the surgical staple cartridge 8450. As described above, as the wedge sled 8462 is driven in a distal direction through the surgical staple cartridge 8450, the wedge sled 8462 drivingly contacts the staple drivers to drive them toward the cartridge deck surface (not shown). The firing member 8460 includes a tissue cutting surface 8464 that functions to cut tissue clamped between the jaws 8410,8440 as the firing member 8460 is driven distally. A distal firing beam 280, or other various types of distal firing beams described herein, is operably attached to the firing member 8460 as well as to the intermediate firing shaft portion 2222 or other firing system configuration. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam 280 has been discussed in detail above and will not be repeated for the sake of brevity. Other firing beam and firing system configurations (both motor-driven and manually-driven) may be used to power the firing member without departing from the spirit and scope of the present invention. A first jaw cover 8415 is removably attached to the anvil 8412 and a second jaw cover 8441 is removably attached to the second jaw 8440 for assembly purposes and to prevent tissue and/or bodily fluids from infiltrating the first and second jaws, which may hinder or interfere with the operation of the firing member 8460.

As can be seen in fig. 85, the elongate channel 8442 includes a proximal end portion 8444 having two lateral side portions 8445. Each lateral side portion 8445 has a corresponding U-shaped or open-ended slot 8446 therein that is adapted to receive a corresponding lateral pivot pin 8604 that projects laterally from the end effector adapter 8600. Such a configuration is used to movably or pivotally journal the second jaw 8440 or elongate channel 8442 to the first jaw 8410 or anvil 8412. As can also be seen in fig. 85, closure ramp segments 8447 are formed on the proximal end 8444 of the elongate channel 8442. In addition, each lateral side 8445 of the proximal end portion 8444 has a second lateral recessed area 8448 formed therein. Each second lateral recessed area 8448 is positioned proximal to a corresponding second closure ramp segment 8447. A second opening ramp or cam 8449 is formed adjacent the proximal end of each second lateral recessed area 8448. Each second opening ramp or cam 8449 terminates in a second top surface 8450. Similarly, a first recessed area 8420 is formed on the bottom of each side wall 8417 of the proximal end portion 8416 of the anvil 8412. A first opening ramp or cam 8426 is formed adjacent the proximal end of each first lateral recessed area 8420. Each first opening ramp or cam 8426 terminates in a first top surface 8428.

The second jaw 8440 or elongate channel 8442 and the first jaw 8410 or anvil 8412 may be simultaneously moved between the open and closed positions by various types of closure systems disclosed herein. For example, the closure drive system 30 may be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 may also be attached to an end effector closure sleeve 8572, which may be pivotally attached to the closure sleeve 260 by a double pivot configuration in the manner described above. As described above, for example, axial movement of the closure sleeve 260 may be controlled by actuation of the closure trigger 32. In other constructions, the closure sleeve may be moved axially by means of a robotic control system or the like. As can be seen in fig. 86 and 87, the end effector closure sleeve 8572 extends over the end effector mounting assembly 8430, the end effector adapter 8600, and the proximal end portion 8444 of the elongate channel 8442 of the second jaw 8440 and the proximal end portion 8416 of the first jaw 8410 or anvil 8412. The end effector closure sleeve 8572 includes two diametrically opposed first opening members 8574 configured to operably engage the proximal end portion 8416 of the first jaw 8410. In the illustrated embodiment, the first opening member 8574 includes an inwardly extending first opening tab 8576 formed in a portion of the end effector closure sleeve 8572. Likewise, the end effector closure sleeve 8572 further includes two diametrically opposed second opening members 8580 configured to operably engage the proximal end portion 8444 of the second jaw 8440. In the embodiment shown, the second opening member 8580 comprises an inwardly extending second opening tab 8582 formed in a portion of the end effector closure sleeve 8572.

By advancing the end effector closure sleeve 8572 in the distal direction DD, the first and second jaws 8410,8440 are simultaneously moved to the closed position (fig. 86). As the end effector closure sleeve 8572 moves distally, its distal end 8575 contacts the bottom of the proximal end portion 8416 of the first jaw 8410 or anvil 8412 and the closure ramp segment 8447 formed on the proximal end 8444 of the elongate channel 8442 and serves to cam the first and second jaws 8410,8440 toward one another. Once the end effector closure sleeve 8572 has been moved to its distal-most position, the distal end 8575 of the end effector closure sleeve 8572 contacts a first abutment surface 8419 on the first jaw 8410 or anvil 8412 and a second abutment surface 8443 on the second jaw 8440 or elongate channel 8442 to maintain the closure load or closure force on the two jaws 8410, 8440. See fig. 86. When the end effector closure sleeve 8572 is in the fully closed position, the ends of the first opening tabs 8576 are received in corresponding first lateral recessed areas 8420 and the ends of the second opening tabs 8582 are received in corresponding second lateral recessed areas 8448. To move the first and second jaws 8410,8440 away from each other to an open position, the closure system is actuated to move the closure sleeve 8572 in the proximal direction PD. As the end effector closure sleeve 8572 moves proximally, the first opening tab 8576 cams or pivots the corresponding first opening ramp or cam 8426 upwardly against the bottom of the proximal end portion 8416 of the first jaw 8410 to cam or pivot the first jaw 8410 or anvil 8412 in a direction away from the second jaw 8440 or elongate channel 8442, and the second opening tab 8582 cams or pivots the corresponding second ramp 8449 upwardly against the proximal end portion 8444 of the elongate channel 8442 to cam or pivot the elongate channel 8442 in a direction away from the first jaw or anvil 8412. Each of the first tabs 8576 upwardly snaps a corresponding cam or ramp 8426 onto a corresponding first locking surface 8428, and each of the second tabs 8582 upwardly snaps a corresponding second cam or ramp 8449 onto a corresponding second locking surface 8450, thereby maintaining the first and second jaws 8410, 8400 in an open position. The reader will appreciate that the axial position of the first tab 8576 relative to the second tab 8582 may be positioned such that the first and second jaws move away from each other simultaneously, or they may be axially offset such that one jaw moves before the other jaw.

Fig. 88-93 illustrate portions of another surgical instrument 9010 that includes a surgical end effector 9300 that operably interfaces with an elongate shaft assembly 9200. The surgical end effector 9300 is similar to the surgical end effector 300 discussed in detail above and includes a first jaw in the form of an elongate channel 9302 configured to operably support a surgical staple cartridge 304 therein. The illustrated surgical end effector 9300 also includes a second jaw in the form of an anvil 310 supported on the elongate channel 9302 for movement relative thereto. The anvil 310 may be movably actuated by the closure system described above and shown in fig. 88 and 91. For example, a first closure drive system may be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end effector closure sleeve 272 that is pivotally attached to the closure sleeve 260 by a dual pivot closure sleeve assembly 271 in the manner described above. As described above, for example, axial movement of the closure sleeve 260 may be controlled by actuating a closure trigger. As also described above, the closure sleeve 272 includes a split cam for movably actuating the anvil 310 to the open position. In use, the closure sleeve 260 is translated distally (direction DD) to close the anvil 310, for example, in response to actuation of the closure trigger. The anvil 310 is closed by distally translating the closure sleeve 260 and the end effector closure sleeve 272 pivotally coupled thereto in the distal direction "DD". As the end effector closure sleeve 272 is driven distally, the cam tabs 358 of the opening cams 354 move distally within the cam slots 318 in the anvil 310 to operably interface or ride over the cam surfaces 319 to cam the body portion 312 of the anvil 310 away from the surgical staple cartridge 304 into an open position. The anvil 310 is closed by distally translating the closure sleeve 260 in the distal direction DD until the distal end 275 of the end effector closure sleeve 272 overlaps the anvil attachment arm 316 upward into contact, which causes the cam tabs 358 to move in the proximal direction PD into the cam slots 318 on the cam surfaces 319, thereby pivoting the anvil 310 to the open position.

As can be seen in fig. 91, the elongate shaft assembly 9200 includes a two-piece shaft frame or spine assembly 9812 on which the closure sleeve assembly 260 is received. Spine assembly 9812 includes a proximal spine portion 9814 and a distal spine portion 9816. The proximal spine portion 9816 may be rotatably journaled in a handle or housing (not shown) in the various manners described herein to facilitate rotation of the surgical end effector 9300 about the shaft axis SA. Although not shown, the surgical instrument 9010 may also include a firing beam configuration and any of the various firing drive system configurations disclosed herein for driving the firing member through the surgical staple cartridge in the various manners discussed above. As can be seen in fig. 91, the distal spine portion 9816 includes a distal end portion 9818 having an upwardly projecting pivot pin 9819 thereon that is adapted to be pivotally received within a pivot hole 9328 formed in the proximal end portion 9320 of the elongate channel 9302. This configuration facilitates pivotal travel of the elongate channel 9302 of the surgical end effector 9300 relative to the spine assembly 9812 about an articulation axis B-B defined by the pivot hole 9328. As described above, the articulation axis B-B is transverse to the shaft axis SA-SA defined by the elongate shaft assembly 9200.

Still referring to fig. 91, the elongate shaft assembly 9200 further includes an articulation system, generally designated 9900, that includes a first articulation bar 9910 and a second articulation bar 9920. The first articulation bar 9910 operably interfaces with a first articulation motor 9912 that is operably supported in a surgical instrument handle or housing or portion of a robotic control system. As can be seen in fig. 92 and 93, the first articulation rod 9910 is attached to a first articulation nut 9914 that is threadably received on a first threaded drive shaft 9916 of the first articulation motor 9912. Rotation of the first threaded drive shaft 9916 in a first rotational direction will cause the first articulation rod 9910 to advance distally in the proximal direction DD, and rotation of the first threaded drive shaft 9916 in a second or opposite rotational direction will cause the first articulation drive rod 9910 to advance proximally in the proximal direction PD.

The illustrated articulation system 9900 also includes a second articulation bar 9920 that operably interfaces with a second articulation motor 9922 that is operably supported in a surgical instrument handle or housing or portion of the robotic control system. As can be seen in fig. 92 and 93, the second articulation rod 9920 is attached to a second articulation nut 9924 that is threadably received on a second threaded drive shaft 9926 of the second articulation motor 9922. Rotation of the second threaded drive shaft 9926 in a first rotational direction will cause the second articulation rod 9920 to advance proximally in the proximal direction PD, and rotation of the second threaded drive shaft 9926 in a second or opposite rotational direction will cause the second articulation drive rod 9920 to advance distally in the distal direction DD.

The articulation system 9900 also includes a cross-link assembly 9940 that is operably attached to the first articulation bar 9910 and the second articulation bar 9920. As can be seen in fig. 91, the cross-link assembly 9940 includes an intermediate support member 9950 that is pivotally pinned to the proximal end 9320 of the elongate channel 9302 with a first pin 9952. The intermediate support member 9950 also includes a proximal connector tab 9954 that includes a slot 9956 for receiving a second pin 9958 therein to pivotally attach the proximal connector tab 9954 to the distal end portion 9818 of the distal spine 9816. The pin and slot configuration facilitates pivotal and axial travel of the intermediate support member 9950 relative to the spine assembly 9812. The middle support member 9950 also includes a slot 9960 for receiving a firing beam therethrough. The middle support member 9950 is used to provide lateral support to the firing beam as it flexes to accommodate articulation of the surgical end effector 9300.

As can be seen most particularly in fig. 92 and 93, the intermediate support member 9950 has a proximal link tab portion 9970 that facilitates the attachment of a first articulation bar 9910 and a second articulation bar 9920 thereto. Specifically, the distal end 9911 of the first articulation bar 9910 is pivotally attached to a first articulation link 9972 that is pivotally pinned to the proximal link tab portion 9970. Likewise, the distal end 9921 of the second articulation bar 9920 is pivotally pinned to a second articulation link 9974, which is pivotally pinned to the proximal link tab portion 9970 of the intermediate support member 9950. FIG. 92 illustrates articulation of the surgical end effector 9300 in the direction indicated by arrow 9980. As can be seen in this figure, the first threaded drive shaft 9916 of the first articulation motor rotates in a first rotational direction to drive the first articulation bar 9910 in a distal direction. In addition, the second threaded drive shaft 9926 of the second articulation motor 9922 rotates in a second rotational direction to pull the second articulation bar 9920 in a proximal direction. The first and second articulation motors 9912, 9922 are operated by a computer controlled system, and as can be seen in fig. 92, the distance that the first articulation bar 9910 moves in the distal direction is not equal to the distance that the second articulation bar 9920 moves in the proximal direction.

FIG. 93 illustrates articulation of the surgical end effector 9300 in the direction indicated by arrow 9982. As can be seen in this figure, the second threaded drive shaft 9926 of the second articulation motor 9922 rotates in a first rotational direction to drive the second articulation bar 9920 in a distal direction. In addition, the first threaded drive shaft 9916 of the first articulation motor 9912 rotates in a second rotational direction to pull the first articulation bar 9910 in a proximal direction. The first and second articulation motors 9912, 9922 are operated by a computer controlled system, and as can be seen in fig. 92, the distance that the second articulation bar 9920 moves in the distal direction is not equal to the distance that the first articulation bar 9910 moves in the proximal direction. In an alternative configuration, only one articulation motor may be used to articulate the end effector. In such a configuration, for example, the second link may be proximally coupled to the first link by a rack and pinion configuration similar to those rack and pinion configurations disclosed in detail herein.

Fig. 94 and 95 illustrate surgical staple cartridges 9304 and 9304' that each include a light member 9305 for illuminating a distal end of a surgical end effector supporting it. Each of the staple cartridges 9304,9304' may have conductors (not shown) disposed on the bottom or side of the cartridge that are configured to make electrical contact with corresponding conductors in the elongate channel that are in communication with an electrical energy source positioned in the instrument handle or housing. Thus, when the cartridge 9304,9304' is properly seated in the elongate channel of the surgical end effector, the light 9305 therein can receive electrical power from a power source in the handle or housing through corresponding conductors.

Fig. 96-105 illustrate portions of another surgical instrument 10010 that includes a surgical end effector 10300 that operably interfaces with an elongate shaft assembly 10200 that employs features of the various shaft assemblies disclosed herein. The surgical end effector 10300 can comprise substantially any of the various end effectors described herein, or it can comprise other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 10300 is adapted to cut and staple tissue and includes a first jaw in the form of an elongate channel 10302 configured to operably support a surgical staple cartridge 10304 therein. See fig. 96 and 97. The illustrated surgical end effector 10300 further includes a second jaw in the form of an anvil 10310 that is supported on the elongate channel 10302 for movement relative thereto. See fig. 96. The anvil 10310 may be movably actuated by one of the closure drive systems described herein. For example, a first closure drive system may be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end effector closure sleeve 272 that is pivotally attached to the closure sleeve 260 by a double pivot closure sleeve assembly 271 in any of the manners described herein. As described above, for example, axial movement of the closure sleeve 260 may be controlled by actuating a closure trigger. As the end effector closure sleeve 272 advances in the distal direction D-D, the anvil 10310 is cammed closed. In at least one configuration, a spring (not shown) can be employed to pivot the anvil 10310 to the open position when the end effector closure sleeve 272 is retracted to the starting position.

As can be seen in fig. 96-105, the surgical end effector 10300 is articulatable relative to the elongate shaft assembly 10200 about the articulation joint 10270. In the illustrated example, the elongate shaft assembly 10200 includes an articulation system, designated 10800, that employs an articulation lock 10810 similar to the articulation locks 350 and 810 described above. See fig. 97. Components of the articulation lock 10810 that are different than, for example, the articulation lock 810 and/or the articulation lock 350, and that may be required to understand the operation of the articulation lock 10810, will be discussed in further detail below. As mentioned above, additional details regarding the joint motion LOCK 350 may be found in U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENTS COMPLEMENTING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541, the entire disclosure of which is incorporated herein by reference. The articulation lock 10810 can be configured and operable to selectively lock the surgical end effector 10300 in various articulation positions. This configuration enables the surgical end effector 10300 to rotate or articulate relative to the shaft closure sleeve 260 when the articulation lock 10810 is in its unlocked state.

With particular reference to fig. 96 and 97, the elongate shaft assembly 10200 can include a spine 210 configured to: first, a firing member 220 is slidably supported therein; and second, slidably supporting a closure sleeve 260 that extends around the spine 210. The spine 210 also slidably supports a proximal articulation driver 230. The proximal articulation driver 230 has a distal end 231 configured to operably engage the articulation lock 10810. The articulation lock 10810 also includes a shaft frame 10812 that is attached to the spine 210 in the various manners disclosed herein. As shown in fig. 97, the axle frame 10812 is configured to movably support the proximal portion 10821 of the distal articulation driver 10820 therein. A distal articulation driver 10820 is movably supported within the elongate shaft assembly 10200 for selective longitudinal travel in the distal direction DD and the proximal direction PD in response to articulation control motions applied thereto.

One feature that many clinicians may be concerned with during a surgical procedure is the net length of the articulatable end effector and its pivot point. This size can affect the amount of access the end effector can achieve in the confined space within the patient. The surgical instrument 10010 can be configured to address this issue. For example, in the illustrated construction, the axle frame 10812 includes a distal end portion 10814 having a pivot pin 10818 formed thereon. The pivot pin 10818 is adapted to be pivotally received within a slot 10395 formed in an end effector mounting assembly 10390 that is attached to a proximal end 10303 of the elongate channel 10302 by a spring pin 10393 or other suitable member. The pivot pin 10818 defines an articulation axis B-B that is transverse to the shaft axis SA-SA. Such a configuration facilitates pivotal travel (i.e., articulation) of the end effector 10300 about an articulation axis B-B relative to the shaft frame 10812 and axial or translational travel of the elongate channel 10302 relative to a reference point (one shaft frame 10812, e.g., articulation axis B-B). As can be seen in fig. 99 and 100, the articulation system 10800 also includes an articulation drive gear 10840 that is rotatably supported on an axle 10842 that is formed on or otherwise attached to an axle frame 10812. As can be seen in fig. 99 and 100, the end effector mounting assembly 10390 has an articulation gear profile 10396 formed thereon that is configured for meshing engagement with the articulation drive gear 10840. As can be seen particularly in fig. 97 and 101-103, the drive pin 10844 protrudes from the articulation drive gear 10840. The drive pin 10844 is received within a slot 10822 in the distal articulation driver 10820. Thus, movement of the distal articulation driver 10820 in the proximal direction PD (in the various manners discussed herein) will rotate the articulation drive gear 10840 in a counterclockwise direction (arrow CCW in fig. 103), which in turn will articulate the surgical end effector 10300 in the direction represented by arrow 10848. Likewise, movement of the distal articulation driver 10820 in the distal direction DD (in the various manners discussed herein) will rotate the articulation drive gear 10840 in a counterclockwise direction (arrow CCW in fig. 102), which will articulate the surgical end effector 10300 in the direction indicated by arrow 10849.

Still referring to fig. 99-105, in at least one configuration, the articulation gear profile 10396 is elliptical in shape. The elliptical configuration of the articulation gear profile 10396 in conjunction with the slot 10395 allows the end effector 10300 to translate (or move axially) when rotated or articulated. The eccentricity of the elliptical articulation gear profile 10396 allows the "center-to-center" distance between the articulation drive gear 10840 and the gear profile 10396 to be reduced, which is then translated into a translation of the end effector 10300. Fig. 101 and 103 illustrate the surgical end effector 10300 in an unarticulated position. In other words, the end effector axis EA defined by the elongate channel 10302 is aligned with the shaft axis SA-SA. As used herein, the term "and.. aligned" may mean "coaxially aligned" with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. When in this unarticulated position, the elongate channel 10302 occupies a certain amount of space (i.e., it may be referred to as a "footprint"). In other words, the distal end 10309 of the elongate channel 10302 is a first distance D1 (also referred to herein as an "unarticulated distance") from the articulation axis B-B defined by the pin 10818. See fig. 104. As the surgical end effector 10300 is articulated, the elongate channel 10302 translates proximally (arrow TL in fig. 102 and 103) relative to the shaft frame 10812, and more specifically relative to the articulation axis B-B, such that a distance D2 (also referred to herein as an "articulation distance") between the distal end 10309 of the elongate channel 10302 and the articulation axis B-B is less than the distance D1. See fig. 105. This reduced overall length of the surgical end effector 10300 allows for greater access when the end effector 10300 is in the articulated position and will maintain the same net length when straight. In other words, as the end effector is articulated, the distance between the first staple in the end effector and the articulation axis will decrease, thereby decreasing the footprint of the end effector when in the articulated configuration.

The surgical end effector 10300 of the embodiment illustrated in fig. 96-105 includes a surgical cutting and stapling device that employs a firing beam 220 of the various types and configurations described herein. However, the surgical end effector 10300 of this embodiment can comprise other forms of surgical end effectors that do not cut and/or staple tissue. In the illustrated construction, the intermediate support member 10950 is pivotally and slidably supported relative to the axle frame 10812. As can be seen in fig. 98, the intermediate support member 10950 includes a slot 10952 adapted to receive therein a pin 10954 that protrudes from or is attached to or formed in the spine 210. This configuration enables the intermediate support member 10950 to pivot and translate relative to the pin 10954 as the surgical end effector 10300 is articulated. The middle support member 10950 also includes a slot 10960 for receiving the firing beam 220 therethrough. The middle support member 10950 serves to provide lateral support to the firing beam 220 as it flexes to accommodate articulation of the surgical end effector 10300.

Fig. 106-108 illustrate portions of another surgical instrument 11010 that includes a surgical end effector 11300 that operably interfaces with an elongate shaft assembly 11200 that can employ various features of the various shaft assemblies disclosed herein. The surgical end effector 11300 may comprise substantially any of the various end effectors described herein, or it may comprise other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 11300 includes an elongate channel 11302 that can be adapted to support a surgical staple cartridge therein, for example. The elongate shaft assembly 11200 also includes a spine 11210 pivotally coupled to the elongate channel 11302 by an articulation joint 11270. In the illustrated construction, the elongate channel 11302 of the surgical end effector 11300 is coupled to the spine 11210 by an articulation pin 11818 that is movably received within an elongate articulation slot 11395 formed in the elongate channel 11302 or in an end effector mounting assembly (not shown). The pin and slot configuration facilitates both pivotal and translational travel of the elongate channel 11302 relative to the spine 11210 of the elongate shaft assembly 11200. The articulation pin 11818 defines an articulation axis B-B that extends through the center of the pin 11818, and is highlighted in fig. 106-108 such that it is transverse to the shaft axis SA-SA. The spine 11210 may be otherwise similar to the spine 210 described above and supports a firing member and closure sleeve configuration as described herein, and is not specifically shown in fig. 106-108 for clarity.

In the example shown, the elongate shaft assembly 11200 includes an articulation system, indicated at 11800, which may include an articulation lock similar to the articulation locks 350, 810, and/or 10810 described above and which may be actuated in any of the various ways described herein. The articulation system 11800 includes a distal articulation driver 11820 that may comprise a portion of an articulation lock (not shown) or may otherwise interface only with an articulation control system configured to selectively move the distal articulation driver 11820 in a distal direction and a proximal direction to articulate the surgical end effector 11300. The articulation system 11800 further includes a central articulation link 11900 that is rotatably journaled on an articulation pin 11818 for rotation about an articulation axis B-B. In the illustrated construction, the central articulation link 11900 has a triangular shape that defines three end portions 11902, 11904, 11906. In the illustrated embodiment, the articulation system 11800 further includes a driver link 11910 that is pivotally coupled to an end of the distal articulation driver 11820 and an end 11902 of the central articulation link 11900. As will be described in greater detail below, movement of the distal articulation driver 11820 in the proximal and distal directions will cause the central articulation link 11900 to rotate or pivot about an articulation axis B-B.

The articulation system 11800 further includes an end effector driver link 11920 having a first end 11922 pivotally coupled to the elongate channel 11302. The second end 11924 of the end effector driver link 11920 is pivotally coupled to the end 11904 of the central articulation link 11900. The point at which the driver link 11910 attaches to the central articulation link 11900 and the point at which the second end 11924 of the end effector driver link 11920 attaches to the central articulation link 11900 may be disposed along a common axis OAS, but offset from the articulation axis B-B. See fig. 106. Second end 11924 of end effector driver link 11920 has a gear profile 11926 thereon that is configured for meshing engagement with a central articulation gear 11930 that is rotatably journaled on articulation pin 11818. When the distal articulation driver 11820 is moved in the distal direction DD, the central articulation link 11900 causes the second end 11924 of the end effector driver link 11920 to move in the clockwise direction CW while maintaining meshing engagement with the central articulation gear 11930. Movement of the articulation drive link 11920 in the clockwise direction also moves the surgical end effector 11300 in a clockwise direction relative to the elongate shaft assembly 11200 about the articulation axis B-B. See fig. 107. Similarly, movement of the distal articulation driver 11820 in the proximal direction will move the central articulation link 11900 in the counterclockwise CCW direction. Such movement of the central articulation link 11900 also moves the second end 11924 in the counterclockwise direction CCW while maintaining meshing engagement with the central articulation gear 11930. Movement of the articulation driver link 11920 in a counterclockwise direction pivots the surgical end effector 11300 relative to the elongate shaft assembly 11200 in a counterclockwise direction about the articulation axis B-B. See fig. 108.

Fig. 106 illustrates the surgical end effector 11300 in an unarticulated position relative to the elongate shaft assembly 11200. When in this unarticulated position, the end effector axis EA of the elongate channel 11302 is substantially aligned with the shaft axis SA-SA. In other words, the end effector axis EA defined by the elongate channel 10302 is aligned with the shaft axis SA-SA. As used herein, the term "and.. aligned" may mean "coaxially aligned" with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA.

Fig. 107 illustrates the position of the surgical end effector 11300 after being moved in a clockwise direction relative to the elongate shaft assembly 11200 to a fully articulated position in which the angle 11950 between the end effector axis EA and the shaft axis SA-SA is about ninety degrees (90 °). Fig. 108 illustrates the position of the surgical end effector 11300 after moving in a counterclockwise direction relative to the elongate shaft assembly 11200 to a fully articulated position in which the angle 11950 between the end effector axis EA and the shaft axis SA-SA is about ninety degrees (90 °). As can also be seen in fig. 107 and 108, the distal end 11201 of the elongate shaft assembly 11200 is notched on both sides of the shaft axis SA to allow the elongate channel 11302 to translate in a direction toward the shaft axis SA-SA (represented by arrow TD in fig. 107 and 108) to effectively shorten the distance between the distal end of the elongate channel 11302 and the articulation axis B-B. Such a configuration may represent a vast improvement over existing articulation joint configurations that are incapable of articulating the end effector to a ninety degree (90) position relative to the shaft axis (through a 180 degree path transverse to the axis). This embodiment also effectively reduces the footprint of the end effector when articulated by allowing the end effector to translate toward the shaft axis when articulated.

Referring to fig. 106, it can be observed that when the end effector 11300 is in the unarticulated position, the driver link 11910 is coupled to the first end of the central articulation link 11900 at a location positioned on one side of the shaft axis and the second end 11924 of the end effector driver link 11920 is attached to the end 11904 of the central articulation link 11900 at a location positioned on the opposite side of the shaft axis. The central articulation gear configuration serves to minimize backlash and to transmit such forces into the articulation pin 11818, which may increase the overall strength of the articulation joint as compared to other articulation joint configurations of similar size. When performing various surgical procedures that require transection in confined spaces and difficult access to the targeted soft tissue, such as in the chest or pelvic cavity, the ability to articulate the surgical end effector relative to a shaft attached thereto at a relatively high angle is often required. Existing end effectors suffer from an inability to articulate to angles greater than forty-five degrees (45) relative to the shaft axis. The above-described embodiments may overcome these drawbacks.

Fig. 109-111 illustrate portions of another surgical instrument 12010 that includes a surgical end effector 12300 operably interfacing with an elongate shaft assembly 12200 that can employ features of the various shaft assemblies disclosed herein. The surgical end effector 12300 can comprise substantially any of the various end effectors described herein, or it can comprise other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 12300 includes an elongate channel 12302 that can be adapted to support a surgical staple cartridge therein, for example. The elongate shaft assembly 12200 also includes a spine 12210 that is pivotally coupled to the elongate channel 12302 by an articulation joint 12270. In the illustrated construction, the elongate channel 12302 of the surgical end effector 12300 is configured to extend into the distal end portion 12213 of the spine 12210 and be operably coupled thereto by an articulation system 12800.

In the example shown, the articulation system 12800 includes a distal articulation driver 12820 that is pivotably coupled to the spine 12210 and the elongate channel 12302. As can be seen in fig. 109, the distal articulation driver 12820 is configured to movably extend on a first side of the shaft axis SA-SA. In addition, the articulation system 12800 also includes a second articulation link 12900 that is attached to the spine 12210 on a second side of the shaft axis SA. When the distal articulation driver 12820 is moved in the distal direction DD, the elongate channel 12302 is moved in the clockwise direction CW. During such articulation, the proximal end 12303 of the elongate channel 12302 translates in the direction indicated by arrow TD to reduce the end effector footprint. See fig. 110. Similarly, when the distal articulation driver 12820 is moved in the proximal direction PD, the elongate channel 12302 pivots in the counterclockwise CCW direction. During such articulation, the proximal end of the elongate channel 12302 translates in the direction represented by arrow TD to reduce the end effector footprint during articulation.

FIG. 109 illustrates the surgical end effector 12300 in an unarticulated position relative to the elongate shaft assembly 12200. When in this unarticulated position, the end effector axis EA of the elongate channel 12302 is substantially aligned with the shaft axis SA-SA. In other words, the end effector axis EA defined by the elongate channel 10302 is aligned with the shaft axis SA-SA. As used herein, the term "and.. aligned" may mean "coaxially aligned" with or merely parallel to the shaft axis SA-SA. Fig. 110 illustrates the surgical end effector 12300 after it has been moved in the clockwise CW direction to a fully articulated position relative to the elongate shaft assembly 12200. Fig. 111 illustrates the surgical end effector 12300 after it has been moved in a counterclockwise direction to a fully articulated position relative to the elongate shaft assembly 12200.

When performing various surgical procedures that require transection in confined spaces and difficult access to the targeted soft tissue, such as in the chest or pelvic cavity, the ability to articulate the surgical end effector relative to a shaft attached thereto at a relatively high angle is often required. However, in prior end effectors, a larger articulation angle typically created a greater moment around the articulation system, which may make the mechanism more susceptible to bending or breaking. The embodiments depicted in fig. 112-114 include features that may address those shortcomings of existing articulatable end effectors. Fig. 112-114 illustrate portions of another surgical instrument 13010 that includes a surgical end effector 13300 that operably interfaces with an elongate shaft assembly 13200 that can employ various features of the various shaft assemblies disclosed herein. Elongate shaft assembly 13200 defines a shaft axis SA-SA. Further, the surgical end effector 13300 may comprise substantially any of the various end effectors described herein, or it may comprise other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 13300 includes an elongate channel 13302 that can be adapted to support a surgical staple cartridge therein, for example. The elongate channel 13302 defines an end effector axis EA. The elongate shaft assembly 13200 also includes a spine 13210 that is pivotally coupled to the elongate channel 13302 by an articulation joint 13270. In the illustrated construction, the elongate channel 13302 of the surgical end effector 13300 is coupled to the spine 13210 by an articulation pin 13818 that defines an articulation axis B-B that is transverse to the shaft axis SA-SA. In fig. 112-114, the articulation axis B-B may coincide with the central axis of the articulation pin 13818, for example, and in these figures, substantially the same is highlighted in each figure. The ridge 13210 may otherwise be similar to the ridge 210 described above and support firing member and closure sleeve configurations as described herein, and is not specifically shown in fig. 112-114 for clarity.

In the example shown, the elongate shaft assembly 13200 includes an articulation system, indicated at 13800, which can include an articulation lock similar to the articulation locks 350, 810, and/or 10810 described above and which can be actuated in any of the various ways described herein. The articulation system 13800 includes a distal articulation driver 13820 that may comprise a portion of an articulation lock (not shown) or may otherwise interface only with an articulation control system configured to selectively move the distal articulation driver 13820 in a distal direction and a proximal direction to articulate the surgical end effector 13300 about an articulation axis B-B. The articulation system 13800 further includes a central articulation link 13900 that is rotatably journaled on the articulation pin 13818 for rotation about an articulation axis B-B relative to the distal end of the elongate shaft assembly 13200. In the illustrated configuration, the central articulation link 13900 has a triangular shape and defines three end portions 13902, 13904, 13906. In the illustrated embodiment, the articulation system 13800 further includes an intermediate drive link 13910 that is pivotally coupled to the end of the distal articulation driver 13820 and the end 13902 of the central articulation link 13900. As will be described in greater detail below, movement of the distal articulation driver 13820 in the proximal and distal directions will rotate the central articulation link 13900 about articulation axis B-B.

The articulation system 13800 further includes an end effector driver link 13920 having a first or distal driver link end 13922 having a slot 13923 therein. An end effector attachment member or pin 13960 is attached to the end effector 13300 and is received in the slot 13923. Such a configuration facilitates pivotal and translatable or axial travel (represented by arrow AT) of the pin 13960 within the slot 13923. The second or proximal driver link end 13924 of the end effector driver link 13920 is pivotally coupled to the end 13904 of the central articulation link 13900. The point at which the intermediate driver connection 13910 attaches to the central articulation connection 13900 and the point at which the second end 13924 of the end effector driver connection 13920 attaches to the central articulation connection 13900 may be disposed along a common axis OAS, but offset from the articulation axis B-B. See fig. 112. The second end 13924 of the end effector driver link 13920 has a gear profile 13926 thereon that is configured for meshing engagement with a gear profile 13930 formed on or otherwise attached to the spine 13210. When the distal articulation driver 13820 is moved in the proximal direction PD, the central articulation link 13900 moves the end effector 13300 relative to the distal end of the elongate shaft assembly 13200 in a counterclockwise direction CCW about the articulation axis B-B. During such movement, second end 11924 of end effector driver link 13920 remains in meshing engagement with gear profile 13930. Depending on the amount of proximal travel of the distal articulation driver 13820, the surgical end effector 13300 may be pivoted to the articulated position shown in fig. 113, wherein the end effector axis EA is perpendicular to the shaft axis SA-SA (represented by angle 13950 in fig. 113). Similarly, movement of the distal articulation driver 11820 in the distal direction DD will cause the end effector 13300 to move in a counterclockwise direction CCW about the articulation axis B-B relative to the distal end of the elongate shaft assembly 13200. During such movement, second end 11924 of end effector driver link 13920 remains in meshing engagement with gear profile 13930. Depending on the amount of distal travel of the distal articulation driver 13820, the surgical end effector 13300 may be pivoted to the articulated position shown in fig. 114, wherein the end effector axis EA is perpendicular to the shaft axis SA-SA (represented by angle 13952 in fig. 114).

As can be seen in fig. 112, the end effector axis EA is axially aligned with the shaft axis SA when in the unarticulated position. Further, as can be seen in fig. 112-114, the distal articulation driver 13820 and the intermediate driver 13910 are each supported for selective longitudinal travel along one lateral side of the axis SA, and the end effector attachment pin 13960 is positioned on a secondary lateral side of the end effector shaft EA that corresponds to a second lateral side of the shaft axis SA. Alternative embodiments may employ other means for applying articulation control motions to the central articulation link 13900. For example, the cable configuration may be attached directly to the central articulation link instead of the distal articulation drivers 13820 and 13910. In such a configuration, the central articulation link will pivot when a corresponding articulation system positioned in the handle or housing of the instrument tensions or pulls the cable. In other alternative embodiments, the distal articulation driver 13820 is directly coupled to the central articulation link 13900. For example, in such a configuration, the central articulation link 13900 may include a slot at this connection, rather than a pin, to enable rotation of the articulation axis B-B. In another embodiment, slot 13923 in end effector drive link 13920 may be replaced by a pin link. To effect articulation of the surgical end effector 13300 about the articulation axis B-B, the gear profile 13926 on the end effector driver coupling 13920 is cammed so as to remain in meshing engagement with the gear profile 13390 formed on or otherwise attached to the spine 13210.

The embodiment of fig. 112-114 is more robust than prior configurations and provides a greater range of articulation than joint configurations that cannot accommodate articulation of the end effector to a position ninety degrees (90 °) relative to the shaft axis (through a 180 degree path transverse to the shaft axis). This embodiment may also effectively reduce the footprint of the end effector when articulated by allowing the end effector to translate toward the shaft axis when articulated. Such a greater range of articulation may also be achieved where the articulation driver stroke length is generally less than that typically required for articulation with existing articulation joint configurations. The triangular central articulation link may also provide several advantages. A triangular (three-point) central articulation link connects the distal articulation driver (via the intermediate drive link), articulation pin, and end effector driver link together. Such a triangular central connection may provide improved resistance to forces that may undesirably articulate the end effector. Such a triangular link configuration may also provide higher resistance to bending forces that may be encountered by the articulation driver rod. In addition, such a configuration may also experience reduced backlash due to the direct connection of the central articulation link to the spine portion of the elongate shaft assembly. In the above configuration, the planetary gear rotates about a fixed gear positioned on the distal end of the elongate shaft. The slotted driver arm extends from the planetary gear and generates a torque that articulates the end effector at a higher angle to reduce the stroke length of the articulation driver. The slot allows the end effector to have a second center of rotation. The triangular central articulation link also reduces the flexion load of the articulation mechanism or backlash of the system. The larger the planet gear, the more mechanical advantage, but the smaller the planet gear, the less articulation and vice versa.

When performing various surgical procedures that require transection in confined spaces and difficult access to the targeted soft tissue, such as in the chest or pelvic cavity, the ability to articulate the surgical end effector relative to a shaft attached thereto at a relatively high angle is often required. Commercially available endocutters typically cannot articulate through angles in excess of forty-five degrees (45) relative to the elongate shaft. Fig. 115-117 illustrate portions of another surgical instrument 14010 that is capable of articulating ninety degrees (90 °) to both sides of an elongate shaft and provides a higher mechanical advantage than that obtainable with a plurality of commercially available endocutter configurations. As can be seen in these figures, the surgical instrument 14010 includes a surgical end effector 14300 that operably interfaces with an elongate shaft assembly 14200, which can employ various features of the various shaft assemblies disclosed herein. Elongate shaft assembly 14200 defines a shaft axis SA-S. Further, the surgical end effector 14300 can comprise substantially any of the various end effectors described herein, or it can comprise other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 14300 includes an elongate channel 14302, which can be adapted to support a surgical staple cartridge therein. The elongate channel 14302 defines an end effector axis EA. The elongate shaft assembly 14200 can include a spine 14210 pivotally coupled to the elongate channel 14302 by an articulation joint 14270. In the illustrated construction, the elongate channel 14302 of the surgical end effector 14300 is coupled to the spine 14210 by an articulation pin 14818 that defines an articulation axis B-B that is transverse to the shaft axis SA-SA. In fig. 115-117, the articulation axis B-B may coincide with the central axis of the articulation pin 14818, for example, and in these figures, substantially the same is highlighted in each figure. The spine 14210 may otherwise be similar to the spine 210 described above and support firing member and closure sleeve configurations as described herein, and is not specifically shown in fig. 115-117 for clarity.

In the example shown, the elongate shaft assembly 14200 includes an articulation system, designated 14800, which may include an articulation lock similar to the articulation locks 350, 810, and/or 10810 described above and which may be actuated in any of the various ways described herein. The articulation system 14800 includes a distal articulation driver 14820 that may comprise a portion of an articulation lock (not shown) or may otherwise interface only with an articulation control system that is configured to selectively move the distal articulation driver 14820 in a distal and proximal direction to articulate the surgical end effector 14300 about an articulation axis B-B. The articulation system 14800 also includes a central connector 14900 that is pivotally attached to the spine 14210 by a connector pin 14902. In the illustrated construction, the link pin 14901 defines a link axis LA about which the central link 14900 is pivotable, which is offset from the articulation axis B-B. In fig. 115-117, the link axis LA may coincide with a central axis of, for example, the link pin 14901, and in these figures, is substantially highlighted in each figure and is offset from and parallel to the articulation axis B-B. As can be seen in these figures, in the illustrated configuration, the central articulation link 14900 is pivotally coupled to the spine 14210 in an asymmetric configuration. More specifically, a first distance between the first end 14902 of the central articulation link 14900 and the link axis LA is less than a second distance between the second end 14904 of the central articulation link 14900 and the link axis LA.

In the illustrated embodiment, the articulation system 14800 also includes an intermediate driver connector 14910 that is pivotally coupled to an end of the distal articulation driver 14820 and a first end 14902 of the central articulation connector 14900. The articulation system 14800 also includes an end effector driver link 14920 that has a first or distal driver link end 14922 that is pivotally or movably coupled to the elongate channel 14302. The second or proximal driver link end 14924 of the end effector driver link 14920 is pivotally coupled to the second end 14904 of the central articulation link 14900. In the illustrated construction, the intermediate connector 14910 is the shortest of the three connectors 14910, 14900, and 14920 and has a slightly arcuate shape in at least one construction. The end effector driver connector 14920 is the longest of the three connectors 14910, 14900, and 14920 and also has a slightly arcuate shape in at least one configuration. When the distal articulation driver 14820 is moved in the distal direction DD, the central articulation link 14900 causes the end effector driver link 14920 to pull the end effector 14300 in a counterclockwise direction CCW about the articulation axis B-B relative to the distal end of the elongate shaft assembly 14200. See fig. 116. Depending on the amount of proximal travel of the distal articulation driver 14820, the surgical end effector 14300 may be pivoted to the articulated position shown in fig. 116, wherein the end effector axis EA is perpendicular to the shaft axis SA-SA (represented by angle 14950 in fig. 116). Similarly, movement of the distal articulation driver 14820 in the proximal direction PD will cause the end effector connector 14920 to push the end effector 14300 in a counterclockwise direction CCW about the articulation axis B-B relative to the distal end of the elongate shaft assembly 14200. See fig. 117. Depending on the amount of distal travel of the distal articulation driver 14820, the surgical end effector 14300 may be pivoted to the articulated position shown in fig. 117, wherein the end effector axis EA is perpendicular to the shaft axis SA-SA (represented by angle 14952 in fig. 117).

As can be seen in fig. 115, when in the unarticulated position, the end effector axis EA is axially aligned with the shaft axis SA-SA. As used herein, the term "and.. aligned" may mean "coaxially aligned" with or merely parallel to the shaft axis SA-SA. The embodiment of fig. 115-117 is more robust than prior configurations and provides a greater range of articulation than joint configurations that are not capable of articulating the end effector to a position ninety degrees (90 °) relative to the shaft axis (through a 180 degree path transverse to the shaft axis). This embodiment may also effectively reduce the footprint of the end effector 14300 as it articulates by allowing the end effector 14300 to translate toward the shaft axis SA-SA as it articulates. A greater range of articulation can be achieved while providing a greater amount of resistance to bending. The second attachment point (connecting pin 14901) to the spine 14210 of the elongate shaft assembly 14200 can reduce the amount of backlash experienced by the articulation joint 14270. The articulation joint configuration of fig. 115-117 may also provide a number of mechanical advantages relative to the amount of force required to articulate the end effector 14300. Further, when the asymmetric central connector 14900 is rotated one hundred eighty degrees (180 °), a substantial mechanical advantage may be obtained during dislocation of the joint. The end effector driver connection 14920 translates forward and backward to articulate the end effector 14300 about the articulation axis B-B. As the distal end 14914 of the smallest connector (intermediate connector 14910) rotates about its proximal end (the point of attachment to the distal articulation driver), the proximal end 14912 of the smallest connector (intermediate connector 14910) translates back and forth with the distal articulation driver 14820. As the distal end 14914 of the smallest connector 14910 pivots, a lever effect is created on the central (ground) connector 14900, which creates an articulation force mechanical advantage while reducing backlash experienced by the articulation system. The center (ground) link 14900 pivots about its pinned position (pin 14901) to push/pull the longest link (end effector driver 14920). The longest connection 14920 is then pivoted to articulate the end effector 14300.

As noted above, when performing various surgical procedures that require transection in confined spaces and difficult access to target soft tissue, such as in the chest or pelvic cavity, the ability to articulate the surgical end effector relative to a shaft attached thereto at relatively high angles is often required. Commercially available endocutters typically cannot articulate through angles in excess of forty-five degrees (45) relative to the elongate shaft. Fig. 118 and 119 illustrate portions of another surgical instrument 15010 that is capable of articulating ninety degrees (90 °) to one side of an elongate shaft while providing a higher mechanical advantage than is typically available with multiple commercially available endocutter configurations. As can be seen in these figures, the surgical instrument 15010 includes a surgical end effector 15300 that operably interfaces with an elongate shaft assembly 15200, which can employ a number of features of the various shaft assemblies disclosed herein. Elongate shaft assembly 15200 defines a shaft axis SA-SA. Further, the surgical end effector 15300 may include substantially any of the various end effectors described herein, or it may include other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 15300 includes an elongate channel 15302 that can be adapted to support a surgical staple cartridge therein. In other end effector embodiments that are not specifically configured to cut and staple tissue, the elements 15302 may comprise jaws or other portions of an end effector. The elongate channel 15302 defines an end effector axis EA. The elongate shaft assembly 15200 can include a spine 15210 pivotally coupled to an elongate channel 15302 by an articulation joint 15270. In the illustrated construction, the elongate channel 15302 of the surgical end effector 15300 is coupled to the spine 15210 by an articulation pin 15818 that defines an articulation axis B-B that is transverse to the shaft axis SA-SA. In fig. 118 and 119, the articulation axis B-B may coincide with the central axis of the articulation pin 15818, for example, and in these figures, substantially each figure will be highlighted. As can be seen in these figures, in the illustrated configuration, the articulation axis B-B is biased to one lateral side of the shaft axis SA-SA. In other words, the articulation axis B-B does not intersect the shaft axis SA-SA or the end effector axis EA. The ridge 15210 may otherwise be similar to the ridge 210 described above and support a firing member and closure sleeve configuration as described herein, and is not specifically shown in fig. 118-119 for clarity.

In the example shown, the elongate shaft assembly 15200 includes an articulation system, indicated at 15800, that can include an articulation lock similar to the articulation locks 350, 810, and/or 10810 described above and that can be actuated in any of a variety of ways described herein. The articulation system 15800 includes a distal articulation driver 15820 that may comprise a portion of an articulation lock (not shown) or may otherwise interface only with an articulation control system that is configured to selectively move the distal articulation driver 15820 in a distal direction and a proximal direction to articulate the surgical end effector 15300 about an articulation axis B-B. The articulation system 15800 further includes an end effector link 15900 that is pivotally attached to the distal end of the distal articulation driver 15820 and the elongate channel 15302 of the surgical end effector 15300. Thus, when the distal articulation driver 15820 is moved in the proximal direction PD, the surgical end effector 15300 pivots in the counterclockwise CCW direction about the articulation axis B-B.

As can be seen in fig. 118, the end effector axis EA is axially aligned with the shaft axis SA when in the unarticulated position. As used herein, the term "and.. aligned" may mean "coaxially aligned" with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. Advancement of the distal articulation driver 15820 in the proximal direction PD will cause the surgical end effector 15300 to pivot in a counterclockwise direction about the articulation axis B-B. The proximal end 15305 of the elongate channel 15302 and the distal end 15211 of the ridge 15210 are angled to enable the surgical end effector 15300 to pivot to a fully articulated position in which, for example, the end effector axis EA is perpendicular to the shaft axis SA (angle 15952 is ninety degrees (90 °)). See fig. 119. In one configuration, the proximal end 15305 of the surgical end effector 15300 is oriented at an end effector angle 15307 relative to the end effector axis EA, and the distal end 15211 of the elongate shaft assembly 15200 is oriented at a shaft angle 15213 relative to the shaft axis SA-SA. In one configuration, the end effector angle 15307 is equal to the shaft angle 15213. For example, the end effector angle 15307 and the shaft angle 15213 may each be about forty-five degrees (45 °).

The embodiment of fig. 118 and 119 further includes a flexible dislocation member 15910 attachable to a portion of the surgical instrument configured to selectively apply a pulling motion only to the dislocation member in the proximal direction PD. As can be seen in fig. 119, the articulation member 15910 is oriented to flex about articulation pin 15818 during articulation of the surgical end effector 15300. In alternative configurations, the dislocation members are elastic and are attached to the spine 15210 or other portion of the surgical end effector 15300 at a location proximate to the articulation joint 15270 and to the proximal end 15305 of the elongate channel 15302 or other portion of the surgical instrument 15010. The flexible dislocation member can be made of, for example, spring tempered stainless steel, plastic material, nylon, etc., and can be formed as a flat band or cable to assist in articulating the surgical end effector 15300 from an articulated position back to an unarticulated position. Once the clinician desires to return the surgical end effector 15300 to the unarticulated orientation, the distal articulation driver 15820 is moved in the distal direction DD, which will begin to move the surgical end effector in the clockwise CW direction and pull the dislocation member 15910 in the proximal direction PD. The dislocation member 15910 also serves to help pull the surgical end effector in the clockwise CW direction back to the unarticulated position.

The embodiment of fig. 118 and 119 may have several advantages over other commercially available articulatable surgical instruments. For example, such a configuration may experience lower backlash during articulation due to the minimal number of links. Such a configuration also provides an increased articulation angle over prior designs. As noted above, the surgical end effector can comprise various types of surgical stapling configurations described herein. Such a configuration employs an axially movable firing member or firing bar or firing beam that experiences a certain amount of deflection as the end effector articulates. The embodiments of fig. 118 and 119 can provide a firing member with an improved radius of curvature due to asymmetric articulation. In other words, the distal articulation driver 15820 and the end effector connector 15910 are positioned to one side of the shaft axis SA-SA, which provides more clearance to achieve a more gradual flexing of the firing member during articulation. Such an offset articulation axis configuration, which provides articulation in a single articulation direction transverse to the shaft axis, may also be referred to herein as an "asymmetric" articulation configuration or system, which may facilitate relatively high articulation angles. Additionally, in this embodiment, the articulation axis B-B is laterally offset from the shaft axis. In such embodiments, the distance between the intersection of the shaft axis and the end effector axis and the distal end of the end effector is relatively short when the device is in the articulated state, and vice versa when the device is in the unarticulated state.

Fig. 120-122 illustrate portions of another articulatable surgical instrument 16010 that includes a surgical end effector 16300 that operably interfaces with an elongate shaft assembly 16200 that can employ various features of the various shaft assemblies disclosed herein. The elongate shaft assembly 16200 defines a shaft axis SA-SA. Further, the surgical end effector 16300 may include substantially any of the various end effectors described herein, or it may include other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 16300 includes an elongate channel 16302 that may be adapted to support a surgical staple cartridge therein, for example. In other end effector embodiments that are not specifically configured to cut and staple tissue, the elements 16302 may comprise jaws or other portions of the end effector. The elongate channel 16302 defines an end effector axis EA. The elongate shaft assembly 16200 may include a spine 16210 pivotally coupled to the elongate channel 16302 by an articulation joint 16270. In the illustrated construction, the elongate channel 16302 of the surgical end effector 16300 includes a proximally projecting attachment arm 16309 with a proximally projecting attachment arm spring pin 16818 coupled to the ridge 16210, the spring pin defining an articulation axis B-B. The articulation axis B-B is transverse to the shaft axis SA-SA. In fig. 121 and 122, the articulation axis B-B can coincide with the central axis of the spring pin 16818, for example, and in each of these figures, is substantially highlighted. As can be seen in these figures, in the illustrated configuration, the articulation axis B-B is biased to one lateral side of the shaft axis SA-SA. In other words, the articulation axis B-B does not intersect the shaft axis SA-SA or the end effector axis EA. The ridge 16210 may otherwise be similar to the ridge 210 described above and support firing member and closure sleeve configurations as described herein, and is not specifically shown in fig. 120-122 for clarity. The spring pin 16818 is configured to apply a biasing force to the attachment arm 16309 to bias the attachment arm 16309 and the surgical end effector 16300 in the clockwise direction CW. Thus, the spring pin 16818 serves to bias the surgical end effector 16300 into the unarticulated position shown in fig. 121, wherein the end effector axis EA and the shaft axis SA-SA are axially aligned. As used herein, the term "and.. aligned" may mean "coaxially aligned" with or merely parallel to the shaft axis SA-SA.

In the example shown, the elongate shaft assembly 16200 also includes an articulation system, indicated at 16800, that may include an articulation lock similar to the articulation locks 350, 810, and/or 10810 described above and that may be actuated in any of the various manners described herein. The articulation system 16800 includes a distal articulation driver 16820 that may include a portion of an articulation lock (not shown) or may otherwise interface only with an articulation control system that is configured to selectively move the distal articulation driver 16820 in the distal and proximal directions to articulate the surgical end effector 16300 about the articulation axis B-B. The distal articulation member 16820 is pivotally pinned to the proximal end 16305 of the elongate channel 16302. As can be seen in fig. 121, the distal articulation driver 16820 is pinned to the elongate channel 16302 at a location on one side of the shaft axis SA-SA and the end effector axis EA. The articulation axis B-B is positioned opposite the point of the shaft axis where the distal articulation driver is attached to the elongate channel 16302. As can be seen in fig. 121, in the illustrated configuration, the point at which the distal articulation driver 16820 is attached to the elongate channel 16302 is distal of the articulation axis B-B. As the distal articulation driver 15820 moves in the proximal direction PD, the surgical end effector 16300 pivots in the counterclockwise CCW direction about the articulation axis B-B.

As can be seen in fig. 121, the end effector axis EA is axially aligned with the shaft axis SA when in the unarticulated position. As used herein, the term "and.. aligned" may mean "coaxially aligned" with or merely parallel to the shaft axis SA-SA. Advancement of the distal articulation driver 16820 in the proximal direction PD will cause the surgical end effector 16300 to pivot in a counterclockwise direction about the articulation axis B-B. Once the clinician desires to return the surgical end effector 16300 to the unarticulated orientation, the distal articulation driver 16820 is moved in the distal direction DD, which will begin to move the surgical end effector 16300 in the clockwise CW direction. The spring pin 16818 also serves to help pull the surgical end effector 16300 back in the clockwise CW direction to the unarticulated position.

Fig. 123-128 illustrate portions of another surgical instrument 17010 that includes a surgical end effector 17300 operably interfacing with an elongate shaft assembly 17200 that employs features of the various shaft assemblies disclosed herein. The surgical end effector 17300 may include substantially any of the various end effectors described herein, or it may include other forms of surgical end effectors configured to perform other surgical actions/procedures. For example, in the illustrated construction, the surgical end effector 17300 is adapted to cut and staple tissue and includes a first jaw in the form of an elongate channel 17302 configured to operably support a surgical staple cartridge 17304 therein. See fig. 123 and 124. The illustrated surgical end effector 17300 also includes a second jaw in the form of an anvil 17310 that is supported on the elongate channel 17302 for movement relative thereto. See fig. 123. The anvil 17310 may be movably actuated by one of the closure systems described herein. For example, a first closure drive system may be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end effector closure sleeve 272 that is pivotally attached to the closure sleeve 260 by a double pivot closure sleeve assembly 271 in any of the manners described herein. As described above, for example, axial movement of the closure sleeve 260 may be controlled by actuating a closure trigger. As the end effector closure sleeve 272 is advanced in the distal direction DD, the anvil 17310 is cammed closed. In at least one configuration, a spring (not shown) can be employed to pivot the anvil 17310 to an open position when the end effector closure sleeve 272 is retracted to a starting position.

As can be seen in fig. 123-128, the surgical end effector 17300 can be articulated relative to the elongate shaft assembly 17200 about the articulation joint 17270. In the example shown, the elongate shaft assembly 17200 includes an articulation system, indicated at 17800, that employs an articulation lock 17810 similar to the articulation locks 350, 810, 10810 described above. See fig. 124 and 125. Components of the articulation lock 17810 that are different than, for example, the articulation lock 810 and/or the articulation lock 350 and/or the articulation lock 10810 and that may be required to understand the operation of the articulation lock 17810 will be discussed in further detail below. As mentioned above, additional details regarding the joint motion LOCK 350 may be found in U.S. patent application Ser. No. 13/803,086 entitled "ARTICULATABLE SURGICAL INSTRUMENTS COMPLEMENTING AN ARTICULATION LOCK," now U.S. patent application publication 2014/0263541, the entire disclosure of which is incorporated herein by reference. The articulation lock 17810 can be configured and operable to selectively lock the surgical end effector 17300 in various articulation positions. Such a configuration enables the surgical end effector 17300 to rotate or articulate relative to the shaft closure sleeve 260 when the articulation lock 17810 is in its unlocked state.

With particular reference to fig. 125, the elongate shaft assembly 17200 includes a spine 210 configured to: first, a firing member (not shown) is slidably supported therein; and a second slidably supporting closure sleeve 260 (fig. 123) extending around spine 210. The spine 210 also slidably supports a proximal articulation driver 230. The proximal articulation driver 230 has a distal end 231 that is configured to operably engage the articulation lock 17810. The articulation lock 17810 also includes a shaft frame 17812 that is attached to the spine 210 in the various ways disclosed herein. The shaft frame 17812 is configured to movably support a proximal portion 17821 of the distal articulation driver 17820 therein. A distal articulation driver 17820 is movably supported within the elongate shaft assembly 17200 for selective longitudinal travel in the distal direction DD and the proximal direction PD along an articulation actuation axis AAA that is laterally offset from and parallel to the shaft axis SA-SA in response to articulation control motions applied thereto.

Still referring to fig. 124 and 125, in the illustrated construction, the shaft frame 17812 includes a distal end portion 17814 having a pivot pin 17818 formed thereon. The pivot pin 17818 is adapted to be pivotally received within a pivot hole 17397 formed in the pivot base portion 17395 of the end effector mounting assembly 17390. The end effector mounting assembly 17390 is attached to the proximal end 17303 of the elongate channel 10302 by a spring pin 17393 or other suitable member. The pivot pin 17818 defines an articulation axis B-B that is transverse to the shaft axis SA-SA. This configuration facilitates pivotal travel (i.e., articulation) of the end effector 17300 relative to the shaft frame 17812 about the articulation axis B-B.

As can be seen in fig. 125, a connection pin 17825 is formed on the distal end 17823 of the distal articulation link 17820 and is configured to be received within a hole 17904 in the proximal end 17902 of the cross-link 17900. The cross-link 17900 extends transversely across the shaft axis SA-SA and includes a distal end portion 17906. A distal attachment hole 17908 is disposed through a distal end portion 17906 of cross-link 17900 and is configured to pivotally receive a base pin 17398 therein extending from the bottom of a pivot base 17395 of end effector mounting assembly 17390. The base pin 17395 defines a link axis LA that is parallel to the articulation axis B-B. Fig. 124 and 127 illustrate the surgical end effector 17300 in an unarticulated position. In other words, the end effector axis EA defined by the elongate channel 17302 is aligned with the shaft axis SA-SA. As used herein, the term "and.. aligned" may mean "coaxially aligned" with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. Movement of the distal articulation driver 17820 in the proximal direction PD (in the various manners discussed herein) will cause the cross-link 17900 to pull the surgical end effector 17300 in the clockwise CW direction about the articulation axis B-B, as shown in fig. 126. Movement of the distal articulation driver 17820 in the distal direction DD will cause the cross-link 17900 to move the surgical end effector 17300 in a counterclockwise CCW direction about the articulation axis B-B, as shown in fig. 128. As can be seen in this figure, the cross-connect 17900 has a curved shape that allows the cross-connect 17900 to curve around the articulation pin 17818 as the surgical end effector 17300 is articulated in this direction. The articulation angle 17700 between the end effector axis EA and the shaft axis SA-SA is about sixty-five degrees (65 °) when the surgical end effector 17300 is in the fully articulated position on either side of the shaft axis SA-SA. Thus, the range of articulation on either of the shaft axes is one degree (1 °) to sixty-five degrees (65 °).

The surgical end effector 17300 of the embodiment illustrated in fig. 123-128 includes a surgical cutting and stapling device that employs a firing beam 220 of the various types and configurations described herein. However, the surgical end effector 17300 of this embodiment may include other forms of surgical end effectors that do not cut and/or staple tissue. In the illustrated construction, the intermediate support member 17950 is pivotally and slidably supported relative to the spine 210. As can be seen in fig. 125, the intermediate support member 17950 includes a slot 17952 adapted to receive a pin 17954 therein, the pin protruding from the spine 210. This configuration enables the intermediate support member 17950 to pivot and translate relative to the pin 17954 as the surgical end effector 17300 is articulated. A pivot pin 17958 protrudes from an underside of the intermediate support member 17950 to be pivotally received within a corresponding pivot hole 17399 provided in the base portion 17395 of the end effector mounting assembly 17390. The intermediate support member 17950 also includes a slot 17960 for receiving the firing beam 220 therethrough. The middle support member 17950 functions to provide lateral support to the firing beam 220 as it flexes to accommodate articulation of the surgical end effector 17300.

Fig. 129-131 illustrate portions of another surgical instrument 18010 that includes a surgical end effector 18300 operably interfacing with an elongate shaft assembly 18200 that employs features of the various shaft assemblies disclosed herein. The surgical end effector 18300 is adapted to cut and staple tissue and includes a first jaw in the form of an elongate channel 18302 configured to operably support a surgical staple cartridge therein. The illustrated surgical end effector 18300 also includes a second jaw in the form of an anvil 18310 that is supported on the elongate channel 18302 for movement relative thereto. The anvil 18310 may be movably actuated by one of the closure systems described herein.

Elongate shaft assembly 18200 includes a shaft ridge 18210 defining a shaft axis SA-SA that coincides with a center of elongate shaft assembly 18200. In other words, shaft axis SA-SA extends axially down the geometric center of elongate shaft assembly 18200. The ridge 18210 may otherwise be similar to the ridge 210 described above and support firing member and closure sleeve configurations as described herein, and is not specifically shown in fig. 129-131 for clarity. As can be seen in fig. 131, the surgical end effector 18300 can be articulated relative to the elongate shaft assembly 18200 about the articulation joint 18270. The articulation joint 18270 is used to couple the elongate channel 18302 to the distal end 18215 of the spine 18210. The surgical end effector 18300, and more particularly, the elongate channel 18302 of the surgical end effector 18300, defines an end effector axis EA that represents the axial center of the elongate channel 18302. When the surgical end effector 18300 is in the unarticulated orientation, the end effector axis EA is axially aligned with the shaft axis SA-SA, as shown in fig. 130. As used herein, the term "and.. aligned" may mean "coaxially aligned" with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. In the illustrated construction, the elongate channel 18302 of the surgical end effector 18300 includes a proximally projecting attachment arm 18309 coupled to the spine 18210 by a spring pin 18818 that defines an articulation axis B-B. The articulation axis B-B is transverse to the shaft axis SA-SA. In fig. 130 and 131, the articulation axis B-B may coincide with the central axis of the spring pin 18818, for example, and in these figures, substantially each figure will be highlighted. As can be seen in these figures, in the illustrated configuration, the articulation axis B-B is offset to one lateral side 18213 of the shaft axis SA-SA. In other words, the articulation axis B-B does not intersect the shaft axis SA or the end effector axis EA. The spring pin 18818 is configured to apply a biasing force to the attachment arm 18309 to bias the attachment arm 18309, and thus the surgical end effector 18300, in the clockwise direction CW. Thus, the spring pin 18818 serves to bias the surgical end effector 18300 to the unarticulated position shown in fig. 130, wherein the end effector axis EA and the shaft axis SA-SA are axially aligned.

The illustrated embodiment also includes an articulation system, indicated as 18800, that employs an articulation lock 18810 similar to the articulation locks 350, 810, 10810 described above. The articulation lock 18810 may be configured and operable to selectively lock the surgical end effector 18300 in various articulation positions. Such a configuration enables the surgical end effector 18300 to rotate or articulate relative to the elongate shaft assembly 18200 when the articulation lock 18810 is in its unlocked state. The articulation lock 18810 includes a distal articulation driver 18820 movably supported within the elongate shaft assembly 18200 for selective longitudinal travel in a distal direction DD and a proximal direction PD. The distal articulation driver 18820 is movable along an articulation actuation axis AAA that is laterally offset and parallel to the shaft axis SA-SA in response to articulation control motions applied thereto. In an alternative embodiment, the distal articulation driver 18820 does not include a portion of the articulation lock, but instead operably interfaces with an articulation motion source (in the handle or robotic system) for selectively axially advancing the distal articulation driver 18820 in the distal direction DD and retracting the distal articulation driver 18820 in the proximal direction PD. The distal articulation member 18820 is pivotally pinned to the proximal end 18305 of the elongate channel 18302. As can be seen in fig. 130, the distal articulation driver 18820 is pinned to the elongate channel 18302 at a location on one lateral side 18211 of the shaft axis SA-SA and the end effector axis EA. The articulation axis B-B is positioned on a lateral side 18213 of the shaft axis SA-SA opposite the point where the distal articulation driver 18820 is attached to the elongate channel 18302. As can be seen in fig. 130, in the illustrated configuration, the point at which the distal articulation driver 18820 is attached to the elongate channel 18302 is distal of the articulation axis B-B. As can be seen in fig. 130, the end effector axis EA is axially aligned with the shaft axis SA-SA when in the unarticulated position. Movement of the distal articulation driver 18820 in the proximal direction PD will cause the surgical end effector 18300 to pivot in the counterclockwise direction CCW about the articulation axis B-B. In other words, the surgical end effector 18300 can be articulated to a position on one side of the shaft axis SA that coincides with the first side 18211 of the spine 18210. Once the clinician desires to return the surgical end effector 18300 to the unarticulated orientation, the distal articulation driver 18820 is moved in the distal direction DD, which will begin to move the surgical end effector 18300 in the clockwise direction CW. The spring pin 16818 also serves to help draw the surgical end effector 18300 back in the clockwise CW direction to the unarticulated position.

The surgical end effector 18300 of the embodiment of fig. 129-131 includes a surgical cutting and stapling device that employs a firing beam 18220 of the various types and configurations described herein. For example, in one configuration, the firing beam 18220 may be a laminated configuration as described herein. In the illustrated embodiment, the firing beam 18220 is slidably supported within a channel 18230 formed in the spine 18210 and interfaces with various types of firing systems described herein that are configured to selectively advance the firing beam 18220 in the distal direction DD and retract the firing beam 18220 in the proximal direction PD. The distal end of the firing beam 18220 is coupled to or otherwise operably interfaces with a firing member (not shown) or a tissue cutting member (not shown) of the various types disclosed herein. For example, in at least one form, the firing member 18220 includes a tissue cutting surface and is configured to interact with staple support members that are operably supported within the staple cartridge to drive the staple support members (and the staples supported thereon) toward the anvil as the firing member 18220 is driven distally through the staple cartridge.

The articulation joint 18270 of the illustrated embodiment facilitates articulation of the surgical end effector 18300 in only one direction (CCW). In other words, the surgical end effector 18300 can be pivoted to an articulated position coincident with the first lateral side 18211 of the spine 18210. In one example, the surgical end effector 18300 may be articulated to the fully articulated position shown in fig. 131, where the angle 18950 between the end effector axis EA and the shaft axis is about seventy-five degrees (75 °). To accommodate this range of articulation, the distal end 18215 of the ridge 18210 has a notch 18217 adjacent the first side 18211 of the ridge 18210.

As described above, the firing beam 18220 is slidably supported within the channel 18220 provided in the spine 18210. In the illustrated construction, the passage 18230 includes a "first" or proximal portion 18232 that is axially aligned with the shaft axis SA-SA, and a "second" or distal portion 18234 that is not axially aligned with the shaft axis SA-SA. In the illustrated embodiment, distal portion 18234 of passage 18230 is open at the distal end of the spine at a location that is not axially aligned with shaft axis SA-SA. For example, as can be seen in fig. 130 and 131, the distal portion 18234 of the passage 18230 is open at a location (labeled as 18236 in fig. 130 and 131) that is laterally offset to and parallel to the second lateral side 18213 of the shaft axis SA-SA. Additionally, in at least the illustrated embodiment, the distal portion 18234 of the passage 18230 is curved such that the firing beam 18220 begins to bend in the articulation direction before the firing beam 18220 clears the spine 18210. Such a configuration provides a higher bending radius for the firing beam 18220 than the bending radius of firing beams of other articulatable end effector configurations that articulate in one direction, and wherein the firing beam exits the spine 18210 while being aligned with the shaft axis SA-SA. Further, in the illustrated construction, the passage 18230 includes a first or proximal portion 18232 axially aligned with the shaft axis SA-SA, a second arcuate portion 18233 that curves in a first direction away from the shaft axis SA-SA, and a third arcuate segment 18235 that curves toward the shaft axis SA-SA. As can be seen in fig. 130 and 131, the location 18236 of the firing beam 18220 away from the spine 18210 is positioned on a second side 18213 of the shaft axis SA-SA opposite the first side 18211 to which the end effector 18300 articulates. Thus, the distal portion 18234 of the passage 18230 serves to position or bias the firing beam 18220 to an "off-axis position" relative to the shaft axis SA-SA (a position that is not axially aligned with the shaft axis SA-SA). Such a configuration provides a gradual curve to the firing beam 18220 as it exits the spine 18210. This feature may be used to reduce the likelihood of buckling of the firing beam 18220 as it crosses the articulation joint 18270 into the surgical end effector 18300. In other configurations, the proximal portion of the passageway may be laterally offset from the shaft axis. In other configurations, a proximal portion of the passageway can be axially aligned with the shaft axis, and a distal portion of the passageway can be angled to one side of the shaft axis such that when the firing beam exits the distal portion of the passageway, the firing beam shaft is axially offset to the opposite side of the shaft axis to which the end effector can articulate. In such a configuration, the distal portion of the passageway may be relatively straight rather than curved. In other configurations, the distal and proximal portions of the passageway may be positioned along a common axis that is laterally offset from the shaft axis on a side opposite the side to which the end effector is articulatable. All such configurations offset the firing beam off center when off the spine and allow for a larger bend radius without increasing the space distal to the articulation axis.

The firing beams employed in the various surgical instruments disclosed herein are configured to flex sufficiently to accommodate the various articulation positions of the end effector. In some configurations, the firing system may actually include a firing bar 18600 coupled to a flexible firing beam 18700 at a link or interconnect 18702. See fig. 132. The firing bar 18600 is slidably supported in a spine 18210 of the elongate shaft assembly and is translatable in response to a drive motion initiated, for example, in the handle of the surgical instrument or by a robotic system. In various circumstances, the firing bar 18600 can resist deformation, twisting, and/or bowing when the firing motion is transmitted. For example, the firing bar 18600 can be constructed of rigid and/or inflexible materials and/or structures.

At linkage 18702, firing bar 18600 engages with a downwardly projecting key 18701 of flexible firing beam 18700 (see, e.g., fig. 132A). For example, the key 18701 may extend into an elongated aperture 18606 formed in the distal end 18604 of the firing bar 18600. The firing bar-key engagement is configured to transmit translation of the firing bar 18600 to the flexible firing beam 18700. In various instances, the link 18702 can be located proximal to the articulation joint 18270 such that a flexible firing beam 18700 extends from the link 18702 and through the articulation joint 18270.

In the configuration depicted in fig. 133, 135, the flexible firing beam 18700 includes a plurality of lateral portions or layers 18702a, 18702b, 18702c, 18702d, 18702e, 18702 f. In various instances, portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may be held together and may be movable and/or displaceable relative to one another. For example, the lateral portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f can be secured together at a distal end of the flexible firing beam 18700. Portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may be welded, integrated, fastened, and/or otherwise secured together, for example, at distal ends thereof. At least a portion of the remaining length of lateral portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may be configured to be movable and/or displaceable relative to adjacent lateral portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702 f. For example, as the flexible firing beam 18700 bends at the articulation joint 18270, the lateral portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may shift into a staggered and/or offset configuration between the bend of the articulation joint 18270 and the proximal end of the flexible firing beam 18700. Fig. 134 illustrates the proximal end 18704 of one form of firing beam 18700' in which the lateral portions 18702a, 18702b, 18702c, 18702d, 18702e even contact one another when the firing beam 18700 is straight. Fig. 135 shows another compliant beam configuration in which layer portions 18702a, 18702b, 18702c, 18702d, 18702e, and 18702f are staggered at proximal end 18704.

Referring again to fig. 132 and 133, the proximal end 18704 of the flexible firing beam 18700 extends into a cavity 18608 formed in the distal end 18604 of the firing bar 18600, and the portions 18702a, 18702d, 18702e, 18702d, 18702e, 18702e of the flexible firing beam 18700 can extend through the articulation joint 18270 along the firing path. As the end effector 18300 is articulated relative to the elongate shaft assembly 18200, the flexible firing beam 18700 and portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f thereof can bend within the articulation joint 18270. In such instances, the lateral portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f adjacent to the lateral portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may extend along a changing path as the end effector 18300 is articulated. During articulation, the bumper member 18610 is supported in the cavity to accommodate displacement of the portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702 f. For example, the bumper member 18610 may rotate within the cavity 18608 as the firing beam portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f expand relative to one another, such that the portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may become uniformly loaded by the bumper member 18610 during firing (i.e., advancing in a distal direction).

The bumper member 18610 may or may not be made of a compliant material. Further details AND details regarding the above-described FIRING beam/FIRING bar configuration, as well as other configurations that may be used with the various embodiments disclosed herein, may be found in U.S. patent application Ser. No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS A ARTICULATED END EFFECTOR AND MEANS FOR ADJUSE THE FIRING STROKE OF A FIRING MEMBER," the entire disclosure OF which is hereby incorporated by reference.

Fig. 132A depicts a coupling configuration 18702 'that employs a one-way latching configuration to limit distal travel of the firing bar 18600'. As can be seen in this figure, the firing bar 18600 'includes a lockout aperture 18620 having an angled distal surface 18622 and a vertical surface 18624 that is perpendicular or transverse to the direction of travel of the firing bar 18600'. The locking member 18630 is movably supported within a locking cavity 18640 in the shaft spine 18210. A lock spring 18642 is supported in the lock cavity 18640 to bias the lock member 18630 into sliding contact with the firing link 18600'. In the illustrated embodiment, the lock member 18630 has an angled distal surface 18632 and a vertical rear surface 18634 and is sized to extend into the lock aperture 18620 when the firing bar 18600' has been moved to a predetermined distal-most position. As the firing bar 18600 'is advanced distally to the position shown in fig. 132A, the spring 18642 of the lock member 18630 biases the lock member into the lock aperture 18620, further preventing any further distal movement of the firing bar 18600'. However, when the firing bar 18600' is retracted in the proximal direction PD, the firing bar 18600' will contact the angled distal surface 18632 and bias the locking member 18630 into the locking cavity 18640 in the shaft spine 18210 to allow the firing bar 18600' to move past the locking member 18630 in the proximal direction PD.

Fig. 136-137 illustrate portions of another surgical instrument 19010 that includes a surgical end effector 19300 that operably interfaces with an elongate shaft assembly 19200 that employs features of the various shaft assemblies disclosed herein. For example, elongate shaft assembly 19200 is similar to elongate shaft assembly 200' described in detail above, except for the differences discussed below. In the example shown, the elongate shaft assembly 19200 includes a dual articulation link configuration, designated 19800, that employs an articulation lock 19810 similar to the articulation locks 350, 810, and 10810 described above. The articulation lock 19810 can be configured and operable to selectively lock the surgical end effector 19300 in various articulation positions. Such a configuration enables the surgical end effector 19300 to rotate or articulate relative to the elongate shaft assembly 19200 when the articulation lock 19810 is in its unlocked state. A first distal articulation driver 19820 is supported within the spine 19210 of the elongate shaft assembly 19200 for selective longitudinal travel in the distal direction DD and the proximal direction PD in response to corresponding articulation control motions applied thereto. The downwardly projecting pivot pin 19818 is adapted to be pivotally received within a pivot hole (not shown) formed in a proximal end portion of the elongate channel 19302 of the surgical end effector 19800. Such a configuration facilitates pivotal travel of the elongate channel 19302 of the surgical end effector 19300 relative to the spine 19210 about an articulation axis B-B defined by the pivot bore. As described above, the articulation axis B-B is transverse to the shaft axis SA-SA defined by the elongate shaft assembly 19200.

Still referring to fig. 136 and 137, the dual articulation link configuration 19800 is configured to establish a "push/pull" configuration when an articulation force is applied thereto by the first distal articulation driver 19820. As can be seen in these figures, the first distal articulation driver 19820 has a first drive rack 19842 formed therein. The first articulation rod 19844 projects distally from the first distal articulation driver 19820 and has a first axial slot 19845 therein. Further, the first end effector connector 19850 is movably coupled to the surgical end effector 19300. For example, in one configuration, the distal end 19852 of the first end effector connector 19850 is pivotally pinned to the elongate channel 19302 of the end effector 19300. The proximal end 19854 of the first end effector link 19850 includes a first pin 19856 that is slidably received within a first axial slot 19845 in the first articulation rod 19844 of the first distal articulation driver 19820. The dual articulation link configuration 19800 also includes a second distal articulation driver 19860 having a second drive rack 19862 formed therein. A second distal articulation driver 19860 is movably supported within the elongate shaft assembly 19200 for longitudinal travel in the distal direction DD and the proximal direction PD. A second articulation rod 19864 projects distally from the second distal articulation driver 19860 and has a second axial slot 19865 therein. Further, the second end effector connection 19870 is movably coupled to the surgical end effector 19300. For example, in one configuration, the distal end 19872 of the second end effector connector 19870 is pivotally pinned to the elongate channel 19302 of the end effector 19300. The proximal end 19874 of the second end effector link 19870 includes a second pin 19876 that is slidably received within a second axial slot 19865 in a second articulation rod 19864 of a second distal articulation driver 19860. As can be seen in fig. 136, the first end effector connection 19850 is attached to the elongate channel 19302 to travel longitudinally along a first articulation axis FA that is parallel and located on a first axial side of the shaft axis SA-SA. The second end effector connection 19870 is attached to the elongate channel 19302 to travel longitudinally along a second articulation axis SDA that is parallel and away from a second lateral side of the shaft axis SA-SA. See fig. 136. Thus, by simultaneously pulling on one of the end effector links 19850, 19870, the surgical end effector 19300 will articulate about articulation axis B-B relative to the elongate shaft assembly 19200. In the illustrated construction, the first axial slot 19845 and the second slot 19865 are parallel to each other and to the shaft axis SA-SA. As can be further seen in fig. 136 and 137, the first end effector link 19850 and the second end effector link 19870 each have a curved or arcuate shape that curves about the articulation axis B-B. Such curved shapes may also result in a greater range of articulation. Additionally, each of the first and second axial slots 19845, 19865 may each have a predetermined length, which facilitates a desired amount of articulation.

As can also be seen in fig. 136 and 137, a proximal pinion gear 19880 and a distal pinion gear 19882 are centrally disposed between and in meshing engagement with the first drive rack 19842 and the second drive rack 19862. In alternative embodiments, only one pinion gear or more than two pinion gears may be used. Therefore, at least one pinion gear is employed. The proximal and distal pinion gears 19880 and 19882 are rotatably supported in the spine 19810 so as to be free to rotate relative thereto such that the pinion gear 19880,19882 acts to drive the second distal articulation driver 19860 in the proximal direction PD as the first distal articulation driver 19820 moves in the distal direction DD. Likewise, when the first distal articulation driver 19820 is pulled in the proximal direction PD, the pinion gear drive 19880,19882 drives the second distal articulation driver 19860 in the distal direction DD. As the first distal articulation driver 19820 moves in the proximal direction, the pinion gear 19880,19882 is used to drive the second distal articulation driver 19860 in the distal direction DD. Such movement of the first distal articulation driver 19820 and the second distal articulation driver 19860 causes the surgical end effector 19300, and more specifically the elongate channel 19302 of the surgical end effector 19300, to pivot about an articulation axis B-B in the articulation direction of arrow 19821. Conversely, to articulate the end effector 19300 in the direction of arrow 19823, the first distal articulation driver 19820 is moved in a distal direction, which causes the pinion gear 19880,19882 to drive the second distal articulation driver 19860 in the proximal direction PD. Such movement of the first distal articulation driver 19820 and the second distal articulation driver 19860 causes the surgical end effector 19300, and more specifically the elongate channel 19302 of the surgical end effector 19300, to pivot about an articulation axis B-B in the articulation direction of arrow 19823.

The dual solid link articulation configuration 19800 and variations thereof can provide a greater range of articulation for a surgical end effector than other articulatable surgical end effector configurations. In particular, the solid link articulation configurations disclosed herein may facilitate an articulation range in the range of one degree (1 °) to sixty-five degrees (65 °). The use of at least one pinion gear to interface between the distal articulation drivers enables the end effector to be "pushed" and "pulled" into position, which may also reduce the amount of "tilt," or undesirable or accidental movement of the end effector during use. The dual solid link articulation configurations disclosed herein also include articulation systems having improved strength characteristics compared to other articulation system configurations. As the end effector articulates, the proximal ends of the dual links translate forward and rearward along their respective slots. These slots can provide the system with higher resistance to bending forces on the double link and reduce backlash of the system by constraining the action of the double link.

Fig. 138-142 illustrate portions of another surgical instrument 20010 that includes a surgical end effector 20300 that operably interfaces with an elongate shaft assembly 20200 that employs features of the various shaft assemblies disclosed herein. For example, the elongate shaft assembly 20200 is similar to the elongate shaft assembly 200' described in detail above, except for the differences discussed below. The downwardly projecting pivot pin 20818 is adapted to be pivotally received within a pivot hole 20305 formed in a proximal end portion of the elongate channel 20302 of the surgical end effector 20300. See fig. 139. Such a configuration facilitates pivotal travel of the elongate channel 20302 of the surgical end effector 20300 relative to the spine 20210 about an articulation axis B-B defined by the pivot hole 20305. Articulation axis B-B is transverse to shaft axis SA-SA defined by elongate shaft assembly 20200. In the example shown, the elongate shaft assembly 20200 includes a dual articulation connector configuration, indicated at 20800, that employs an articulation lock 20810 (fig. 139) similar to the articulation locks 350, 810, and 10810 described above. The articulation lock 20810 may be configured and operable to selectively lock the surgical end effector 20300 in various articulation positions. Such a configuration enables the surgical end effector 20300 to rotate or articulate relative to the elongate shaft assembly 20200 when the articulation lock 20810 is in its unlocked state. A first distal articulation driver 20820 is supported within the spine 20210 of the elongate shaft assembly 20200 for selective longitudinal travel along a first articulation axis FA in the distal direction DD and the proximal direction PD in response to corresponding articulation control motions applied thereto. The first articulation axis FA is parallel to and positioned to a first lateral side of the shaft axis SA-SA. The first distal articulation driver 20820 includes a first proximal drive rack 20842 and a first distal drive rack 20844 formed therein. The dual articulation linkage configuration 20800 also includes a second distal articulation driver 20860 having a second proximal drive rack 20862 and a second distal drive rack 20864 formed therein. A second distal articulation driver 20860 is movably supported within the elongate shaft assembly 20200 for longitudinal travel along a second articulation axis SDA in the distal direction DD and the proximal direction PD. The second articulation axis SDA is parallel to and positioned to a second lateral side of the shaft axis SA-SA. See fig. 138. The first distal articulation driver 20820, 20860 operably interfaces with the central articulation member 20850. As can be seen in fig. 140, the central articulation member 20850 is pivotally attached to the shaft spine 20210 by a pin 20851 that serves to define a gear axis GA about which the central articulation member 20850 may pivot. The gear axis GA is parallel to the articulation axis BB. See fig. 139. The central articulation member 20850 includes a body portion 20852 having a gear portion 20854 formed thereon. Gear portion 20854 is in meshing engagement with first distal drive rack 20844 and second distal drive rack 20864.

The surgical end effector 20300 of the embodiment shown in fig. 138-142 comprises a surgical cutting and stapling device. The elongate channel 20302 is configured to operably support a surgical staple cartridge (not shown) and an anvil assembly 20310. The surgical end effector 20300 also employs firing beams (not shown) of the various types and configurations described herein. In the illustrated construction, the intermediate support member 20950 is pivotally and slidably supported relative to the spine frame 20810. As can be seen in fig. 140, the intermediate support member 20950 includes a central body portion 20952 that defines a central slot 20954 that is configured to slidably receive a firing member therethrough to provide lateral support to the firing member as it traverses the articulation joint 20270 from the elongate shaft assembly 20200 to the elongate channel 20302. A proximal tongue 20955 projects proximally from the body portion 20952 to movably couple to the central articulation member 20850. In the illustrated construction, the attachment pin 20960 extends through a proximal aperture 20956 in the proximal tongue 20955. The attachment pin 20960 is received within an attachment slot 20856 disposed in a body portion 20852 of the central articulation member 20850. The proximal tongue 20955 also includes an elongated slot 20957 configured to receive the pivot pin 20211 formed in the shaft ridge 20210 therein. See fig. 139. The intermediate support member 20950 also includes a distal tongue 20958 that is movably coupled to the proximal end of the elongate channel 20302. As can be further seen in fig. 139, a coupler assembly 20970 pivotally couples the intermediate support member 20950 to the elongate channel 20302. More specifically, the coupler assembly 20970 includes a body plate 20972 having an end effector attachment pin 20974 protruding therefrom that is configured to extend through a first pivot hole 20307 in the elongate channel 20302 and a distal pivot hole 20959 in the distal tongue 20958 of the intermediate support member 20950. Such a configuration serves to facilitate pivotal travel of intermediate support member 20950 relative to elongate channel 20302 about end effector pivot axis EPA defined by end effector attachment pin 20974. As can be seen in fig. 139, the end effector pivot axis EPA is parallel to the articulation axis B-B. In the illustrated construction, the multiple support link assembly 920 further includes a proximal support link 940 and a distal support link 950. See fig. 139. Specific details regarding the operation of the proximal and distal support links and the intermediate support member have been discussed in detail above and will not be repeated for the sake of brevity.

The dual articulation driver configuration 20800 is configured to establish a "push/pull" configuration when an articulation force is applied thereto by the first distal articulation driver 20820. As can also be seen in fig. 138, 139, 141 and 142, a proximal pinion gear 20880 and a distal pinion gear 20882 are centrally disposed between and in meshing engagement with the first proximal drive rack 20842 and the second proximal drive rack 20862. In alternative embodiments, only one pinion gear or more than two pinion gears may be used. Therefore, at least one pinion gear is employed. The proximal pinion gear 20880 and the distal pinion gear 20882 are rotatably supported in the ridges 20810 to freely rotate relative thereto such that, as the first distal articulation driver 20820 moves in the distal direction DD, the pinion gear 20880,20882 acts to drive the second distal articulation driver 20860 in the proximal direction PD. Likewise, when the first distal articulation driver 20820 is pulled in the proximal direction PD, the pinion gear 20880,20882 drives the second distal articulation driver 20860 in the distal direction DD. As the first distal articulation driver 20820 moves in the proximal direction, the pinion gear 20880,20882 is used to drive the second distal articulation driver 20860 in the distal direction DD. Such movement of the first distal articulation driver 20820 and the second distal articulation driver 20860 articulates the surgical end effector 20300, and more specifically the elongate channel 20302 of the surgical end effector 20300, about the articulation axis B-B in the articulation direction of arrow 20821 through the central articulation member 20850 of the intermediate support member 20950. See fig. 141. Conversely, to articulate the end effector 20300 in the direction of arrow 20823, the first distal articulation driver 20820 is moved in the distal direction DD, which causes the pinion gear 20880,20882 to drive the second distal articulation driver 20860 in the proximal direction PD. Such movement of the first distal articulation driver 20820 and the second distal articulation driver 20860 causes the surgical end effector 20300, and more specifically the elongate channel 20302 of the surgical end effector 20300, to pivot about an articulation axis B-B in the articulation direction of arrow 20823. See fig. 142.

The dual solid articulation driver configuration 20800 and its variations may provide a greater range of articulation for the surgical end effector than other articulatable surgical end effector configurations. In particular, the dual solid drive articulation configuration disclosed herein may facilitate an articulation range within a sixty-five degree (65 °) range. The use of at least one pinion gear to interface between the distal articulation drivers enables the end effector to be "pushed" and "pulled" into position, which may also reduce the amount of "tilt," or undesirable or accidental movement of the end effector during use. The dual solid drive articulation configurations disclosed herein also include articulation systems having improved strength characteristics compared to other articulation system configurations.

Fig. 143 and 144 illustrate a portion of an elongate shaft assembly 21200 that is substantially similar to elongate shaft assembly 1200 described above, except for various differences discussed in further detail below. As can be seen in fig. 143, the elongate shaft assembly 21200 includes an articulation lock 21810 that is substantially similar to articulation locks 810 and 1810 and operates in substantially the same manner. As can be seen in fig. 22, the elongate shaft assembly 21200 includes a shaft frame 21812 that includes a portion of a shaft frame 21210. A first distal articulation driver 21820 is movably supported within the elongate shaft assembly 21200 for selective longitudinal travel in the distal direction DD and the proximal direction PD in response to articulation control motions applied thereto. The shaft frame 21812 also includes a distal end portion 21814 having a pivot pin 21818 formed thereon. The pivot pin 21818 is adapted to be pivotally received within a pivot hole (not shown) provided in a distal pulley 21340 that is non-rotatably formed on the proximal end 21320 of the elongate channel 21302 of the surgical end effector 21300. See fig. 144. This configuration facilitates pivotal travel (i.e., articulation) of the elongate channel 21302 of the surgical end effector 21300 relative to the shaft frame 21812 about an articulation axis B-B defined by the pivot hole and the pin 21818. The shaft frame 21812 further includes a centrally disposed lumen 21817, and a distal notch 21819 positioned between the distal end 21814 and the centrally disposed lumen 21817.

The shaft assembly 21200 also includes a second distal articulation drive 21860 that includes a cable member 21862 rotatably journaled on a proximal pulley assembly 21840 and a distal pulley 21340. In one form, the cable member 21862 comprises a cable made of, for example, stainless steel, tungsten, aluminum, titanium, or the like. The cable may be braided or a multi-strand structure, with a different number of strands to achieve the desired level of tensile strength and flexibility. For example, in various configurations, the cable member 21862 may have a diameter in the range of 0.03 inches to 0.08 inches, and more preferably in the range of 0.05 to 0.08 inches. Preferred cables may be made, for example, from 300 series stainless steel-half hard to full hard. For example, in various configurationsThe cable 21862 may also be coated with, for example

Copper, etc. to improve lubricity and/or reduce stretching. A first ear 21863 is attached to one end of the cable 21862 and a second ear 21864 is attached to the other end of the cable 21862 by, for example, crimping. See fig. 144.

Still referring to fig. 144, the cable member 21862 is coupled to the distal end 21821 of the first distal articulation driver 21820 by a coupler assembly 21830. The coupler assembly 21830 includes a coupler body 21832 that includes a proximal ear 21834 formed therein and a distal ear 21836 formed therein. The first ear 21863 is configured to be retainably received within the first ear cavity 21834 and the second ear 21836 is configured to be retainably received within the second ear cavity 21836. Other fastener configurations, screws, rivets, clamps, adhesives, etc. may also be used. When the cable member 21862 is journaled on the pulleys 21840 and 21340, the coupler assembly 21830 is free to move axially within the distal recess 21819 in the shaft frame 21812 in response to axial movement of the first distal articulation driver 21820. The articulation motion generated by the axial movement of the first distal articulation driver 21820 is transmitted to the second distal articulation driver 21860 or the cable 21862. An attachment ball or ear 21866 is attached to the cable 21862 and is received within a groove or pocket (not shown) formed in the distal pulley 21340. Thus, movement of the ring-shaped member 21862 is transferred to the surgical end effector 21300 and, more specifically, to the elongate channel 21302 of the surgical end effector 21300 for articulation of the end effector about an articulation axis B-B. Thus, when the first distal articulation driver 21820 is moved in the distal direction DD, the cable member 21862 articulates the surgical end effector 21300 about the articulation axis B-B in one articulation direction, and when the first distal articulation driver 21820 is moved in the proximal direction PD, the cable member 21862 articulates the surgical end effector 21300 about the articulation axis B-B in the opposite articulation direction.

In the illustrated construction, the proximal pulley assembly 21840 is configured to selectively introduce tension into the cable member 21862. For example, as can be seen in fig. 144, the proximal pulley assembly 21840 includes a proximal pulley 21842 rotatably mounted on a pulley mount or bearing 21844. The axis of the pulley mount 21844 is concentric with the central pulley axis CPA such that the proximal pulley 21842 is free to rotate on the pulley mount 21844. The pulley mount 21844 is attached to the shaft frame 21812 by an eccentric mounting shaft 21846 that is attached to the pulley mount 21844. In other words, the central axis MSA of the mounting shaft 21846 is offset from the central pulley axis CPA (and the central axis of the pulley mount). See fig. 143. The mounting shaft 21846 is sized to be frictionally received within a mounting hole 21813 provided in the shaft frame 21812. A hexagonal socket 21848, configured to receive a standard hexagonal wrench, is disposed in pulley mount 21844. See fig. 143. Thus, by inserting a hex wrench into the hex socket 21848 and rotating the mounting shaft 21846 in the appropriate direction, the tension in the cable member 21862 can be increased. Such action will cause the mounting shaft 21846 and the pulley mount 21844 to rotate. Since the central axis CPA of the pulley mount 21844 is offset from the central axis MSA of the mounting shaft 21846, the central axis CPA may be moved further away from the central axis of the distal pulley 21340 (which may be coaxial with the articulation axis B-B), increasing the tension in the cable member 21862.

In addition to the various differences discussed in further detail below, fig. 145-147 illustrate a portion of an elongate shaft assembly 22200 that is substantially similar to the elongate shaft assembly 1200 described above. Those components of the elongate shaft assembly 1200 that have been discussed in detail above are identified with like element numbers and will not be discussed in further detail for the sake of brevity except as may be necessary to understand the operation of the shaft assembly 22200. As can be seen in fig. 147, the elongate shaft assembly 22200 includes an articulation lock 22810 that is substantially similar to the articulation locks 810 and 1810 and operates in substantially the same manner. As can be seen in fig. 147, the elongate shaft assembly 22200 includes a shaft frame 22812 that includes a portion of a shaft spine 22210. A first distal articulation driver (omitted from fig. 145-147 for clarity) is movably supported within the elongate shaft assembly 22200 for selective longitudinal travel in the distal direction DD and the proximal direction PD in response to articulation control motions applied thereto. The shaft frame 22812 also includes a distal end portion 22814 having a pivot pin 22818 formed thereon. The pivot pin 22818 is adapted to be pivotally received within a pivot hole 22342 formed in a distal pulley 22340 that is non-rotatably formed on the proximal end portion 22320 of the elongate channel 22302 of the surgical end effector 22300. See fig. 147. This configuration facilitates pivotal travel (i.e., articulation) of the elongate channel 22302 relative to the shaft frame 22812 about an articulation axis B-B defined by the pivot hole 22342 and the pin 22818. The shaft frame 22812 also includes a centrally disposed cavity 22817, and a distal notch 22819 positioned between the distal end 22814 and the centrally disposed cavity 22817.

The shaft assembly 22200 further includes a second distal articulation driver 22860 that includes a cable member 1862 rotatably journaled on a proximal pulley assembly 22840 and a distal pulley 22340. In one form, the cable member 1862 comprises a cable made of, for example, stainless steel, tungsten, aluminum, titanium, or the like. The cable may be braided or a multi-strand structure, with a different number of strands to achieve the desired level of tensile strength and flexibility. For example, in various configurations, the cable member 1862 may have a diameter in the range of 0.03 inches to 0.08 inches, and more preferably in the range of 0.05 to 0.08 inches. Preferred cables may be made, for example, from 300 series stainless steel-half hard to full hard. For example, in various configurations, the cables may also be coated, for example

Copper, etc. to improve lubricity and/or reduce stretching. A first ear 1863 is attached to one end of the cable and a second ear 1864 is attached to the other end of the cable 1862 by, for example, crimping.

Referring now to fig. 145 and 147, the cable member 1862 is coupled to the distal end 1821 of the first distal articulation driver by a coupler assembly 1830. The articulation driver may include the distal articulation driver portion of the articulation lock 22810 and is not shown in fig. 145 and 147 for clarity. The coupler assembly 1830 includes an upper coupler portion (not shown) and a lower coupler portion 1834 formed on the distal end of a first distal articulation driver (not shown). Lower coupler portion 1834 is formed with two cradles 1835 configured to receive ears 1862,1864 therein. A pair of attachment pins 1836 are configured to be pressed into holes (not shown) in the upper coupler portion (not shown) to attach the two coupler portions together. Other fastener configurations, screws, rivets, adhesives, etc. may also be used. When the cable member 1862 is journaled on the proximal pulley assembly 22840 and the distal pulley 22340, the coupler assembly 1830 is free to move axially within the distal recess 22819 in the shaft frame 22812 in response to the axial movement of the first distal articulation driver. The articulation motion resulting from the axial movement of the first distal articulation driver is transmitted to the second distal articulation driver 22860 or the cable member 1862. An attachment ball or ear 1866 is attached to the cable member 1862 and received in a groove or pocket 1342 formed in the distal pulley 22340. Thus, movement of the cable member 1862 is transferred to the surgical end effector 22300, and more specifically, to the elongate channel 22302 of the surgical end effector 22300 to articulate the end effector about the articulation axis B-B. Thus, when the first distal articulation driver is moved in the distal direction DD, the cable members 1862 articulate the surgical end effector 22300 about the articulation axis B-B in one articulation direction, and when the first distal articulation driver is moved in the proximal direction PD, the cable members 1862 articulate the surgical end effector 22300 about the articulation axis B-B in the opposite articulation direction.

In the illustrated construction, the proximal pulley assembly 22840 is configured to selectively introduce tension into the cable member 1862. For example, as can be seen in fig. 147, the proximal pulley assembly 22840 includes a proximal pulley 22842 rotatably mounted on a pulley mount or bearing 22844. The pulley mount 22844 is attached to a mounting block 22846 that is movably received within an axial mounting cavity 22821 formed in the axle frame 22812. Tension screws 22823 are positioned within axle frame 22812 to adjust the position of mounting block 22846 within axial mounting cavity 22821. See fig. 145 and 147. Tightening the tension screw 22823 inward will cause the end 22825 of the tension screw 22823 to bias the mounting block 22846 in a proximal direction to introduce tension in the cable member 1862. Such action will move the central axis CPA of the proximal pulley 22842 a tensioning distance DT away from the central axis of the distal pulley 22340. Thus, as the tensioning distance DT increases, the tension in the cable member 1862 also increases.

Fig. 148 and 149 depict an alternative proximal pulley assembly 22840' that can be used to tension the cable member 1862. For example, as can be seen in fig. 148, the proximal pulley assembly 22840' includes a proximal pulley 22842 rotatably mounted on a pulley mount or bearing 22844. The pulley mount 22844 is attached to a mounting block 22846 that is movably received within an axial mounting cavity 22821 formed in the axle frame 22812. In this configuration, tension cam 22850 is attached to eccentric mounting spindle 22854. Eccentrically mounted spindle 22854 defines a central axis MSA' offset from the central axis of tensioning cam 22850. As can be seen in fig. 149, the mounting spindle 22854 has a knurled outer surface and is adapted to be received within a knurled bore 22855 in the axle frame 22812'. A hexagonal socket 22856, configured to receive a standard hexagonal wrench, is provided in the mounting spindle 22854. See fig. 149. Thus, by inserting a hex wrench into the hex socket 22856 and rotating the mounting spindle 22854 in the appropriate direction, the tension in the cable member 1862 can be increased. Rotation of the mounting spindle 22854 will rotate the tension cam 22852 and cam the mounting block 22846 within the axial slot 22821 in the proximal direction PD to introduce tension in the cable member 1862. Such action will move the central axis CPA of the proximal pulley 22842 a tensioning distance DT away from the central axis of the distal pulley 22340. Thus, as the tensioning distance DT increases, the tension in the cable member 1862 also increases.

Fig. 150 shows another second distal articulation driver 23860 that includes a cable member 1862 rotatably journaled on a proximal pulley 23842 and a distal pulley 22340. A first ear 1863 is attached to one end of cable 1862 and a second ear 1864 is attached to the other end of cable 1862 by, for example, crimping. The cable member 1862 is coupled to the distal end 1821 of the first distal articulation driver 1820 by a coupler assembly 1830 in the manner described herein. In this embodiment, a cable tensioning assembly 23900 is employed to introduce a desired amount of tension into the cable member 1862. As can be seen in fig. 150, the cable tensioning assembly 23900 includes: a mounting bracket 23902 mounted on one lateral side of the axle frame; and a tension roller assembly 23910 oriented to contact the cable member 1862 adjacent the second lateral side of the shaft frame. The tension roller assembly 23910 includes a lateral bracket 23912 that is movably coupled to the mounting bracket 23902. In the illustrated construction, lateral support 23912 is configured for threaded engagement with mounting support 23902. The tensioning rollers 23914 are mounted to the lateral brackets 23912 that contact the cable member 1862. To increase the tension in the cable member 1862, the lateral bracket 23912 moves in the lateral direction LD toward the mounting bracket. Such movement causes the tensioning rollers 23914 to move laterally inward toward the mounting member and contact the cable member 1862 to bias the cable member 1862 in a lateral direction LD transverse to the rotational direction RD1 and the rotational direction RD2, thereby increasing tension in the cable member 1862.

Fig. 151 shows another second distal articulation drive 23860' that includes a cable member 1862 rotatably journaled on a proximal pulley (not shown) and a distal pulley (not shown). A first ear 1863 is attached to one end of cable 1862 and a second ear 1864 is attached to the other end of cable 1862 by, for example, crimping. The cable member 1862 is coupled to the distal end 1821 of the first distal articulation driver 1820 by a tension assembly 1830' in the manner described herein. In this embodiment, the distal end 1821 'of the first distal articulation driver 1820' includes a proximal splint 1823 'and a distal splint 1825'. The distal clamp plate 1825' is movably attached to the proximal clamp plate 1823' by a tensioning screw member 23900 '. In the illustrated construction, the tension screw member 23900' includes: a first or proximal threaded portion 23922 that is threaded into a threaded hole 23940 in the proximal splint 1823' in a first thread direction; and a second or distal threaded portion 23924 that is threaded into the threaded aperture 23942 in the distal clamp plate 1825' in a second thread direction opposite the first thread direction. An actuating nut 23926 is secured to the screw member 23900' at a central location between the first and second threaded portions 23922, 23924. The tensioning screw 23900' may be rotated by using a wrench or other suitable tool to rotate the actuating nut 23926. Rotation of the tensioning screw 23900 'in a first direction will cause the proximal and distal splints 1823', TA to be pulled toward each other in the first direction along a tensioning axis TA that is parallel to the cable member axis CA. As the proximal and distal splints 1823', 1825' move toward each other, the first and second ears 1863, 1864 also move toward each other to introduce tension into the cable member 1862. Rotation of the tensioning screw 23920 in a second, opposite direction will drive the first clamp plate and the second clamp plate away from each other along the tensioning axis TA. This movement of first strap 1823 'and second strap 1825' away from each other will allow first ear 1863 and second ear 1864 to move away from each other, thereby reducing the tension in cable member 1862.

Fig. 152 illustrates a closure sleeve 260 that can be used to close and/or open an anvil of an end effector 300, as described in detail above, or in other words, a closure sleeve that can be used to close a movable jaw or a jaw of a surgical end effector. As shown in the cross-sectional view in this figure, the closure sleeve 260 includes a proximal end 261 having an annular slot 262 therein. Such a configuration is used to attach the closure sleeve 260 to the closure shuttle for axial travel therewith while enabling the closure sleeve 260 to rotate relative to the closure shuttle about the shaft axis. As also described above, the closure shuttle is axially actuated by a corresponding closure system or closure drive system configured to generate a closure actuation motion. The closure sleeve 260 also includes openings 266 that allow a mount on the rotary nozzle to extend therethrough to seat within a recess in the spine. Such a configuration facilitates rotation of the shaft ridge and closure sleeve 260 about the shaft axis as the nozzle is rotated relative to the handle. As described above, the elongate shaft assembly 200 can also include a switch drum 500 rotatably received on the closure sleeve 260. See fig. 3 and 4. The switching drum 500 includes a hollow shaft segment 502 having a shaft boss 504 formed thereon for receiving the outwardly projecting actuating pin 410 therein. In various circumstances, the actuation pin 410 extends through the slot 267 into a longitudinal slot 408 provided in the locking sleeve 402 to facilitate axial movement of the locking sleeve 402 when engaged with the proximal articulation driver 230. For further details on these structures and their operation, see above. As discussed further above, the closure sleeve 260 also includes a dual pivot closure sleeve assembly to facilitate attachment of the closure sleeve 260 to the end effector closure sleeve 272. Upper and lower tangs 264, 265 are formed on the distal end of the closure sleeve 260 to facilitate such attachment in the various manners described above.

As also described above, to close the anvil of the end effector (or to apply a closing motion to the jaws or other portion of the end effector), the closure sleeve 260 is axially advanced in the distal direction DD upon actuation of the closure system or closure drive system. The axial distance that the closure sleeve 260 must travel over the spine to move the anvil (or jaw) to the closed position is referred to as the "closure stroke". The maximum axial distance that the closure sleeve must move to fully close the jaws or other portion of the end effector may be referred to herein as the "fully closed travel distance". For example, the distance may comprise the total axial distance that the closure sleeve 260 moves from the starting or non-articulated position to the ending position corresponding to the fully closed end effector position. In one embodiment, the full closure travel distance of the closure sleeve 260 is, for example, about 0.230 inches.

Fig. 153 illustrates a multi-piece closure member assembly 24260 that is configured to be movably supported on a spine assembly (not shown) of the various types of elongate shaft assemblies disclosed herein. As described below, the "distal closure member" or "distal closure sleeve" 24400 is configured to move an "axial closure distance" on the spine assembly that is less than a "full closure stroke distance" that the corresponding "proximal closure member" or "proximal closure sleeve" 24261 moves in response to application of a closure actuation motion from the closure system. As can be seen in fig. 153, the proximal closure sleeve 24261 may be identical to the portion of the closure sleeve 260 proximate the point of reduced diameter of the closure sleeve 260. Accordingly, those features of the proximal closure sleeve 24261 that are identical to the features of the closure sleeve 260 are labeled with the same element numbers in fig. 153. The proximal closure sleeve 24261 differs from the closure sleeve 260 in the following manner. First, the proximal closure sleeve 24261 terminates in a "necked-down portion" generally designated 24300 and includes an internal stop wall or contact portion 24302. In the illustrated embodiment, the distal end 24402 of the distal closure sleeve 24400 is identical to the distal end of the closure sleeve 260 and includes upper and lower tangs 264, 265 to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. The proximal end 24404 of the distal closure sleeve 24400 slidably extends through an opening 24304 in a necked-down portion or distal end 24300 of the proximal closure sleeve 24261. The proximal end 24404 of the distal closure sleeve portion 24400 flares outwardly to prevent separation of the distal closure sleeve 24400 from the proximal closure sleeve 24261 while facilitating a relative sliding action between these components. Still referring to fig. 153, such a configuration facilitates the proximal closure sleeve 24261 to travel an axial distance in the distal direction DD prior to axial advancement of the distal closure sleeve 24400. This distance is referred to as the "near travel zone" or "dead zone," which is labeled 24307. For example, in one configuration, the proximal closure sleeve 24261 is configured to move through a full closure stroke distance of 0.230 inches. For example, in such a configuration (see fig. 153), the "proximal axial length" DZ of the proximal travel zone 24307 can be, for example, in the range of 0.050 inches to 0.150 inches. Thus, the proximal axial length DZ is less than a full closure stroke distance that the proximal closure sleeve 24261 has moved from the start position to an end position, which corresponds to a fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial travel of the distal closure sleeve during actuation of the closure system. Such a configuration also enables the diameter of the distal closure sleeve 24400 to be smaller than the diameter of the proximal closure sleeve 24261.

Fig. 154 illustrates another multi-piece closure member assembly 25260 that can be used in connection with the various configurations of elongate shaft assemblies described herein, including a spine assembly or configuration upon which a closure member assembly 25260 can be movably supported. In this embodiment, the axial stroke of the distal closure sleeve 25400 is less than the axial stroke of the proximal closure sleeve 25261 as the proximal closure sleeve 25261 is axially advanced through a full closure stroke or sequence by the closure system. The proximal closure sleeve 25261 may be identical to the portion of the closure sleeve 260 near the point of reduced diameter of the closure sleeve 260. Accordingly, those features of the proximal closure sleeve 25261 that are identical to features of the closure sleeve 260 are labeled with the same element numbers. The proximal closure sleeve 25261 interfaces with a closure system or closure drive system in the manner described above, so when the closure system is actuated, the proximal closure sleeve 25261 will travel axially the same distance as the closure sleeve 260 travels when actuated. The proximal closure sleeve 25261 differs from the closure sleeve 260 in the following manner. First, the proximal closure sleeve 25261 terminates in a necked-down portion generally designated 25300. The distal end 24402 of the distal closure sleeve portion 24400 is identical to the distal end of the closure sleeve 260 and includes upper and lower tangs to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. The proximal end 25404 of the distal closure sleeve 25400 slidably extends through an opening 25304 in the necked-down portion 25300 of the proximal closure sleeve 25261. The proximal end 25404 of the distal closure sleeve 25400 includes an opening 25406 through which the central tab member 25306 extends. The central tab member 25306 serves to prevent the distal closure sleeve 25400 from separating from the proximal closure sleeve 25261. Further, the proximal end 25404 includes diametrically opposed slots 25308 configured to receive corresponding upper and lower tabs 25310 therein. Such a configuration facilitates advancement of the proximal closure sleeve 25261 an axial distance in the distal direction DD prior to axial advancement of the distal closure sleeve 24400. The space between the tab 25310 and the bottom of the slot 25308 is referred to as the "proximal travel zone" or "dead zone," which is labeled 25307. Proximal closure sleeve 25261 is configured to move through a full closure stroke distance of 0.230 inches. For example, in such a configuration (see fig. 154), the "proximal axial length" DZ of the proximal travel region 25307 can be, for example, in the range of 0.050 inches to 0.150 inches. Thus, the proximal axial length DZ is less than the full closure stroke distance that the proximal closure sleeve 25261 is moved from the starting position to the end position, which corresponds to the fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial travel of the distal closure sleeve during actuation of the closure system. Such a configuration also enables the diameter of the distal closure sleeve 25400 to be smaller than the diameter of the proximal closure sleeve 25261.

Fig. 155 illustrates another two-piece closure member assembly 26260 that can be used in connection with the various configurations of elongate shaft assemblies described herein, including a spine assembly or configuration upon which closure member assembly 26260 can be movably supported. In this embodiment, as the proximal closure sleeve 26261 is axially advanced through the full closure stroke or sequence by the closure system, the axial stroke of the distal closure sleeve 26400 is less than the axial stroke of the proximal closure sleeve 26261. The proximal closure sleeve 26261 may be identical to the portion of the closure sleeve 260 near the point of reduced diameter of the closure sleeve. Accordingly, those features of the proximal closure sleeve portion 26261 that are identical to the features of the closure sleeve 260 are labeled with the same element numbers. The proximal closure sleeve portion 26261 interfaces with the closure system in the manner described above, so that when the closure system or closure drive system is actuated, the proximal closure sleeve portion 26261 may travel axially the same distance as the closure sleeve 260 traveled when actuated. The proximal closure sleeve 26261 differs from the closure sleeve 260 in the following manner. First, the proximal closure sleeve 26261 has a flanged distal end 26300. Specifically, an annular flange 26302 extends inwardly from distal end 26300 and defines an opening 26304. The distal end of the distal closure sleeve 26400 is identical to the distal end of the closure sleeve 260 and includes an up tang and an down tang to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. The proximal end 26404 of the distal closure sleeve 26400 slidably extends through an opening 26304 in the distal end 26300 of the proximal closure sleeve 26261. The proximal end 26404 of the distal closure sleeve 26400 extends through the opening 26304 and includes an outwardly extending annular flange 26406 that cooperates with the inwardly extending annular flange 26302 to prevent the distal closure sleeve 26400 from separating from the proximal closure sleeve 26261. Further, the proximal closure sleeve 26261 includes a stop portion proximal to the proximal end 26300. In the illustrated construction, the stop portion includes an inwardly extending curled portion 26306. Such a configuration facilitates the proximal closure sleeve 26261 to travel an axial distance in the distal direction DD before the crimped portion 26306 contacts the annular flange 26406 to axially drive the distal closure sleeve 26400 in the distal direction DD. The space between the crimped portion 26306 and the outwardly extending flange 26406 is referred to as a "proximal travel zone" or "dead zone," labeled 26307. For example, the proximal closure sleeve 26261 is configured to move through a full closure stroke distance of 0.230 inches. For example, in such a configuration (see fig. 154), the "proximal axial length" DZ of the proximal travel zone 26307 can be, for example, in the range of 0.050 inches to 0.150 inches. Thus, the proximal axial length DZ is less than a full closure stroke distance that the proximal closure sleeve 26261 is axially moved from the start position to an end position, which corresponds to a fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial travel of the distal closure sleeve during actuation of the closure system. Such a configuration also enables the diameter of the distal closure sleeve 26400 to be smaller than the diameter of the proximal closure sleeve 26261.

Fig. 156 illustrates another two-piece closure member assembly 27260 that can be used in connection with the various configurations of elongate shaft assemblies described herein, including a spine assembly or configuration upon which a closure member assembly 27260 can be movably supported. In this embodiment, as the proximal closure sleeve 27261 is axially advanced through the full closure stroke or sequence by the closure system, the axial stroke of the distal closure sleeve 27400 is less than the axial stroke of the proximal closure sleeve 27261. The proximal closure sleeve portion 27261 may be the same as the portion of the closure sleeve 260 near the point of reduced diameter of the closure sleeve. Accordingly, those features of the proximal closure sleeve portion 27261 that are identical to the features of the closure sleeve 260 are labeled with the same element numbers. The proximal closure sleeve portion 27261 interfaces with the closure system or closure drive system in the manner described above, so when the closure system or closure drive system is actuated, the proximal closure sleeve 27261 may travel axially the same distance as the closure sleeve 260 travels when actuated. The proximal closure sleeve 27261 differs from the closure sleeve 260 in the following manner. First, the proximal closure sleeve 27261 has a flanged distal end 27300. Specifically, an annular flange 27302 extends inwardly from distal end 27300 and defines an opening 27304. The distal end of the distal closure sleeve 27400 is identical to the distal end of the closure sleeve 260 and includes superior and inferior tangs to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. The proximal end 27404 of the distal closure sleeve 27400 slidably extends through an opening 27304 in the distal end 27300 of the proximal closure sleeve 27261. The proximal end 27404 of the distal closure sleeve 27400 extends through the opening 27304 and includes an outwardly extending annular flange 27406 that cooperates with the inwardly extending annular flange 27302 to prevent separation of the distal closure sleeve 27400 from the proximal closure sleeve 27261. Further, a stop ring 27305 is attached to the proximal closure sleeve 27261 within the distal end 27300. For example, the stop ring 27305 may be welded to the proximal closure sleeve 27261. Stop ring 27305 includes an inwardly extending proximal stop flange 27306. Such a configuration facilitates the proximal closure sleeve 27261 traveling an axial distance in the distal direction DD before stop flange 27306 contacts annular flange 27406 to axially drive the distal closure sleeve portion 27400 in the distal direction DD. The space 27307 between the proximal stop flange 27306 and the outwardly extending flange 27406 is referred to as a "proximal travel zone" or "dead zone". For example, in one configuration having a full closure stroke distance of 0.230 inches, the "proximal axial length" DZ of the proximal travel zone 27307 may be, for example, in the range of 0.050 inches to 0.150 inches. Thus, the proximal axial length DZ is less than a full closure stroke distance that the proximal closure sleeve 27261 has moved axially from the starting position to an ending position, which corresponds to a fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial travel of the distal closure sleeve during actuation of the closure system. Such a configuration also enables the diameter of the distal closure sleeve 27400 to be smaller than the diameter of the proximal closure sleeve 27261.

Fig. 157-158 illustrate another multi-piece closure sleeve embodiment 28260 in which the distal closure sleeve portion 28400 moves a shorter distance than the proximal closure sleeve portion 28261 moves when the closure system is actuated through a full closure stroke or sequence. The proximal closure sleeve portion 28261 may be substantially identical to the portion of the closure sleeve 260 near the point of reduced diameter of the closure sleeve. Accordingly, those features of the proximal closure sleeve portion 28261 that are identical to the features of the closure sleeve 260 are labeled with the same element numbers. The proximal closure sleeve portion 28261 interfaces with the closure system in the manner described above, so when the closure system is actuated, the proximal closure sleeve portion 28261 can travel axially the same distance as the closure sleeve 260 travels when actuated. The proximal closure sleeve portion 28261 differs from the closure sleeve 260 in the manner discussed below. First, the proximal closure sleeve portion 28261 is configured to interface with a closure stroke reduction assembly (generally designated 29000).

As can be seen in fig. 157-158, in the illustrated configuration, the closure stroke reduction assembly 29000 includes a proximal mounting ring 29002 having a proximal hub portion 29004 on which the distal end 28300 of a proximal closure sleeve 28261 is received and attached. For example, the distal end 28300 of the proximal closure sleeve 28261 may be attached to the proximal hub portion 29004 by welding, adhesives, or the like. Thus, the proximal mounting ring 29002 will move axially with the proximal closure sleeve 28261. As can be further seen in fig. 157 and 158, an inwardly extending proximal flange 29006 extends from a proximal end of the proximal central portion 29004. A bore 29008 is provided through the proximal flange 29006 to slidably receive the shaft spine assembly 2210, 2212 therethrough. A distal tapered member 29010 is attached to the distal end of the proximal mounting ring 29002. The distal tapered member 29010 may be attached to the proximal mounting ring 29002 by, for example, welding, adhesive, etc., and may slide freely over the distal closure sleeve portion 28400 as the proximal mounting ring 29002 is advanced distally.

The proximal mounting ring 29002 is slidably supported on the distal mounting ring 29020, which is attached to the distal closure sleeve portion 28400. The distal mounting ring 29020 includes a distal portion 29022 having a proximal mounting hub 29024 protruding therefrom. The proximal mounting hub 29024 has a diameter that is smaller than the diameter of the distal portion 29022 of the distal mounting ring 29020. The proximal mounting hub 29024 may be attached to the proximal end 28404 of the distal closure sleeve portion 28400 by welding, adhesive, or the like. A proximal hub portion 29004 of the proximal mounting ring 29002 is slidably received on the proximal mounting hub 29024 for axial travel thereon. The compression springs 29032 are received within spring cavities 29030 formed between a distal portion 29022 of the distal mounting ring 29020 and a proximal hub portion 29004 of the proximal mounting ring 29002. When the closure system is in the unarticulated configuration, the proximal flange 29006 of the proximal hub portion 29004 is spaced apart from the proximal end 28404 of the distal closure sleeve 28400 by a "proximal travel zone" or "proximal dead zone" 29009. The proximal axial length of the proximal travel zone 29009 is designated DZ. Spring cavity 29030 may also be referred to as a "distal travel zone" or "distal dead zone" and has a distal axial length DS, which may include the dead zone axial length DZ plus the amount of clearance required to accommodate compression spring 29032 when in a fully compressed state. For example, in one configuration having a full closure stroke distance of 0.230 inches, the "proximal axial length" DZ of the proximal travel zone 29009 can be, for example, in the range of 0.050 inches to 0.150 inches, and the distal axial length DS can be in the range of 0.100 inches to 0.200 inches plus the length required to accommodate a fully compressed compression spring 29032. In other words, in the illustrated configuration, DS is always greater than DZ. Thus, the proximal axial length DZ is less than a full closure stroke distance that the proximal closure sleeve 27261 has moved axially from the starting position to an ending position, which corresponds to a fully closed state of the end effector. Such a configuration facilitates the proximal closure sleeve portion 28261 to travel an axial distance in the distal direction DD before the proximal flange 29006 of the proximal mounting ring 29002 contacts the proximal end 28404 of the distal closure sleeve portion 28400 to axially drive the distal closure sleeve portion 28400 in the distal direction DD. The closure stroke reduction assembly 29000 is provided in multiple pieces to facilitate assembly. This configuration serves to reduce the amount of axial travel of the distal closure sleeve portion 28400 during actuation of the closure system. Such a configuration employs a distal closure sleeve portion 28400 that has an outer diameter that is smaller than the outer diameter of the proximal closure sleeve portion 28261. In alternative embodiments, the closure travel reduction assembly may be positioned anywhere within the shaft assembly (e.g., within the nozzle portion, along the length of the shaft, in the articulation joint, or at the end effector pivot). In particular, there may be a slot at the end effector pivot/joint to allow for dead travel during closure.

The surgical instrument systems described herein are actuated by an electric motor; however, the surgical instrument systems described herein may be actuated in any suitable manner. In various circumstances, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger. The motor may comprise one or more parts of the robot control system.

The surgical instrument systems described herein have been described in connection with the deployment and deformation of staples; however, the embodiments described herein are not so limited. For example, various embodiments are contemplated in which fasteners other than staples, such as clamps or tacks, are deployed. Moreover, various embodiments are also contemplated that utilize any suitable means for sealing tissue. For example, an end effector according to various embodiments may include an electrode configured to heat and seal tissue. In addition, for example, an end effector according to certain embodiments may apply vibrational energy to seal tissue.

The surgical instrument systems described herein are actuated by one or more electric motors; however, the surgical instrument systems described herein may be actuated in any suitable manner. In various circumstances, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger.

Examples

Example 1: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to and laterally offset from the shaft axis. The surgical end effector defines an end effector axis and is configured to be selectively articulated between a non-articulated position in which the effector axis is axially aligned with the shaft axis to a maximum articulated position on one side of the shaft axis in which the end effector axis is perpendicular to the shaft axis. An articulation system operably interfaces with the surgical end effector to selectively move the surgical end effector between an unarticulated position and an articulated position.

Example 2: the surgical instrument of embodiment 1 wherein the articulation system comprises an articulation drive member operably coupled to the surgical end effector for selectively applying push and pull motions thereto.

Example 3: the surgical instrument of embodiment 1 or 2, wherein the articulation system comprises a dislocation member configured to selectively apply only a pulling motion to the surgical end effector.

Example 4: the surgical instrument of embodiments 1, 2, or 3, wherein the articulation system comprises an end effector driver link coupled to the surgical end effector. A distal articulation driver is coupled to the end effector driver link and is configured to selectively apply a pushing motion and a pulling motion thereto. The dislocation member is attached to the surgical end effector and is configured to apply only a pulling motion thereto.

Example 5: the surgical instrument of embodiments 1, 2, or 3, wherein the articulation system comprises an end effector driver link coupled to the surgical end effector. A distal articulation driver is coupled to the end effector driver link and is configured to selectively apply a pushing motion and a pulling motion thereto. The dislocation member is configured to apply a dislocation motion to the surgical end effector.

Example 6: the surgical instrument of embodiments 1, 2, 3, 4, or 5, wherein the surgical end effector is pivotally coupled to the elongate shaft assembly by a spring pin that defines an articulation axis and that is configured to apply an articulation biasing motion to the surgical end effector.

Example 7: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical instrument also includes a surgical end effector defining an end effector axis. The articulation joint is configured to facilitate articulation of the surgical end effector relative to the elongate shaft assembly between a non-articulated position in which the end effector axis is axially aligned with the shaft axis and a fully articulated position in which the end effector axis is perpendicular to the shaft axis. The surgical instrument further comprises means for applying articulation motions to the surgical end effector. The means for applying is positioned along only one lateral side of the shaft axis.

Example 8: the surgical instrument of embodiment 7, wherein the proximal end of the surgical end effector is angled relative to the end effector axis, and wherein the distal end of the elongate shaft assembly is angled relative to the shaft axis.

Example 9: the surgical instrument of embodiment 8, wherein the proximal end of the surgical end effector is oriented at an end effector angle relative to an end effector axis, and wherein the distal end of the elongate shaft assembly is oriented at a shaft angle relative to a shaft axis.

Example 10: the surgical instrument of embodiment 8, wherein the end effector angle and the shaft angle are equal to each other.

Example 11: the surgical instrument of embodiments 7, 8, 9, or 10 further comprising means for applying a dislocation motion to the surgical end effector.

Example 12: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument further includes a surgical end effector including a proximal end pivotally coupled to the distal end of the elongate shaft assembly for selective pivotal travel relative thereto about an articulation axis that is laterally offset from and extends transversely relative to the shaft axis. The surgical instrument further includes an articulation system including an end effector driver link operably coupled to the surgical end effector. The articulation driver is supported for longitudinal travel in the distal and proximal directions upon application of articulation motions thereto. An articulation driver is coupled to the end effector driver link to selectively articulate the surgical end effector relative to the elongate shaft assembly about an articulation axis. A flexible joint dislocation member is coupled to the elongate shaft assembly and the surgical end effector to apply a joint dislocation motion to the surgical end effector.

Example 13: the surgical instrument of embodiment 12, wherein the articulation driver is configured to apply the first articulation motion to the surgical end effector in only one articulation direction that is transverse to the shaft axis.

Example 14: the surgical instrument of embodiment 12 or 13, wherein the surgical end effector defines an end effector axis, and wherein the end effector is movable between a non-articulated position in which the effector axis is axially aligned with the shaft axis to a maximum articulated position on one lateral side of the shaft axis in which the end effector axis is perpendicular to the shaft axis.

Example 15: the surgical instrument of embodiments 12, 13, or 14 wherein the articulation driver and the end effector driver link are positioned on one lateral side of the shaft axis when the surgical end effector is in the nonarticulating orientation.

Example 16: the surgical instrument of embodiments 12, 13, 14, or 15 wherein the surgical end effector comprises a firing member configured to axially travel within the surgical end effector, and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and selectively movable in a distal direction in response to application of a firing motion thereto. The firing beam is also selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 17: the surgical instrument of embodiments 12, 13, 14, 15, or 16, wherein the proximal end of the surgical end effector is pivotally pinned to the distal end of the elongate shaft assembly by an articulation pin, and wherein the flexible articulation member is configured to flex about the articulation pin as the surgical end effector is articulated about the articulation axis.

Example 18: the surgical instrument of embodiments 12, 13, 14, 15, 16, or 17, wherein the proximal end of the surgical end effector is angled relative to the end effector axis, and wherein the distal end of the elongate shaft assembly is angled relative to the shaft axis.

Example 19: the surgical instrument of embodiment 18, wherein the proximal end of the surgical end effector is oriented at an end effector angle relative to an end effector axis, and wherein the distal end of the elongate shaft assembly is oriented at a shaft angle relative to a shaft axis.

Example 20: the surgical instrument of embodiment 19, wherein the end effector angle and the shaft angle are equal to each other.

Example 21: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument also includes a proximal end pivotally coupled to the distal end of the elongate shaft assembly such that the surgical end effector is selectively movable relative to the shaft axis between a non-articulated position and a fully-articulated position. A firing beam is movably supported within a passage in the elongate shaft assembly for selective longitudinal travel therein. The passageway is configured to position a portion of the firing beam exiting the distal end of the elongate shaft member to an off-axis position relative to the shaft axis.

Example 22: the surgical instrument of embodiment 21, wherein the passageway comprises: a first passage portion aligned with the shaft axis; and a second arcuate channel portion in communication with the first channel portion and curved away from the axis in the first direction. The passageway also includes a third arcuate passageway portion in communication with the second arcuate passageway portion and curving in the second direction toward the shaft axis.

Example 23: the surgical instrument of embodiment 22 or 21, wherein the surgical end effector is configured to articulate in only one articulation direction that is transverse to the shaft axis.

Example 24: the surgical instrument of embodiments 21, 22, or 23 wherein the proximal end of the surgical end effector is pivotally coupled to the elongate shaft assembly at an attachment location on the distal end of the elongate shaft assembly for selective pivotal travel between the unarticulated position and the fully articulated position about an articulation axis that extends transversely relative to, but does not intersect, the shaft axis.

Example 25: the surgical instrument of embodiment 21, 22, 23, or 24 further comprising an articulation driver supported for longitudinal travel relative to the elongate shaft assembly and coupled to the surgical end effector for applying articulation motions thereto.

Example 26: the surgical instrument of embodiment 25, wherein the articulation driver is configured to apply push and pull motions to the surgical end effector.

Example 27: the surgical instrument of embodiments 21, 23, 24, 25, or 26 wherein the pathway comprises: a first passage portion axially aligned with the shaft axis; and a second passage portion in communication with the first passage portion and extending distally therefrom such that at least a portion of the second passage portion is not axially aligned with the shaft axis.

Example 28: the surgical instrument of embodiments 21, 22, 23, 24, 25, 26, or 27, wherein the firing beam comprises a plurality of beam layers laminated together.

Example 29: the surgical instrument of embodiments 21, 22, 23, 24, 25, 26, 27, or 28 wherein the surgical end effector comprises a firing member operably interfacing with a firing beam and configured for axial travel within the surgical end effector.

Example 30: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument also includes a surgical end effector comprising a proximal end. An articulation joint couples the proximal end of the surgical end effector to the distal end of the elongate shaft assembly. A firing beam is movably supported within the elongate shaft assembly for longitudinal travel therein along a shaft axis. The surgical instrument further includes means for biasing a portion of the firing beam into an arcuate configuration out of axial alignment with the shaft axis prior to articulating the joint.

Example 31: the surgical instrument of embodiment 30 wherein the articulation joint pivotally couples the proximal end of the surgical end effector to the distal end of the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to and laterally offset from the shaft axis.

Example 32: the surgical instrument of embodiment 30 or 31, wherein the surgical end effector defines an end effector axis, and wherein the surgical end effector is configured to be selectively articulated between a non-articulated position in which the end effector axis is axially aligned with the shaft axis and a fully-articulated position positioned to one lateral side of the shaft axis.

Example 33: the surgical instrument of embodiments 30, 31, or 32, wherein the firing beam comprises a plurality of beam layers laminated together.

Example 34: the surgical instrument of embodiments 30, 31, 32, or 33, wherein the surgical end effector comprises a firing member operably interfacing with the firing beam and configured for axial travel within the surgical end effector.

Example 35: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument also includes a surgical end effector comprising a proximal end. An articulation joint couples the proximal end of the surgical end effector to the distal end of the elongate shaft assembly. A firing beam is movably supported within the elongate shaft assembly for longitudinal travel therein along a shaft axis. The surgical instrument further includes means for biasing a portion of the firing beam out of axial alignment with the shaft axis prior to the articulation joint.

Example 36: the surgical instrument of embodiment 35 wherein the articulation joint pivotally couples the proximal end of the surgical end effector to the distal end of the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to and laterally offset from the shaft axis.

Example 37: the surgical instrument of embodiment 35 or 36, wherein the surgical end effector defines an end effector axis, and wherein the surgical end effector is configured to be selectively articulated between an unarticulated position wherein the end effector axis is axially aligned with the shaft axis and a fully articulated position positioned to one lateral side of the shaft axis.

Example 38: the surgical instrument of embodiments 35, 36, or 37, wherein the firing beam comprises a plurality of beam layers laminated together.

Example 39: the surgical instrument of embodiments 35, 36, 37, or 38 wherein the surgical end effector comprises a firing member operably interfacing with the firing beam and configured for axial travel within the surgical end effector.

Example 40: the surgical instrument of embodiments 35, 36, 37, 38, or 39 wherein the means comprises an arcuate path in a spine portion of the elongate shaft assembly. The arcuate path is configured to slidably receive the firing beam therein and open at a distal end of the spine portion at a location axially offset from the shaft axis.

Example 41: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system that includes a single articulation driver supported for longitudinal travel along a path laterally offset from the shaft axis. A cross-link is coupled to the articulation driver and extends transversely across the shaft axis to couple to the surgical end effector.

Example 42: the surgical instrument of embodiment 41, wherein the articulation axis intersects the shaft axis.

Example 43: the surgical instrument of embodiment 41, wherein the surgical end effector defines an end effector axis, and wherein the surgical end effector is configured to be selectively articulated between a non-articulated position in which the end effector axis is axially aligned with the shaft axis and a fully articulated position in which the end effector axis is transverse to the shaft axis positioned to one lateral side of the shaft axis.

Example 44: the surgical instrument of embodiment 43, wherein the end effector axis is positioned at an articulation angle relative to the shaft axis when the surgical end effector is in the fully articulated position. The articulation angle is at least sixty-five degrees.

Example 45: the surgical stapling instrument of embodiments 43 or 44, wherein the surgical end effector is selectively articulatable to another fully articulated position positioned on another lateral side of the shaft axis.

Example 46: the surgical instrument of embodiments 41, 42, 43, 44, or 45 wherein the cross-link is pivotally coupled to the proximal end of the surgical end effector about a link axis that is parallel to the articulation axis.

Example 47: the surgical instrument of embodiments 41, 42, 43, 44, 45, or 46, wherein the single distal articulation driver is configured to apply push and pull motions to the cross-connect.

Example 48: the surgical instrument of examples 41, 42, 43, 44, 45, 46, or 47 wherein the surgical end effector comprises a firing member configured for axial travel within the surgical end effector and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and selectively movable in a distal direction in response to application of a firing motion thereto and selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 49: the surgical instrument of embodiment 48, further comprising an intermediate support member configured to laterally support the firing member as the surgical end effector is articulated about the articulation axis. The intermediate support member is pivotally coupled to the surgical end effector and is pivotally and slidably supported relative to the elongate shaft assembly.

Example 50: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument also includes a surgical end effector including a proximal end pivotally coupled to the elongate shaft assembly at an attachment location on a distal end of the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The articulation drive assembly is supported for longitudinal travel relative to the elongate shaft assembly along an articulation actuation axis that is parallel to and spaced apart from a first lateral side of the shaft axis. The articulation drive assembly is coupled to the surgical end effector at a single attachment location positioned on the other lateral side of the shaft axis.

Example 51: the surgical instrument of embodiment 50 wherein the articulation drive assembly comprises a distal articulation driver supported by the elongate shaft assembly for longitudinal travel along the articulation actuation axis in response to articulation control motions applied thereto. A cross-link is coupled to the distal articulation driver and extends transversely across the shaft axis to couple to the surgical end effector at a single attachment location.

Example 52: the surgical instrument of embodiment 50 or 51, wherein the proximal end of the surgical end effector is pivotally coupled to the distal end of the elongate shaft assembly by a pivot member that defines the articulation axis.

Example 53: the surgical instrument of embodiments 51 or 52, wherein the cross-connect has a curved shape.

Example 54: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument further includes a surgical end effector including a proximal end pivotally coupled to the elongate shaft assembly at an attachment location on a distal end of the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis through a first angular range of articulation on a first lateral side of the shaft axis and a second angular range of articulation on a second lateral side of the shaft axis. The articulation drive assembly is supported for longitudinal travel relative to the elongate shaft assembly along an articulation actuation axis that is parallel to the shaft axis and laterally offset on one of the first and second lateral sides of the shaft axis. An articulation drive assembly is coupled to the surgical end effector at a single attachment location positioned on the other of the first and second lateral sides of the shaft axis to selectively apply pull and push motions to the surgical end effector.

Example 55: the surgical stapling instrument of embodiment 54, wherein the first angular range of articulation is between one degree and sixty-five degrees, and wherein the second angular range of articulation is between one degree and sixty-five degrees.

Example 56: the surgical stapling instrument of embodiment 54 or 55 wherein the articulation drive assembly comprises a distal articulation driver supported by the elongate shaft assembly for longitudinal travel in response to articulation control motions applied thereto. A cross-link is coupled to the distal articulation driver and extends transversely across the shaft axis to couple to the surgical end effector at an attachment location.

Example 57: the surgical stapling instrument of embodiment 56 wherein the surgical end effector pivots in a first articulation direction when the distal articulation driver is moved in the distal direction and pivots in a second articulation direction when the distal articulation driver is moved in the proximal direction.

Example 58: the surgical stapling instrument of embodiment 57 wherein the surgical end effector comprises a firing member configured for axial travel within the surgical end effector, and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and being selectively movable in a distal direction in response to application of a firing motion thereto and selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 59: the surgical stapling instrument of embodiment 58, further comprising an intermediate support member configured to laterally support the firing member as the surgical end effector is articulated about the articulation axis. The intermediate support member is pivotally coupled to the surgical end effector and is pivotally and slidably supported relative to the elongate shaft assembly.

Example 60: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument also includes a surgical end effector including a proximal end pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The articulation link configuration is configured for rotation relative to the shaft axis such that rotation of the articulation link configuration causes the surgical end effector to articulate relative to the elongate shaft assembly about an articulation axis. The surgical instrument further includes means for selectively rotating the articulation link arrangement about the shaft axis.

Example 61: the surgical instrument of embodiment 60, wherein the articulation link configuration comprises a central articulation link movably coupled to the distal end of the elongate shaft assembly. The end effector driver link is movably coupled to the central articulation link for pivotal travel relative thereto. The end effector driver link is operably coupled to the surgical end effector for selective pivotal and axial travel relative thereto. The means for selectively rotating includes an articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. An articulation driver is operably coupled to the central articulation link.

Example 62: the surgical instrument of embodiment 61, wherein the end effector driver link comprises: a proximal driver link end pivotally coupled to the central articulation link; and a distal driver connector end comprising an axial slot configured to slidably receive an end effector attachment member therein.

Example 63: the surgical instrument of embodiment 62, wherein the proximal driver link end is in meshing pivotal engagement with the distal end of the elongate shaft assembly.

Example 64: the surgical instrument of embodiment 62, wherein the articulation driver is movably coupled to the central articulation link by an intermediate driver link.

Example 65: the surgical instrument of embodiments 62, 63, or 64 wherein the central articulation link is pivotally coupled to the distal end of the elongate shaft assembly for pivotal travel relative thereto about an articulation axis.

Example 66: the surgical instrument of embodiments 62, 63, 64, or 65, wherein the central articulation link comprises a triangular link pivotally coupled to the distal end of the elongate shaft assembly for pivotal travel relative thereto about an articulation axis.

Example 67: the surgical instrument of embodiments 62, 63, 64, 65, or 66 wherein the surgical end effector defines an end effector axis configured for axial alignment with the shaft axis when the surgical end effector is in the unarticulated position and wherein the articulation drive is supported for selective longitudinal travel along one lateral side of the shaft axis and wherein the end effector attachment member is positioned on a secondary lateral side of the end effector shaft axis corresponding to a second lateral side of the shaft axis.

Example 68: the surgical instrument of embodiments 62, 63, 64, 65, 66, or 67, wherein the distal end of the elongate shaft assembly comprises an arcuate sun gear segment, and wherein the end effector driver coupling comprises a planetary gear portion in meshing engagement with the arcuate sun gear segment.

Example 69: the surgical instrument of embodiment 68, wherein the planetary gear portion comprises a plurality of planetary gear teeth formed on the proximal end of the end effector driver coupling.

Example 70: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system including an articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. The articulation system also includes means for operably coupling the articulation driver to the surgical end effector. The means for operably coupling is configured to apply an articulation motion to the surgical end effector in response to longitudinal movement of the articulation driver. The means for operably coupling is further configured to be pivotally and axially movable relative to the surgical end effector.

Example 71: the surgical instrument of embodiment 70, wherein the articulation driver is coupled to the means for operably coupling on one lateral side of the shaft axis, and wherein the means for operably coupling is coupled to the surgical end effector on the other lateral side of the shaft axis.

Example 72: the surgical instrument of embodiment 70 or 71, wherein the surgical end effector comprises a firing member configured to axially travel within the surgical end effector, and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and being selectively movable in a distal direction in response to application of a firing motion thereto and selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 73: the surgical instrument of embodiment 71 or 72, wherein the means for operably coupling comprises a triangular link comprising a first link corner portion operably coupled to the articulation driver. The triangular connector further comprises: a second link corner portion operably interfacing with the surgical end effector; and a third connector corner portion pivotally coupled to the distal end of the elongate shaft assembly.

Example 74: the surgical instrument of embodiment 73, wherein the third connector corner portion is pivotally coupled to the distal end of the elongate shaft assembly for pivotal travel relative thereto about the articulation axis.

Example 75: the surgical instrument of embodiment 73 or 74, wherein the second corner portion of the triangular link is operably coupled to an end effector driver link coupled to the surgical end effector for pivotal and axial travel relative thereto.

Example 76: the surgical instrument of embodiments 73, 74, or 75, wherein the end effector driver link comprises: an intermediate proximal drive link end pivotally coupled to the triangular link; and an end effector connector end comprising an axial slot configured to slidably receive an end effector attachment member therein.

Example 77: a surgical instrument includes an elongate shaft assembly including a distal end and a shaft axis. A surgical end effector is pivotally coupled to the distal end of the elongate shaft assembly for selective pivotal travel about an articulation axis that is transverse to the shaft axis. A fixed sun gear segment is on the distal end of the elongate shaft assembly. The surgical instrument further includes an end effector driver link, the end effector driver link including: a distal end coupled to the end effector for pivotal and axial travel relative thereto; and a proximal end including a planetary gear segment supported in meshing engagement with the stationary sun gear segment. A selectively movable articulation driver assembly is operably coupled with the end effector driver link to impart articulation motions thereto.

Example 78: the surgical instrument of embodiment 77, wherein the articulation driver assembly comprises an articulation driver member supported for selective longitudinal travel relative to the elongate shaft assembly in a distal direction and a proximal direction along an axis offset from and parallel to the shaft axis. The linkage assembly is coupled to the distal articulation driver member at a first attachment location on one side of the shaft axis. In addition, the linkage assembly is also coupled to an end effector driver link.

Example 79: the surgical instrument of embodiment 77 or 78, wherein the surgical end effector comprises a firing member configured to axially travel within the surgical end effector, and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and being selectively movable in a distal direction in response to application of a firing motion thereto and selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 80: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system including a first articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. The articulation system also includes a first end effector connector movably coupled to the surgical end effector. The first end effector connection is coupled to the first articulation drive for axial and pivotal travel relative thereto. The second articulation driver is supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. The second end effector connection is movably coupled to the surgical end effector. The second end effector link is coupled to the second articulation driver for axial and pivotal travel relative thereto.

Example 81: the surgical instrument of embodiment 80, wherein the first end effector connection is coupled to the first articulation driver by a first coupler member received within a first axial slot in the first articulation driver for selective axial travel therein, and wherein the second end effector connection is coupled to the second articulation driver by a second coupler member received within a second axial slot in the second articulation driver.

Example 82: the surgical instrument of embodiment 81, wherein the first axial slot is parallel to the shaft axis, and wherein the second axial slot is parallel to the shaft axis.

Example 83: the surgical instrument of embodiment 81 or 82, wherein the first coupler member comprises a first pin sized to rotate and move axially within the first axial slot, and wherein the second coupler member comprises a second pin sized to rotate and move axially within the second axial slot.

Example 84: the surgical instrument of embodiments 80, 81, 82 or 83 wherein the first articulation driver is supported for selective longitudinal travel along a first articulation axis extending along one lateral side of the shaft axis and wherein the second articulation driver is supported for selective longitudinal travel along a second articulation axis extending along another lateral side of the shaft axis.

Example 85: the surgical instrument of embodiments 80, 81, 82, 83, or 84 wherein the surgical end effector is configured to pivot about the articulation axis through a first angular range of articulation on a first lateral side of the shaft axis and through a second angular range of articulation on a second lateral side of the shaft axis.

Example 86: the surgical instrument of embodiment 85, wherein the first angular range of articulation is between one degree and sixty-five degrees and wherein the second angular range of articulation is between one degree and sixty-five degrees.

Example 87: the surgical instrument of examples 80, 81, 82, 83, 84, 85, or 86 wherein the surgical end effector comprises a firing member configured for axial travel within the surgical end effector, and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and being selectively movable in a distal direction in response to application of a firing motion thereto and selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 88: the surgical instrument of embodiments 80, 81, 82, 83, 84, 85, 86, or 87, wherein the first end effector connection is curved, and wherein the second end effector connection is curved.

Example 89: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system including a first articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. The first end effector link is pivotably coupled to the surgical end effector. The first end effector connection is coupled to the first articulation driver at a first attachment point. The second articulation driver is supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. The second end effector link is pivotably coupled to the surgical end effector. The second end effector connection is coupled to the second articulation driver at a second attachment point. The articulation system also includes a first means for constraining travel of the first attachment point to a first path having a first predetermined shape and a first length. The articulation system also includes a second means for constraining travel of the second attachment point to a second path having a second predetermined shape and a second length.

Example 90: the surgical instrument of embodiment 89, wherein the first means for constraining comprises a first axial slot in the first distal end of the first articulation driver, and wherein the second means for constraining comprises a second axial slot in the second distal end of the second articulation driver.

Example 91: the surgical instrument of embodiment 90, wherein the first axial slot and the second axial slot are parallel to each other.

Example 92: the surgical instrument of embodiments 89, 90, or 91, wherein the first length and the second length are equal to each other.

Example 93: the surgical instrument of embodiments 89, 90, 91, or 92 wherein the first end effector connection is pivotable about a first attachment point and wherein the second end effector connection is pivotable about a second attachment point.

Example 94: the surgical instrument of embodiments 89, 90, 91, 92, or 93 wherein the surgical end effector is configured to pivot about the articulation axis through a first angular range of articulation on a first lateral side of the shaft axis and through a second angular range of articulation on a second lateral side of the shaft axis.

Example 95: the surgical instrument of embodiment 94, wherein the first angular range of articulation is between one degree and sixty-five degrees and wherein the second angular range of articulation is between one degree and sixty-five degrees.

Example 96: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system including a first articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. The first curved end effector link is pivotably coupled to the surgical end effector and movably coupled to the first articulation driver. A first pin protrudes from the first curved end effector connection and is movably received within a first axial slot in the first articulation driver. The second articulation driver is supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. A second curved end effector link is pivotably coupled to the surgical end effector and movably coupled to the second articulation driver. A second pin protrudes from the second curved end effector connection and is movably received within a second axial slot in the second articulation driver.

Example 97: the surgical instrument of embodiment 96, wherein the first pin is rotatable within the first axial slot, and wherein the second pin is rotatable within the second axial slot.

Example 98: the surgical instrument of embodiment 97, wherein the first axial slot and the second axial slot are parallel to each other.

Example 99: the surgical instrument of embodiments 96, 97, or 98 wherein the surgical end effector comprises a firing member configured for axial travel within the surgical end effector, and wherein the elongate shaft assembly further comprises an axially movable firing beam operably interfacing with the firing member and selectively movable in a distal direction in response to application of a firing motion thereto and selectively movable in a proximal direction in response to application of a retraction motion thereto.

Example 100: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system including an articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. A central articulation link is pivotally coupled to the elongate shaft assembly for pivotal travel relative thereto. The intermediate link is movably coupled to the articulation driver and the central articulation link. An end effector driver is movably coupled to the central articulation link and the surgical end effector.

Example 101: the surgical instrument of embodiment 100, wherein the central articulation link is pivotally coupled to the elongate shaft assembly for pivotal travel relative thereto about a link axis that is offset from the articulation axis.

Example 102: the surgical instrument of embodiment 101, wherein the first axial slot is parallel to the shaft axis, and wherein the second axial slot is parallel to the shaft axis.

Example 103: the surgical instrument of embodiment 101 or 102, wherein the central articulation link comprises: a first central link end movably coupled to the intermediate link; and a second central link end movably attached to the end effector driver, and wherein the first central link end is a first distance from the link axis, and wherein the second central link end is a second distance from the link axis, and wherein the first distance is different than the second distance.

Example 104: the surgical instrument of embodiment 103, wherein the first distance is less than the second distance.

Example 105: the surgical instrument of examples 100, 101, 102, 103, or 104, wherein the central articulation link comprises a first length and the intermediate link comprises a second length, and wherein the end effector driver comprises a third length, and wherein the second length is shorter than the first length and the third length.

Example 106: the surgical instrument of embodiment 105, wherein the first length is shorter than the third length.

Example 107: the surgical instrument of embodiments 100, 101, 102, 103, 104, 105, or 106, wherein the intermediate linkage is curved in a first direction.

Example 108: the surgical instrument of embodiment 107, wherein the end effector driver bends in a second direction opposite the first direction.

Example 109: the surgical instrument of examples 100, 101, 102, 103, 104, 105, 106, 107, or 108, wherein the surgical end effector is pushed in a first articulation direction upon application of a pull motion to the articulation driver, and wherein the surgical end effector is pulled in a second articulation direction upon application of a push motion to the articulation driver.

Example 110: the surgical instrument of examples 100, 101, 102, 103, 104, 105, 106, 107, 108, or 109, wherein the surgical end effector is selectively articulatable through a first angular range of articulation between an unarticulated position and a first articulated position, and wherein the surgical end effector is articulatable through a second angular range of articulation between the unarticulated position and a second articulated position.

Example 111: the surgical instrument of embodiment 110, wherein the first angular range of articulation is between one and ninety degrees and wherein the second angular range of articulation is between one and ninety degrees.

Example 112: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical instrument further includes an articulation system including an articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. A central articulation link is pivotally coupled to the elongate shaft assembly for selective pivotal travel about a link axis offset from the articulation axis. The curved intermediate link is movably coupled to the articulation driver and the central articulation link. A curved end effector driver is movably coupled to the central articulation link and the surgical end effector.

Example 113: the surgical instrument of embodiment 112, wherein the central articulation link comprises: a first central link end movably coupled to the intermediate link; and a second central link end movably attached to the end effector driver, and wherein the first central link end is a first distance from the link axis, and wherein the second central link end is a second distance from the link axis, and wherein the first distance is different than the second distance.

Example 114: the surgical instrument of embodiment 113, wherein the first distance is less than the second distance.

Example 115: the surgical instrument of embodiments 112, 113, or 114, wherein the central articulation link comprises a first length and the intermediate link comprises a second length and the end effector driver comprises a third length, and wherein the second length is shorter than the first length and the third length.

Example 116: the surgical instrument of embodiment 115, wherein the first length is shorter than the third length.

Example 117: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical end effector further includes a firing member configured for axial travel within the surgical end effector. The surgical instrument further includes an articulation system including a distal articulation driver supported for selective longitudinal travel in a distal direction and a proximal direction relative to the elongate shaft assembly. A central articulation link is movably pinned to the distal end of the elongate shaft assembly. The intermediate link is movably coupled to the distal articulation link and the central articulation link. An end effector driver is movably coupled to the central link and the surgical end effector.

Example 118: the surgical instrument of embodiment 117, wherein the surgical end effector defines an end effector axis, and wherein the surgical end effector is configured to be selectively articulated between a first unarticulated position wherein the end effector axis is aligned with the shaft axis and a first maximum articulation position on a first lateral side of the shaft axis wherein the end effector axis extends perpendicular to the shaft axis and a second maximum articulation position on a second lateral side of the shaft axis wherein the end effector axis is perpendicular to the shaft axis.

Example 119: the surgical instrument of embodiments 117 or 118, wherein the central articulation link comprises: a first central link end movably coupled to the intermediate link; and a second central link end movably attached to the end effector driver, and wherein the first central link end is a first distance from the link axis, and wherein the second central link end is a second distance from the link axis, and wherein the first distance is different than the second distance.

Example 120: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical instrument also includes a surgical end effector comprising a distal end and a proximal end. The proximal end is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis. The surgical end effector is selectively pivotable about an articulation axis from a non-articulated position in which the distal end of the surgical end effector is a non-articulation distance from the articulation axis to an articulation position in which the distal end of the surgical end effector is a corresponding articulation distance from the articulation axis that is less than the non-articulation distance.

Example 121: the surgical instrument of embodiment 120, wherein the elongate shaft assembly comprises a pivot member defining an articulation axis, and wherein the proximal end of the surgical end effector comprises an elongate slot configured to slidably receive the pivot member therein.

Example 122: the surgical instrument of embodiment 120 or 121, further comprising means for selectively applying articulation motions to the surgical end effector.

Example 123: the surgical instrument of embodiment 122, wherein the means for selectively applying comprises a rotary gear in meshing engagement with the surgical end effector.

Example 124: the surgical instrument of embodiment 123, wherein the proximal end of the surgical end effector comprises an elliptical gear profile in meshing engagement with the rotary gear.

Example 125: the surgical instrument of embodiment 123 or 124, wherein the means for selectively applying comprises a selectively axially movable distal articulation driver operably interfacing with the rotary gear.

Example 126: the surgical instrument of embodiment 125, further comprising a drive slot in the selectively axially movable distal articulation driver and a drive pin attached to the rotary gear and slidably received in the drive slot.

Example 127: the surgical instrument of embodiments 120, 121, 122, 123, 124, 125, or 126, wherein the surgical end effector defines an end effector axis positioned such that the end effector axis is aligned with the shaft axis when the surgical end effector is in the unarticulated position, and wherein the end effector axis is perpendicular to the shaft axis when the surgical end effector is articulated to the fully articulated position of the articulated positions.

Example 128: the surgical instrument of embodiments 122, 123, 124, 125, 126, or 127, wherein the means for selectively applying comprises a central articulation link supported for rotational travel about an articulation axis. A selectively axially movable articulation driver interfaces with the central articulation link at a first location on a first side of the shaft axis. The means for selectively applying further comprises an articulation drive link comprising a first end coupled to the surgical end effector and a second end coupled to the central articulation link at a second location on a second side of the shaft axis.

Example 129: the surgical instrument of embodiment 128, wherein the means for selectively applying comprises a central articulation gear supported for travel about an articulation axis and a gear profile positioned on the second end of the articulation drive link. The gear profile is in meshing engagement with the central articulation gear.

Example 130: a surgical instrument includes an elongate shaft assembly defining a shaft axis and including a distal shaft portion. The surgical instrument also includes a surgical end effector defining an end effector axis and including a distal end and a proximal end. The proximal end is movably coupled to the distal shaft portion for selective travel between an unarticulated position in which the end effector axis is aligned with the shaft axis and the distal end of the surgical end effector is a non-articulation distance from the distal end portion of the elongate shaft assembly to an articulated position in which the end effector axis is transverse to the shaft axis and the distal end of the surgical end effector is a corresponding articulation distance from the distal shaft portion that is less than the non-articulation distance.

Example 131: the surgical instrument of embodiment 130, wherein the proximal end of the surgical end effector is movably coupled to the distal shaft portion of the elongate shaft assembly by a selectively axially movable articulation driver and an articulation link.

Example 132: the surgical instrument of embodiment 130 or 131, wherein the end effector axis is perpendicular to the shaft axis when the surgical end effector is articulated in one of the articulated positions.

Example 133: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical instrument also includes a surgical end effector comprising a distal end and a proximal end. The proximal end is movably coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis extending transversely relative to the shaft axis and translational travel relative to the articulation axis. An articulation system operably interfaces with the surgical end effector to selectively apply articulation motions thereto.

Example 134: the surgical instrument of embodiment 133, wherein the articulation system comprises a rotary gear in meshing engagement with the surgical end effector and means for rotating the rotary gear.

Example 135: the surgical instrument of embodiment 134, further comprising an elliptical gear segment on a proximal end of the surgical end effector in meshing engagement with the rotary gear.

Example 136: the surgical instrument of embodiment 134 or 135, wherein the means for rotating the rotary gear comprises a selectively axially movable distal articulation driver comprising a drive slot and a drive pin attached to the rotary gear and slidably received in the drive slot.

Example 137: the surgical instrument of embodiment 136, wherein the drive slot is transverse to the shaft axis.

Example 138: the surgical instrument of embodiments 133, 134, 135, 136, or 137, wherein the surgical end effector is configured to cut and staple tissue.

Example 139: the surgical instrument of embodiments 133, 134, 135, 136, 137, or 138 wherein the articulation system comprises a central articulation link supported for rotational travel about an articulation axis. A selectively axially movable articulation driver interfaces with the central articulation link at a first location on a first side of the shaft axis. The articulation system also includes an articulation drive link that includes a first end coupled to the surgical end effector and a second end coupled to the central articulation link at a second location on a second side of the shaft axis.

Example 140: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis. The surgical instrument further includes an articulation system that includes an articulation cable coupled to the surgical end effector at an attachment point and journaled on a proximal pulley supported on the elongate shaft assembly. The proximal pulley defines a proximal pulley axis that is located at a tension distance from the attachment point. An articulation driver is coupled to the articulation cable for selectively causing the articulation cable to rotate about the proximal pulley in first and second articulation directions. An adjustable tensioning assembly interfaces with the proximal pulley to selectively adjust the tensioning distance.

Example 141: the surgical instrument of embodiment 140, further comprising a distal pulley attached to the surgical end effector and defining an attachment point.

Example 142: the surgical instrument of embodiment 141, wherein the distal pulley defines an articulation axis.

Example 143: the surgical instrument of embodiments 140, 141, or 142, wherein the adjustable tension assembly comprises a pulley mount supporting the proximal pulley thereon. A mounting shaft is coupled to the pulley mount and supported in a portion of the elongate shaft assembly for selective rotation relative thereto. The mounting shaft is eccentrically attached to the pulley mount such that rotation of the mounting shaft causes the proximal pulley to move axially to adjust the tension distance between the proximal pulley axis and the attachment point.

Example 144: the surgical stapling instrument of embodiment 143 wherein the mounting shaft defines a mounting shaft axis that is offset from the proximal pulley axis.

Example 145: the surgical instrument of embodiments 140, 141, or 142, wherein the adjustable tension assembly comprises a pulley mount supporting the proximal pulley thereon. A mounting member is attached to the pulley mount and is slidably supported on the elongate shaft assembly for selective axial travel relative to the elongate shaft assembly. The adjustable tensioning assembly also includes means for selectively axially moving the mounting member on the elongate shaft assembly.

Example 146: the surgical instrument of embodiment 145, wherein the means for selective axial movement comprises a tension screw mounted in the elongate shaft assembly and configured to axially move the mounting member within an axial slot in the elongate shaft assembly.

Example 147: the surgical instrument of embodiment 145, wherein the means for selective axial movement comprises a rotary cam assembly mounted in the elongate shaft assembly and configured to axially move the mounting member within an axial slot in the elongate shaft assembly.

Example 148: the surgical instrument of embodiment 147, wherein the rotary cam assembly comprises a tensioning cam configured for camming contact with the mounting member. A mounting spindle is coupled to the tension cam and is supported in a portion of the elongate shaft assembly for selective rotation relative to the portion of the elongate shaft assembly. The mounting spindle is attached to the tension cam such that rotation of the mounting spindle in a first direction causes the tension cam to axially bias the mounting member within the axial slot.

Example 149: the surgical instrument of embodiment 148, wherein the mounting spindle has a knurled outer surface and is configured to be received within a knurled aperture in a portion of the elongate shaft assembly.

Example 150: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis. The surgical instrument further includes an articulation system that includes an articulation cable that is journaled on a distal pulley attached to the surgical end effector and a proximal pulley supported on the elongate shaft assembly. An articulation driver is coupled to the articulation cable for selectively causing the articulation cable to rotate about the proximal pulley in a first rotational direction and a second rotational direction. An adjustable tension assembly is supported on the elongate shaft assembly and is configured to selectively contact a portion of the articulation cable in a direction transverse to the first and second rotational directions to increase an amount of tension in the articulation cable.

Example 151: the surgical instrument of embodiment 150, wherein the articulation cable comprises a first cable end and a second cable end, and wherein the first cable end and the second cable end operably interface with the articulation driver.

Example 152: the surgical instrument of embodiment 151, wherein the articulation driver comprises a distal end portion comprising a pair of cleats. The clamping plates define an installation space therebetween. The first cable end includes a first ear attached to the cable and received within the mounting space, and wherein the second cable end includes a second ear attached to the second cable end and received within the mounting space between the pair of cleats.

Example 153: the surgical instrument of embodiments 150, 151, or 152, wherein the articulation cable is non-rotatably coupled to the distal pulley.

Example 154: a surgical instrument includes an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis. The surgical instrument further includes an articulation system that includes an articulation cable that is journaled on a distal pulley attached to the surgical end effector and a proximal pulley supported on the elongate shaft assembly. The articulation cable includes a first cable end and a second cable end. The articulation system also includes an articulation driver for selectively causing the articulation cable to rotate about the proximal pulley in a first articulation direction and a second articulation direction. The articulation driver includes: a first clamp plate attached to the first cable end; and a second clamp plate attached to the second cable end and spaced apart from the first clamp plate. The articulation system also includes a means coupled to the first and second splints for moving the first and second cable ends toward each other to increase the amount of tension in the articulation cables.

Example 155: the surgical instrument of embodiment 154, wherein the means coupled to the first and second cleats for moving the first and second cable ends toward each other comprises a rotating member coupled to the first and second cleats such that rotation of the rotating member in a first rotational direction causes the first and second cleats to move toward each other and rotation of the rotating member in a second rotational direction causes the first and second cleats to move away from each other.

Example 156: the surgical instrument of embodiment 155, wherein the rotation member comprises a tension screw threadedly engaged with the first and second jaws.

Example 157: the surgical instrument of embodiment 154, wherein the first cable end comprises a first ear attached to the cable and received between the first and second cleats, and wherein the second cable end comprises a second ear attached to the cable and received between the first and second cleats.

Example 158: the surgical instrument of embodiments 154, 155, 156, or 157 wherein the articulation cable is non-rotatably coupled to the distal pulley.

Example 159: the surgical instrument of embodiments 154, 155, 156, 157 or 158, wherein the surgical end effector is configured to cut and staple tissue.

Example 160: a surgical instrument comprising a surgical end effector comprising a first jaw and a second jaw, wherein one of the first jaw and the second jaw is selectively movable relative to the other of the first jaw and the second jaw upon application of a closing motion to the surgical end effector. The surgical instrument also includes an elongate shaft assembly including a closure member assembly supported for axial travel relative to the surgical end effector. The closure member assembly includes a proximal closure member that is configured to be axially advanced a full closure stroke distance upon application of a closure actuation motion thereto. The distal closure member movably interfaces with the proximal closure member such that the distal closure member moves an axial closure distance in response to the proximal closure member moving axially through a full closure stroke distance to thereby cause the distal closure member to apply a closure motion to the surgical end effector, and wherein the axial closure distance is less than the full closure stroke distance.

Example 161: the surgical instrument of embodiment 160, wherein the proximal closure member comprises a distal end, and wherein the distal closure member comprises a proximal end slidably attached to the distal end of the proximal closure member such that when the proximal closure member is moved through the full closure stroke distance, the distal closure member does not begin to move axially through the axial closure distance until the proximal closure member has moved axially through a portion of the full closure stroke distance.

Example 162: the surgical instrument of embodiment 161 wherein the elongate shaft assembly comprises a spine assembly coupled to the surgical end effector and wherein the proximal closure member comprises a proximal closure sleeve supported on a portion of the spine assembly for axial travel over a full closure stroke distance thereon and wherein the distal closure member comprises a distal closure sleeve slidably journaled on another portion of the spine assembly and movably coupled to the proximal closure sleeve.

Example 163: the surgical instrument of embodiment 162, wherein the proximal closure sleeve has an opening in a distal end thereof, and wherein a proximal end of the distal closure sleeve extends through the opening and is configured to prevent the proximal end of the distal closure sleeve from separating from the distal end of the proximal closure sleeve.

Example 164: the surgical instrument of embodiment 163, wherein the distal end of the proximal closure sleeve is flared inwardly about the opening, and wherein the proximal end of the distal closure sleeve is flared outwardly to prevent the proximal end of the distal closure sleeve from coming apart from the distal end portion of the proximal closure sleeve while facilitating axial travel of the proximal closure sleeve relative to the distal closure sleeve through a portion of the full closure stroke distance.

Example 165: the surgical instrument of embodiment 162, wherein the proximal closure sleeve comprises an inwardly extending flange defining an opening in a distal end thereof, and wherein the proximal end of the distal closure sleeve extends through the opening and comprises an outwardly extending flange that cooperates with the inwardly extending flange to prevent separation of the proximal end of the distal closure sleeve from the distal end of the proximal closure sleeve.

Example 166: the surgical instrument of embodiment 162, wherein the proximal closure sleeve comprises a contact portion proximal to the distal end of the proximal closure sleeve. The contact portion is configured to axially contact the proximal end of the distal closure sleeve after the proximal closure sleeve has been axially advanced through a predetermined portion of the full closure stroke distance.

Example 167: the surgical instrument of embodiment 166, wherein the contact portion comprises a crimped portion of the proximal closure sleeve.

Example 168: the surgical instrument of embodiment 166, wherein the contact portion comprises at least one inwardly extending tab member formed in the proximal closure sleeve and oriented to contact a corresponding portion of the proximal end of the distal closure sleeve.

Example 169: the surgical instrument of embodiment 166, wherein the contact portion comprises an inwardly extending flange formed on a stop member attached to an inner wall of the proximal closure sleeve.

Example 170: a surgical instrument comprising a surgical end effector comprising a first jaw and a second jaw, wherein one of the first jaw and the second jaw is selectively movable relative to the other of the first jaw and the second jaw upon application of a closing motion to the surgical end effector. The surgical instrument also includes an elongate shaft assembly including a closure member assembly supported for axial travel relative to the surgical end effector. The closure member assembly includes a proximal closure member that is configured to be axially advanced a full closure stroke distance upon application of a closure actuation motion thereto. The distal closure member is supported for axial travel of an axial closure distance to apply a closure motion to the surgical end effector, the axial closure distance being less than the full closure stroke distance. The closure stroke reduction assembly interfaces with the proximal and distal closure members such that when the proximal closure member is moved through the full closure stroke distance, the distal closure member does not begin to move axially through the closure distance until the proximal closure member has moved axially through a portion of the full closure stroke distance.

Example 171: the surgical instrument of embodiment 170 wherein the elongate shaft assembly comprises a spine assembly coupled to the surgical end effector and wherein the proximal closure member comprises a proximal closure sleeve supported on a portion of the spine assembly for axial travel over a full closure stroke distance thereon and wherein the distal closure member comprises a distal closure sleeve slidably supported on another portion of the spine assembly for axial travel over a closure distance.

Example 172: the surgical instrument of embodiment 170 or 171, wherein the closure-stroke reduction assembly comprises: a proximal mounting member coupled to the proximal closure sleeve for axial travel therewith through a fully closed travel distance; and a distal mounting member coupled to the distal closure sleeve for axial travel therewith through a closure distance.

Example 173: the surgical instrument of embodiment 172, wherein the proximal mounting member comprises a contact portion configured to contact at least one of the proximal mounting member and the proximal closure sleeve after the proximal closure sleeve has moved through the portion of the full closure stroke distance.

Example 174: the surgical instrument of embodiment 173, wherein the distal mounting member defines a distal flange, and wherein the proximal mounting member defines a proximal flange spaced apart from the distal flange to form a distal travel zone therebetween, and wherein the contact portion is spaced apart from at least one of the proximal mounting member and the proximal closure sleeve to define a proximal travel zone therebetween.

Example 175: the surgical instrument of embodiment 174, wherein the proximal travel zone has a proximal axial width, and wherein the distal travel zone has a distal axial width that is different than the proximal axial width.

Example 176: the surgical instrument of embodiment 172, 173, 174, or 175, further comprising a biasing member positioned between the proximal mounting member and the distal mounting member.

Example 177: the surgical instrument of embodiment 174 or 175, further comprising a biasing member supported within the distal travel zone.

Example 178: a surgical instrument comprising a surgical end effector comprising a first jaw and a second jaw, wherein one of the first jaw and the second jaw is selectively movable relative to the other of the first jaw and the second jaw upon application of a closing motion to the surgical end effector. The surgical instrument also includes an elongate shaft assembly including a closure member assembly supported for axial travel relative to the surgical end effector. The closure member assembly includes a proximal closure member that is configured to be axially advanced a full closure stroke distance upon application of a closure actuation motion thereto. The proximal closure member is configured to apply a maximum closure force upon reaching the end of the maximum closure travel distance. The distal closure member is supported for axial travel of an axial closure distance to apply a closure motion to the surgical end effector, the axial closure distance being less than the full closure stroke distance. The closure stroke reduction assembly interfaces with the proximal and distal closure members such that the proximal closure member applies another closing force to the distal closure member that is less than the maximum closing force as the proximal closure member moves through the full closure stroke distance.

Example 179: the surgical instrument of embodiment 178, wherein the closure stroke reduction assembly comprises a proximal mounting member coupled to the proximal closure member for axial travel therewith through the full closure stroke distance. The distal mounting member is coupled to the distal closure member for axial travel therewith over an axial closure distance. The biasing member is positioned between a portion of the proximal mounting member and another portion of the distal mounting member.

The entire disclosures of the following patents are hereby incorporated by reference:

U.S. patent 5,403,312 entitled "ELECTROSURURGICAL HEMOSTATIC DEVICE" published on 4.4.1995;

U.S. patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" published on 21.2.2006;

U.S. Pat. No. 7,422,139 entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK" published on 9.9.2008;

U.S. patent 7,464,849 entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS" published on 16.12.2008;

U.S. patent 7,670,334 entitled "SURGICAL INSTRUMENT HAVATING AN ARTICULATING END EFFECTOR" published on 3, 2/2010;

U.S. patent 7,753,245 entitled "SURGICAL STAPLING INSTRUMENTS" published on 13.7.2010;

U.S. patent 8,393,514 entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE" published on 12.3.2013;

U.S. patent application Ser. No. 11/343,803 entitled "SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES"; now us patent 7,845,537;

U.S. patent application Ser. No. 12/031,573 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT HAVAGING RF ELECTRODES" filed on 14.2.2008;

U.S. patent application Ser. No. 12/031,873, filed on 15.2.2008, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT," now U.S. patent 7,980,443;

U.S. patent application Ser. No. 12/235,782 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT," now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117 entitled "POWER SURGICAL CUTTING AND STAPLING APPATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM", now U.S. patent 8,608,045;

U.S. patent application Ser. No. 12/647,100 entitled "MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY" filed 24.12.2009; now us patent 8,220,688;

U.S. patent application serial No. 12/893,461, now U.S. patent 8,733,613, entitled "STAPLE CARTRIDGE", filed 9/29/2012;

U.S. patent application serial No. 13/036,647 entitled "SURGICAL STAPLING INSTRUMENT" filed on 28.2.2011, now U.S. patent 8,561,870;

U.S. patent application Ser. No. 13/118,241 entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," now U.S. Pat. No. 9,072,535;

U.S. patent application Ser. No. 13/524,049 entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE" filed 6, 15/2012; now us patent 9,101,358;

U.S. patent application serial No. 13/800,025 entitled "STAPLE CARTRIDGE TISSUE thickingsenser SYSTEM" filed on 13/3/2013, now U.S. patent application publication 2014/0263551;

U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thickingsenser SYSTEM" filed on 13/3/2013, now U.S. patent application publication 2014/0263552;

U.S. patent application publication 2007/0175955 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTT WITH CLOSURE TRIGGER LOCKING MECHANISM" filed on 31.1.2006; and

U.S. patent application publication 2010/0264194 entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR" filed on 22.4.2010, now U.S. Pat. No. 8,308,040.

While various embodiments of the device have been described herein in connection with certain disclosed embodiments, many modifications and variations to these embodiments may be implemented. In addition, where materials for certain components are disclosed, other materials may also be used. Further, according to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component, to perform a given function or functions. The foregoing detailed description and the following claims are intended to cover all such modifications and variations.

The device disclosed herein may be designed to be disposed of after a single use, or it may be designed to be used multiple times. In either case, however, the device may be reconditioned for reuse after at least one use. Refurbishment may include any combination of disassembly of the device, followed by cleaning or replacement of particular parts, and subsequent reassembly steps. In particular, the device may be disassembled, and any number of the particular pieces or parts of the device may be selectively replaced or removed in any combination. After cleaning and/or replacement of particular components, the device may be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that the finishing assembly may be disassembled, cleaned/replaced, and reassembled using a variety of techniques. The use of such techniques and the resulting conditioning apparatus are within the scope of the present application.

By way of example only, aspects described herein may be processed prior to surgery. First, new or used instruments may be obtained and cleaned as needed. The instrument may then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container (such as a plastic or TYVEK bag). The container and instrument may then be placed in a field of radiation that can penetrate the container, such as gamma radiation, X-rays, or high-energy electrons. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument can then be stored in a sterile container. Sealing the container may maintain the instrument in a sterile state until the container is opened in a medical facility. The device may also be sterilized using any other technique known in the art, including but not limited to beta or gamma radiation, ethylene oxide, plasma peroxide, or steam.

While this invention has been described as having an exemplary design, the present invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated material does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. Thus, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material.

Claims (7)

1. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis; and

an articulation system, the articulation system comprising:

an articulation cable coupled to the surgical end effector at an attachment point and journaled on a proximal pulley supported on the elongate shaft assembly, the proximal pulley defining a proximal pulley axis, the proximal pulley axis being located at a tension distance from the attachment point;

an articulation driver coupled to the articulation cable for selectively causing the articulation cable to rotate about the proximal pulley in first and second articulation directions; and

an adjustable tensioning assembly interfacing with the proximal pulley to selectively adjust the tensioning distance,

characterized in that the adjustable tensioning assembly comprises:

A pulley mount supporting the proximal pulley thereon; and

a mounting shaft coupled to the pulley mount and supported in a portion of the elongate shaft assembly for selective rotation relative thereto, the mounting shaft eccentrically attached to the pulley mount such that rotation of the mounting shaft causes the proximal pulley to axially move to adjust the tensioning distance between the proximal pulley axis and the attachment point.

2. The surgical instrument of claim 1, further comprising a distal pulley attached to the surgical end effector and defining the attachment point.

3. The surgical instrument of claim 2, wherein the distal pulley defines the articulation axis.

4. The surgical instrument of claim 1, wherein the mounting shaft defines a mounting shaft axis that is offset from the proximal pulley axis.

5. A surgical instrument, comprising:

an elongate shaft assembly defining a shaft axis;

a surgical end effector pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis; and

An articulation system, the articulation system comprising:

an articulation cable coupled to the surgical end effector at an attachment point and journaled on a proximal pulley supported on the elongate shaft assembly, the proximal pulley defining a proximal pulley axis, the proximal pulley axis being located at a tension distance from the attachment point;

an articulation driver coupled to the articulation cable for selectively causing the articulation cable to rotate about the proximal pulley in first and second articulation directions; and

an adjustable tension assembly interfacing with the proximal pulley to selectively adjust the tension distance, wherein the adjustable tension assembly comprises:

a pulley mount supporting the proximal pulley thereon;

a mounting member attached to the pulley mount and slidably supported on the elongate shaft assembly for selective axial travel relative to the elongate shaft assembly; and

means for selectively axially moving the mounting member on the elongate shaft assembly, wherein the means for selectively axially moving comprises a rotary cam assembly mounted in the elongate shaft assembly and configured to axially move the mounting member within an axial slot in the elongate shaft assembly.

6. The surgical instrument of claim 5, wherein the rotary cam assembly comprises:

a tensioning cam configured for camming contact with the mounting member;

a mounting spindle coupled to the tension cam and supported in a portion of the elongate shaft assembly for selective rotation relative to the portion of the elongate shaft assembly, the mounting spindle attached to the tension cam such that rotation of the mounting spindle in a first direction causes the tension cam to axially bias the mounting member within the axial slot.

7. The surgical instrument of claim 6, wherein the mounting spindle has a knurled outer surface and is configured to be received within a knurled bore in the portion of the elongate shaft assembly.

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