CN110799124B

CN110799124B - Surgical instrument with articulation system ratio

Info

Publication number: CN110799124B
Application number: CN201880043781.9A
Authority: CN
Inventors: F·E·谢尔顿四世; G·J·巴克斯; J·L·哈里斯
Original assignee: Ethicon LLC
Current assignee: Ethicon LLC
Priority date: 2017-06-28
Filing date: 2018-06-07
Publication date: 2023-04-25
Anticipated expiration: 2038-06-07
Also published as: JP7150765B2; BR112019027047A2; CN110799124A; JP2020525221A

Abstract

The invention discloses a shaft assembly, which comprises: a shaft including a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end; and an outer housing having a defined shaft radius relative to the longitudinal axis. The shaft assembly also includes an end effector that includes an end effector frame rotatably coupled to the shaft about a fixed articulation axis that is laterally offset relative to the longitudinal axis. The shaft assembly also includes an articulation driver coupled to the end effector frame at an attachment location, wherein a lateral moment arm is defined between the attachment location and the fixed articulation axis, wherein the lateral moment arm is orthogonal to the longitudinal axis, and wherein the shaft assembly is configured such that a ratio of a shaft radius to the lateral moment arm is minimized.

Description

Surgical instrument with articulation system ratio

Background

The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and severing instruments designed to staple and sever tissue and staple cartridges for use therewith.

Drawings

The various features of the embodiments described herein, together with their advantages, may be understood from the following description taken in conjunction with the following drawings:

FIG. 1 is a side elevational view of a surgical system including a handle assembly and a plurality of interchangeable surgical tool assemblies usable therewith;

FIG. 2 is an exploded assembly view of one of the interchangeable surgical tool assemblies depicted in FIG. 1 and a portion of the handle assembly;

FIG. 3 is a perspective view of one of the interchangeable surgical tool assemblies depicted in FIG. 1;

FIG. 4 is an exploded assembly view of the interchangeable surgical tool assembly of FIG. 3;

FIG. 5 is another exploded assembly view of the distal portion of the interchangeable surgical tool assembly of FIGS. 3 and 4;

FIG. 6 is another exploded assembly view of the distal portion of the interchangeable surgical tool assembly of FIGS. 3-5;

FIG. 7 is an exploded assembly view of the proximal portion of the interchangeable surgical tool assembly of FIGS. 3-6;

FIG. 8 is another exploded assembly view of a portion of the interchangeable surgical tool assembly of FIGS. 3-7;

FIG. 9 is another exploded assembly view of a portion of the interchangeable surgical tool assembly of FIGS. 3-8;

FIG. 10 is a perspective view of a proximal portion of the interchangeable surgical tool assembly of FIGS. 3-9;

FIG. 11 is another perspective view of the proximal portion of the interchangeable surgical tool assembly of FIGS. 3-10;

FIG. 12 is a cutaway perspective view of a proximal portion of the interchangeable surgical tool assembly of FIGS. 3-11;

FIG. 13 is another cutaway perspective view of the proximal portion of the interchangeable surgical tool assembly of FIGS. 3-12;

FIG. 14 is another cutaway perspective view of the proximal portion of the interchangeable surgical tool assembly of FIGS. 3-13;

FIG. 15 is a cutaway perspective view of the distal portion of the interchangeable surgical tool assembly of FIGS. 3-14;

FIG. 16 is a partial plan view of an end effector of a surgical instrument according to at least one embodiment;

FIG. 16A is a partial plan view of the end effector of FIG. 16 showing the end effector articulated in a first direction;

FIG. 16B is a partial plan view of the end effector of FIG. 16 showing the end effector articulated in a second direction;

FIG. 17 is a partial plan view of an end effector of a surgical instrument according to at least one embodiment;

FIG. 17A is a partial plan view of the end effector of FIG. 17 showing the end effector articulated in a first direction;

FIG. 17B is a partial plan view of the end effector of FIG. 17 showing the end effector articulated in a second direction;

FIG. 18 is a partial plan view of the end effector of FIG. 16;

FIG. 19 is a partial plan view of the end effector of FIG. 17;

FIG. 20 is a partial plan view of the end effector of FIG. 16 in an articulated position;

FIG. 21 is a partial plan view of the end effector of FIG. 17 in an articulated position;

FIG. 22 is a schematic view illustrating the range of articulation of the end effector of FIG. 16;

FIG. 23 is a schematic view illustrating the range of articulation of the end effector of FIG. 17;

FIG. 24 is a partial perspective view of the end effector of FIG. 17 shown with some components removed;

FIG. 25 is a partial plan view of the end effector of FIG. 17 shown with some components removed;

FIG. 26 is a partial plan view of the end effector of FIG. 17 shown in an open, non-articulated configuration;

FIG. 26A is a partial plan view of the end effector of FIG. 17 shown in an open fully rightward articulation configuration;

FIG. 26B is a partial plan view of the end effector of FIG. 17 shown in an open fully left articulation configuration;

FIG. 27 is a partial plan view of the end effector of FIG. 17 shown in a closed, non-articulated configuration;

FIG. 27A is a partial plan view of the end effector of FIG. 17 shown in a closed fully rightward articulation configuration;

FIG. 27B is a partial plan view of the end effector of FIG. 17 shown in a closed, fully left articulation configuration;

FIG. 28 is a partial plan view of the end effector of FIG. 17 shown in a non-articulated configuration;

FIG. 29 is a partial plan view of the end effector of FIG. 17 shown in an articulated configuration;

FIG. 30 is a partial plan view of the end effector of FIG. 17 shown in a non-articulated configuration;

FIG. 30A is a partial plan view of the end effector of FIG. 17 shown in a fully rightward articulation configuration;

FIG. 30B is a partial plan view of the end effector of FIG. 17 shown in a fully left articulation configuration;

FIG. 31 is a partial plan view of the end effector of FIG. 17 shown in a non-articulated configuration;

FIG. 31A is a partial plan view of the end effector of FIG. 17 shown in a fully rightward articulation configuration;

FIG. 31B is a partial plan view of the end effector of FIG. 17 shown in a fully left articulation configuration;

FIG. 32 is a partial perspective view of an end effector according to at least one embodiment;

FIG. 33 is a partial plan view of the end effector of FIG. 32;

FIG. 34 is a cross-sectional view of the end effector of FIG. 32 shown in a non-articulated configuration;

FIG. 34A is a cross-sectional view of the end effector of FIG. 32 shown in an articulated configuration;

FIG. 34B is a cross-sectional view of the end effector of FIG. 32 shown in an articulated configuration;

FIG. 35 is a partial perspective view of an end effector according to at least one embodiment;

FIG. 36 is a partial perspective view of the end effector of FIG. 35 shown with some components removed;

FIG. 37 is a partial plan view of the end effector of FIG. 35 shown with some components removed;

FIG. 38 is a partial front view of the end effector of FIG. 35 shown with some components removed;

FIG. 39 is a cross-sectional view of the end effector of FIG. 35 shown in a non-articulated configuration;

FIG. 39A is a cross-sectional view of the end effector of FIG. 35 shown in an articulated configuration;

FIG. 39B is a cross-sectional view of the end effector of FIG. 35 shown in an articulated configuration;

FIG. 40 is a partial cross-sectional view of an end effector including an articulation system that includes an articulation lock in accordance with at least one embodiment;

FIG. 41 is a partially exploded view of the end effector of FIG. 40;

FIG. 42 is a cross-sectional end view of the end effector of FIG. 40;

FIG. 43 is a partial cross-sectional view of the end effector of FIG. 40 showing the articulation lock in an engaged state;

FIG. 44 is a cross-sectional view of the end effector of FIG. 40 showing the articulation lock in an unlocked state;

FIG. 45 is a partial cross-sectional view of the end effector of FIG. 40 showing the articulation lock in a locked state;

FIG. 46 is a partial cross-sectional view of an end effector including a slidable locking plate according to at least one embodiment;

FIG. 47 is a partial cross-sectional view of another end effector including a slidable locking plate according to at least one embodiment;

FIG. 48 is a partial cross-sectional view of the end effector of FIG. 47 illustrating self-adjustment of the locking plate;

FIG. 49 is a partial cross-sectional view of the end effector of FIG. 47 in a locked state;

FIG. 50 is a partial cross-sectional view of an end effector including another slidable locking plate according to at least one embodiment;

FIG. 51 is a partial cross-sectional view of the end effector of FIG. 50 shown in a locked state;

FIG. 52 is a partial cross-sectional view of the end effector of FIG. 50 shown in another locked state;

FIG. 53 is a partial cross-sectional view of an end effector including an articulation system and an articulation lock with some components shown removed in accordance with at least one embodiment;

FIG. 53A is a partial cross-sectional view of the end effector of FIG. 53 articulated in a first direction;

FIG. 53B is a partial cross-sectional view of the end effector of FIG. 53 articulated in a second direction;

FIG. 54 is a partial cross-sectional view of the end effector of FIG. 53 in an unlocked state;

FIG. 55 is a partial cross-sectional view of the end effector of FIG. 53 in a partially locked state;

FIG. 56 is a partial cross-sectional view of the end effector of FIG. 53 in a locked state;

FIG. 57 is a chart showing progressive locking of the end effector of FIG. 53;

FIG. 58 is a partial cross-sectional view of an end effector including an articulation system and an articulation lock with some components shown removed in accordance with at least one embodiment;

FIG. 59 is a partial cross-sectional view of the end effector of FIG. 58 shown in a partially locked state;

FIG. 60 is a partial cross-sectional view of the end effector of FIG. 58 in a locked state;

FIG. 61 is a partial cross-sectional view of an end effector including an articulation system and an articulation lock with some components shown removed in accordance with at least one embodiment;

FIG. 62 is a partial cross-sectional view of the end effector of FIG. 61 showing an articulation lock moved toward an articulation system;

FIG. 63 is a partial cross-sectional view of the end effector of FIG. 61 showing an articulation lock engaged with an articulation system;

FIG. 64 is a partial cross-sectional view of the end effector of FIG. 61 showing the articulation lock in a locked state;

FIG. 65 is another partial cross-sectional view of the end effector of FIG. 61 showing an articulation lock engaged with the articulation system;

FIG. 66 is a partial cross-sectional view of an end effector including an articulation system and an articulation lock with some components shown removed in accordance with at least one embodiment;

FIG. 67 is a partial cross-sectional view of the end effector of FIG. 66 showing an articulation lock engaged with the articulation system;

FIG. 68 is a partial cross-sectional view of the end effector of FIG. 66 showing the articulation lock in a locked state;

FIG. 69 is a partial cross-sectional view of an end effector including an articulation system and an articulation lock with some components shown removed in accordance with at least one embodiment;

FIG. 70 is a partial cross-sectional view of the end effector of FIG. 69 showing an articulation lock moved toward an articulation system;

FIG. 71 is a partial cross-sectional view of the end effector of FIG. 69 showing the articulation lock in a locked state;

FIG. 72 is a partial perspective view of an end effector articulation drive system in accordance with at least one embodiment;

FIG. 73 is a plan view of the end effector articulation drive system of FIG. 72;

FIG. 74 is a front view of the end effector articulation drive system of FIG. 72;

FIG. 75 is a partial perspective view of an end effector articulation drive system in accordance with at least one embodiment;

FIG. 76 is a plan view of the end effector articulation drive system of FIG. 75;

FIG. 77 is a front view of the end effector articulation drive system of FIG. 75;

FIG. 78 is a detailed view of the end effector articulation drive system of FIG. 75;

FIG. 79 is another detailed view of the end effector articulation drive system of FIG. 75;

FIG. 80 is a perspective view of a surgical instrument including a shaft and an end effector according to at least one embodiment;

FIG. 81 is a perspective view of the surgical instrument of FIG. 80 showing the end effector articulated relative to the shaft;

FIG. 82 is a perspective view of the end effector of FIG. 80 in an open configuration;

FIG. 83 is a partial front view of a firing member according to at least one embodiment;

FIG. 84 is a partial cross-sectional plan view of the firing member of FIG. 83;

FIG. 85 is a partial cross-sectional view of a distal end of a staple cartridge having a shortened nose according to at least one embodiment;

FIG. 86 is a partial cross-sectional view of a distal end of a staple cartridge having a shortened nose according to at least one embodiment;

FIG. 87 is a top view of various internal components of the staple cartridge of FIG. 85 showing three staple drivers spanning three longitudinal rows of staple cavities positioned on top of a portion of the wedge sled;

FIG. 88 is a cross-sectional view of the three staple driver of FIG. 87 showing the centerline of the three staple driver relative to the sled;

FIG. 89 is a partial plan view of the staple cartridge of FIG. 85 showing one side of the staple cartridge deck in cross-section and showing the position of the sled of FIG. 88 within a recess defined in the reduced nose portion of the cartridge after completion of the firing stroke;

FIG. 90 is a partial cross-sectional view of the staple cartridge of FIG. 85 taken along line 90-90 of FIG. 89, illustrating the position of the sled after completion of the firing stroke;

FIG. 91 is a diagram comparing accessibility of an end effector comprising the staple cartridge of FIGS. 85 and 86 during pelvic cavity surgery;

FIG. 92 is a partial perspective view of an end effector including the staple cartridge of FIG. 85 and a shortened opposing anvil having a protective tip according to at least one embodiment;

FIG. 93 is a partial front view of the end effector of FIG. 92;

FIG. 94 is a partial plan view of one embodiment of the anvil having a protective tip depicted in FIG. 92 in an assembled configuration;

FIG. 95 is a partial cross-sectional view of the anvil depicted in FIG. 94, taken along line 95-95 in FIG. 94 and shown in a partially unassembled configuration, illustrating exemplary attachment means for removably attaching the protective tip to the anvil;

FIG. 96 is a partial cross-sectional view of the anvil depicted in FIG. 95 taken along line 96-96 in FIG. 95 and shown in a partially unassembled configuration, illustrating the geometry of the corresponding geometric attachment features on the anvil for connection to the protective tip;

FIG. 97 is a partial cross-sectional view of an additional embodiment of the anvil depicted in FIG. 92 in a partially unassembled configuration showing a protective tip positioned within a temporary retainer;

FIG. 98 is a cross-sectional view of the anvil depicted in FIG. 97 taken along line 98-98 in FIG. 97 in a partially unassembled configuration, illustrating the geometry of the head attachment features on the anvil;

FIG. 99 is a cross-sectional view of the anvil depicted in FIG. 97, taken along line 99-99 in FIG. 97, in an assembled configuration with the temporary retainer still attached;

FIG. 100 is a cross-sectional view of the trocar sealing system prior to insertion of an end effector therein;

FIG. 101 is a cross-sectional view of the trocar sealing system of FIG. 100 showing the end effector depicted in FIG. 100 inserted into the trocar sealing system;

FIG. 102 is a cross-sectional view of the trocar sealing system of FIG. 100 showing the end effector depicted in FIG. 100 inserted into the trocar sealing system;

FIG. 103 is a cross-sectional view of the trocar sealing system of FIG. 100 showing an end effector including the shortened staple cartridge of FIG. 85 and a shortened anvil having a protective tip inserted into the trocar sealing system;

FIG. 104 is a cross-sectional view of the trocar sealing system of FIG. 100 prior to insertion of an end effector including the elongate cartridge of FIG. 86 and a shortened anvil having a sharp tip therein;

FIG. 105 is a cross-sectional view of the trocar sealing system of FIG. 100 showing the end effector depicted in FIG. 104 inserted into the trocar sealing system; and

FIG. 106 is a cross-sectional view of the trocar sealing system of FIG. 100 showing the end effector depicted in FIG. 104 inserted into the trocar sealing system.

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 U.S. patent applications filed on even date herewith and each of which is incorporated by reference herein in its entirety:

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT"; agent record number END8207USNP/170098;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO"; agent record number END8210USNP/170099;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS"; agent case number END8218USNP/170101;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME"; agent record number END8217USNP/070102;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A CLOSURE SYSTEM"; agent case number END8211USNP/170103;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT"; agent record number END8215USNP/170107;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS"; agent case number END8201USNP/170104;

U.S. patent application serial No. __________, entitled "SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE NOSES"; agent case number END8206USNP/170105;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE"; agent case number END8212USNP/170106;

U.S. patent application serial No. __________, entitled "METHOD FOR ARTICULATING A SURGICAL INSTRUMENT"; agent record number END8200USNP/170089M;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS"; agent record number END8214USNP/170090;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWS PRIOR TO FIRING"; agent record number END8202USNP/170091;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TO THE PIVOT AXIS"; agent record number END8213USNP/170092;

U.S. patent application serial No. __________, entitled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS"; agent record number END8203USNP/170093;

U.S. patent application serial No. __________, entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT"; agent record number END8205USNP/170094;

U.S. patent application serial No. __________ entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICAL INSTRUMENT JAW"; agent record number END8216USNP/170095;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES"; agent record number END8208USNP/170096;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER"; agent record number END8209USNP/170097;

U.S. patent application serial No. __________, entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT"; agent record number END8233USNP/170084;

U.S. design patent application serial No. __________, entitled "STAPLE FORMING ANVIL"; agent record number END8236USDP/170109D;

U.S. design patent application serial No. __________, entitled "SURGICAL INSTRUMENT SHAFT"; agent case number END8239USDP/170108D; and

U.S. design patent application serial No. __________, entitled "surgicl FASTENER CARTRIDGE"; agent case number END8240USDP/170110D.

The applicant of the present application owns the following U.S. patent applications filed on date 27 at 6.2017, each of which is incorporated herein by reference in its entirety:

U.S. patent application serial No. ________, entitled "SURGICAL ANVIL MANUFACTURING METHODS"; agent case number END8165USNP/170079M;

U.S. patent application serial No. __________ entitled "surgeal ANVIL ARRANGEMENTS"; agent record number END8168USNP/170080;

U.S. patent application serial No. __________ entitled "surgeal ANVIL ARRANGEMENTS"; agent record number END8170USNP/170081;

U.S. patent application serial No. __________ entitled "surgeal ANVIL ARRANGEMENTS"; agent case number END8164USNP/170082;

U.S. patent application serial No. __________, entitled "SURGICAL FIRING MEMBER ARRANGEMENTS"; agent case number END8169USNP/170083;

U.S. patent application serial No. __________, entitled "STAPLE FORMING POCKET ARRANGEMENTS"; agent record number END8167USNP/170085;

U.S. patent application serial No. __________, entitled "STAPLE FORMING POCKET ARRANGEMENTS"; agent record number END8232USNP/170086;

U.S. patent application serial No. __________, entitled "SURGICAL END EFFECTORS AND ANVILS"; agent case number END8166USNP/170087; and

U.S. patent application serial No. __________, entitled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS"; agent case number END8171USNP/170088.

The applicant of the present application owns the following U.S. patent applications filed on day 2016, 12, 21, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/386,185, entitled "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF";

U.S. patent application Ser. No. 15/386,230, entitled "ARTICULATABLE SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/386,221, entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS";

U.S. patent application Ser. No. 15/386,209 entitled "SURGICAL END EFFECTORS AND FIRING MEMBERS THEEOF";

U.S. patent application Ser. No. 15/386,198 entitled "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL ASSEMBLIES";

U.S. patent application Ser. No. 15/386,240 entitled "SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR";

U.S. patent application Ser. No. 15/385,939 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,941, entitled "SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND ARTICULATION AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,943, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-form ANVILS";

U.S. patent application Ser. No. 15/385,950, entitled "SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES";

U.S. patent application Ser. No. 15/385,945, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,946, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-form ANVILS";

U.S. patent application Ser. No. 15/385,951 entitled "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE";

U.S. patent application Ser. No. 15/385,953 entitled "METHODS OF STAPLING TISSUE";

U.S. patent application Ser. No. 15/385,954 entitled "FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL END EFFECTORS";

U.S. patent application Ser. No. 15/385,955 entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS";

U.S. patent application Ser. No. 15/385,948, entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-form ANVILS";

U.S. patent application Ser. No. 15/385,956 entitled "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES"; U.S. patent application Ser. No. 15/385,958 entitled "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT";

U.S. patent application Ser. No. 15/385,947, entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN";

U.S. patent application Ser. No. 15/385,896 entitled "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT";

U.S. patent application Ser. No. 15/385,898, entitled "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF STAPLES";

U.S. patent application Ser. No. 15/385,899 entitled "SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL";

U.S. patent application Ser. No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN";

U.S. patent application Ser. No. 15/385,902 entitled "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER";

U.S. patent application Ser. No. 15/385,904 entitled "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT CARTRIDGE LOCOUT";

U.S. patent application Ser. No. 15/385,905 entitled "FIRING ASSEMBLY COMPRISING A LOCKOUT";

U.S. patent application Ser. No. 15/385,907 entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT";

U.S. patent application Ser. No. 15/385,908 entitled "FIRING ASSEMBLY COMPRISING A FUSE";

U.S. patent application Ser. No. 15/385,909 entitled "FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE";

U.S. patent application Ser. No. 15/385,920 entitled "STAPLE FORMING POCKET ARRANGEMENTS";

U.S. patent application Ser. No. 15/385,913, entitled "ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS";

U.S. patent application Ser. No. 15/385,914 entitled "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";

U.S. patent application Ser. No. 15/385,893 entitled "BILATERRALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS";

U.S. patent application Ser. No. 15/385,929 entitled "CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,911 entitled "SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,927 entitled "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES";

U.S. patent application Ser. No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS";

U.S. patent application Ser. No. 15/385,900 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS";

U.S. patent application Ser. No. 15/385,931, entitled "NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS";

U.S. patent application Ser. No. 15/385,915, entitled "FIRING MEMBER PIN ANGLE";

U.S. patent application Ser. No. 15/385,897 entitled "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES";

U.S. patent application Ser. No. 15/385,922, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES";

U.S. patent application Ser. No. 15/385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";

U.S. patent application Ser. No. 15/385,912, entitled "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS";

U.S. patent application Ser. No. 15/385,910 entitled "ANVIL HAVING A KNIFE SLOT WIDTH";

U.S. patent application Ser. No. 15/385,906 entitled "FIRING MEMBER PIN CONFIGURATIONS";

U.S. patent application Ser. No. 15/386,188 entitled "STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES";

U.S. patent application Ser. No. 15/386,192, entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES";

U.S. patent application Ser. No. 15/386,206, entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES";

U.S. patent application Ser. No. 15/386,226 entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/386,222 entitled "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES";

U.S. patent application Ser. No. 15/386,236 entitled "CONNECTION PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING INSTRUMENTS";

U.S. patent application Ser. No. 15/385,887 entitled "METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND, ALTERNATIVELY, TO A SURGICAL ROBOT";

U.S. patent application Ser. No. 15/385,889 entitled "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM";

U.S. patent application Ser. No. 15/385,890 entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE SYSTEMS";

U.S. patent application Ser. No. 15/385,891, entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS";

U.S. patent application Ser. No. 15/385,892 entitled "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM";

U.S. patent application Ser. No. 15/385,894 entitled "SHAFT ASSEMBLY COMPRISING A LOCKOUT";

U.S. patent application Ser. No. 15/385,895 entitled "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS";

U.S. patent application Ser. No. 15/385,916 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,918, entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,919 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,921 entitled "SURGICAL STAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES";

U.S. patent application Ser. No. 15/385,923 entitled "SURGICAL STAPLING SYSTEMS";

U.S. patent application Ser. No. 15/385,925 entitled "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN FIRED CARTRIDGE IS INSTALLED IN THE END EFFECTOR";

U.S. patent application Ser. No. 15/385,926, entitled "AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 15/385,928 entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT";

U.S. patent application Ser. No. 15/385,930 entitled "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";

U.S. patent application Ser. No. 15/385,932 entitled "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT";

U.S. patent application Ser. No. 15/385,933 entitled "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK";

U.S. patent application Ser. No. 15/385,934, entitled "ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM";

U.S. patent application Ser. No. 15/385,935 entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED CONFIGURATION"; and

U.S. patent application Ser. No. 15/385,936 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES";

the applicant of the present application owns the following U.S. patent applications filed on date 2016, 6, 24, and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/191,775 entitled "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES";

U.S. patent application Ser. No. 15/191,807 entitled "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES";

U.S. patent application Ser. No. 15/191,834 entitled "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME";

U.S. patent application Ser. No. 15/191,788, entitled "STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES"; and

U.S. patent application Ser. No. 15/191,818, entitled "STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS".

U.S. design patent application Ser. No. 29/569,218, entitled "SURGICAL FASTENER";

U.S. design patent application Ser. No. 29/569,227 entitled "SURGICAL FASTENER";

U.S. design patent application Ser. No. 29/569,259, entitled "SURGICAL FASTENER CARTRIDGE"; and

U.S. design patent application Ser. No. 29/569,264 entitled "SURGICAL FASTENER CARTRIDGE".

The applicant of the present application owns the following patent applications filed on

date

2016, 4, 1 and each incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 15/089,325 entitled "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM";

U.S. patent application Ser. No. 15/089,321, entitled "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY";

U.S. patent application Ser. No. 15/089,326, entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

U.S. patent application Ser. No. 15/089,263, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION";

U.S. patent application Ser. No. 15/089,262 entitled "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM";

U.S. patent application Ser. No. 15/089,277, entitled "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER";

U.S. patent application Ser. No. 15/089,296, entitled "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS";

U.S. patent application Ser. No. 15/089,258 entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION";

U.S. patent application Ser. No. 15/089,278 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE";

U.S. patent application Ser. No. 15/089,284 entitled "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT";

U.S. patent application Ser. No. 15/089,295 entitled "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT";

U.S. patent application Ser. No. 15/089,300, entitled "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT";

U.S. patent application Ser. No. 15/089,196 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT";

U.S. patent application Ser. No. 15/089,203 entitled "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT";

U.S. patent application Ser. No. 15/089,210, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT";

U.S. patent application Ser. No. 15/089,324, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM";

U.S. patent application Ser. No. 15/089,335, entitled "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS";

U.S. patent application Ser. No. 15/089,339, entitled "SURGICAL STAPLING INSTRUMENT";

U.S. patent application Ser. No. 15/089,253 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS";

U.S. patent application Ser. No. 15/089,304 entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET";

U.S. patent application Ser. No. 15/089,331, entitled "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS";

U.S. patent application Ser. No. 15/089,336, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES";

U.S. patent application Ser. No. 15/089,312, entitled "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT";

U.S. patent application Ser. No. 15/089,309, entitled "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM"; and

U.S. patent application Ser. No. 15/089,349 entitled "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL".

The applicant of the present application also owns the following identified U.S. patent applications filed on 12 months 31 2015, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/984,488 entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 14/984,525, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 14/984,552, entitled "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS".

The applicant of the present application also owns the following identified U.S. patent applications filed on

day

2016, 2 and 9, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/019,220 entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR";

U.S. patent application Ser. No. 15/019,228 entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT";

U.S. patent application Ser. No. 15/019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY";

U.S. patent application Ser. No. 15/019,215, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,227 entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS";

U.S. patent application Ser. No. 15/019,235 entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS";

U.S. patent application Ser. No. 15/019,230, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS"; and

U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS".

date

2016, 2, 12, each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 15/043,254 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 15/043,259, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 15/043,275, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS"; and

U.S. patent application Ser. No. 15/043,289, entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS".

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

U.S. patent application Ser. No. 14/742,925, now U.S. patent application publication 2016/0367256, 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," now U.S. patent application publication 2016/0367248;

U.S. patent application Ser. No. 14/742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0367255;

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," now U.S. patent application publication 2016/0367254;

U.S. patent application Ser. No. 14/742,885, entitled "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0367246; and

U.S. patent application Ser. No. 14/742,876, entitled "PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0367245.

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

U.S. patent application Ser. No. 14/640,746, entitled "POWERED SURGICAL INSTRUMENT", now U.S. patent application publication 2016/0256184;

U.S. patent application Ser. No. 14/640,795, entitled "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/02561185;

U.S. patent application Ser. No. 14/640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES", now U.S. patent application publication 2016/0256154;

U.S. patent application Ser. No. 14/640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION", now U.S. patent application publication 2016/0256071;

U.S. patent application Ser. No. 14/640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0256153;

U.S. patent application Ser. No. 14/640,859, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES", now U.S. patent application publication 2016/0256187;

U.S. patent application Ser. No. 14/640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0256186;

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", now U.S. patent application publication 2016/0256155;

U.S. patent application Ser. No. 14/640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING," now U.S. patent application publication 2016/0256163;

U.S. patent application Ser. No. 14/640,765, entitled "System FOR DETECTING THE MIS-INSERT OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLE/FASTENER", now U.S. patent application publication 2016/0256160;

U.S. patent application Ser. No. 14/640,799, entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT," now U.S. patent application publication 2016/0256162; and

U.S. patent application Ser. No. 14/640,780, entitled "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING," now U.S. patent application publication 2016/0256161.

The applicant of the present application owns the following patent applications filed on 27 months 2.2015 and each incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/633,576, entitled "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION", now U.S. patent application publication 2016/0249949;

U.S. patent application Ser. No. 14/633,546, entitled "SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now U.S. patent application publication 2016/0249115;

U.S. patent application Ser. No. 14/633,560, entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE BATTERIES", now U.S. patent application publication 2016/0249910;

U.S. patent application Ser. No. 14/633,566, entitled "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY", now U.S. patent application publication 2016/0249218;

U.S. patent application Ser. No. 14/633,555, entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED", now U.S. patent application publication 2016/0249316;

U.S. patent application Ser. No. 14/633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2016/0249508;

U.S. patent application Ser. No. 14/633,548, entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249009;

U.S. patent application Ser. No. 14/633,526, entitled "ADAPTABLE SURGICAL INSTRUMENT HANDLE," now U.S. patent application publication 2016/0249945;

U.S. patent application Ser. No. 14/633,541, entitled "MODULAR STAPLING ASSEMBLY", now U.S. patent application publication 2016/0249977; and

U.S. patent application Ser. No. 14/633,562, entitled "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER", now U.S. patent application publication 2016/0249117;

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

U.S. patent application Ser. No. 14/574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER", now U.S. patent application publication 2016/0174977;

U.S. patent application Ser. No. 14/574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS", now U.S. patent application publication 2016/0174969;

U.S. patent application Ser. No. 14/575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0174978;

U.S. patent application Ser. No. 14/575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS," now U.S. patent application publication 2016/0174976;

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, now U.S. patent application publication 2016/0174972;

U.S. patent application Ser. No. 14/575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS," now U.S. patent application publication 2016/0174983;

U.S. patent application Ser. No. 14/575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. patent application publication 2016/0174975;

U.S. patent application Ser. No. 14/575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS," now U.S. patent application publication 2016/0174973;

U.S. patent application Ser. No. 14/574,493, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM"; now U.S. patent application publication 2016/0174970; and

U.S. patent application Ser. No. 14/574,500, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM," now U.S. patent application publication 2016/0174971.

The applicant of the present application owns the following patent applications filed on 1-3 of 2013, each of which is 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 2014/024671;

U.S. patent application Ser. No. 13/782,323, entitled "Rotary Powered Articulation Joints For Surgical Instruments," now U.S. patent application publication 2014/024672;

U.S. patent application Ser. No. 13/782,338, entitled "Thumbwheel Switch Arrangements For Surgical Instruments," now U.S. patent application publication 2014/024957;

U.S. patent application Ser. No. 13/782,499, entitled "Electromechanical Surgical Device with Signal Relay Arrangement," now U.S. patent application publication 9,358,003;

U.S. patent application Ser. No. 13/782,460, entitled "Multiple Processor Motor Control for Modular Surgical Instruments," now U.S. Pat. No. 9,554,794;

U.S. patent application Ser. No. 13/782,358, entitled "Joystick Switch Assemblies For Surgical Instruments," now U.S. patent application publication 9,326,767;

U.S. patent application Ser. No. 13/782,481, entitled "Sensor Straightened End Effector During Removal Through Trocar," now U.S. patent application publication 9,468,438;

U.S. patent application Ser. No. 13/782,518, entitled "Control Methods for Surgical Instruments with Removable Implement Portions", now U.S. patent application publication 2014/024675;

U.S. patent application Ser. No. 13/782,375, entitled "Rotary Powered Surgical Instruments With Multiple Degrees of Freedom," now U.S. patent application publication 9,398,911; and

U.S. patent application Ser. No. 13/782,536, entitled "SURGICAL INSTRUMENT SOFT STOP," now U.S. patent application publication 9,307,986.

The applicant of the present application also owns the following patent applications filed on 14 days 3.2013, each of which is incorporated herein by reference in its 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 9,332,987;

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 COMPRISING 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-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now U.S. patent application publication 2014/0263554;

U.S. patent application Ser. No. 13/803,066, now U.S. Pat. No. 9,629,623, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS";

U.S. patent application Ser. No. 13/803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS," now U.S. patent application publication 9,351,726;

U.S. patent application Ser. No. 13/803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS," now U.S. patent application publication 9,351,727; 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 on 7.3.2014 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. Pat. No. 9,629,629.

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

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

U.S. patent application Ser. No. 14/226,099, entitled "STERILIZATION VERIFICATION CIRCUIT," now U.S. patent application publication 2015/0272581;

U.S. patent application Ser. No. 14/226,094, entitled "VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE 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 POWERED 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 INSTRUMENT SYSTEM", now U.S. patent application publication 2015/0272557;

U.S. patent application Ser. No. 14/226,081, entitled "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", 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 INSTRUMENT 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," now U.S. patent application publication 2015/0280384.

The applicant of the present application also owns the following patent applications filed on 5.9.2014 and each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE," now U.S. patent application publication 2016/0066912;

U.S. patent application Ser. No. 14/479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION," now U.S. patent application publication 2016/0066914;

U.S. patent application Ser. No. 14/478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION", now U.S. patent application publication 2016/0066910;

U.S. patent application Ser. No. 14/478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR' S OUTPUT OR INTERPRETATION", now U.S. patent application publication 2016/0066909;

U.S. patent application Ser. No. 14/479,110, entitled "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", now U.S. patent application publication 2016/0066915;

U.S. patent application Ser. No. 14/479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION," now U.S. patent application publication 2016/0066911;

U.S. patent application Ser. No. 14/479,115, entitled "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE," now U.S. patent application publication 2016/0066916; and

U.S. patent application Ser. No. 14/479,108, entitled "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION," now U.S. patent application publication 2016/0066913.

The applicant of the present application also owns the following patent applications filed on date 2014, 4, 9, and each of which is 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. Pat. No. 9,649,110;

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

U.S. patent application Ser. No. 14/248,588, entitled "POWERED LINEAR SURGICAL STAPLE/FASTENER", 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 DRIVEN 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 Ser. No. 14/248,587, entitled "POWERED SURGICAL STAPLE/FASTENER", 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 DRIVEN 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 on date 16 of 2013, 4, and each of which is incorporated herein by reference in its entirety:

U.S. provisional patent application Ser. No. 61/812,365 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR";

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

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

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

U.S. provisional patent application Ser. No. 61/812,372 entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS 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 shown in the 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 appreciate that the embodiments described and illustrated herein are non-limiting examples, so that it can be appreciated that the specific structural and functional details disclosed herein may be representative and exemplary. Modifications and changes may be made to these embodiments without departing from the scope of the claims.

The terms "comprising," "including," "having," "with," and any form of "include," such as "containing," "containing" (and any form of "containing," such as "including") are open-ended tie verbs. Thus, a surgical system, apparatus, or device that "comprises," "has," "contains," or "contains" one or more elements has those one or more elements, but is not limited to having only those one or more elements. Likewise, an element of a system, apparatus, or device that "comprises," "has," "includes" or "contains" one or more features has those one or more features, but is not limited to having 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 also be appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" 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 can be used in a variety of surgical procedures and applications, including, for example, in connection with open surgical procedures. 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, etc. The working portion or end effector portion of the instrument may be inserted directly into the 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.

The surgical stapling system can 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. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are contemplated in which the staple cartridge is not removable from the first jaw, or at least is 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 contemplated in which the first jaw is pivotable relative to the second jaw. The surgical stapling system further includes an articulation joint configured to allow the end effector to rotate or articulate relative to the shaft. The end effector is rotatable about an articulation axis that extends through the articulation joint. Other embodiments are contemplated that do not include an articulation joint.

The nail bin comprises a bin 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 tissue. The anvil is moved toward the 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 a staple cavity defined therein, wherein staples are removably stored in the staple cavity. 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 arrangements of the staple cavities and staples are also possible.

The staples are supported by a staple driving device in the cartridge body. The drive device is movable between a first or unfired position and a second or fired position to eject staples from the staple cartridge. The drive device is retained in the cartridge body by a retainer that extends around the bottom of the cartridge body and includes an elastic member configured to be able to grip the cartridge body and to retain the retainer to the cartridge body. The drive is movable by the sled between its unfired and fired positions. 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 the drive and lift the drive toward the anvil and the staples are supported on the drive.

In addition to the above, the sled may be moved distally by the firing member. The firing member is configured to contact the sled and push the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive a firing member. The anvil further includes a slot configured to receive a firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. The first cam and the second cam may control a distance or tissue gap between the deck of the staple cartridge and the anvil as the firing member is advanced distally. The firing member further includes a knife configured to incise tissue trapped 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 illustrates a motor driven surgical system 10 that may be used to perform a variety of different surgical procedures. As can be seen in fig. 1, one example of a surgical instrument 10 includes four interchangeable

surgical tool assemblies

1000, 3000, 5000, and 7000, each adapted for use interchangeably with a handle assembly 500. Each interchangeable

surgical tool assembly

1000, 3000, 5000, and 7000 can be designed for use in connection with the performance of one or more specific surgical procedures. In another surgical system embodiment, one or more of interchangeable

surgical tool assemblies

1000, 3000, 5000, and 7000 can be effectively used with a robotic-controlled surgical system or an automated surgical system tool drive assembly. For example, the surgical tool assemblies disclosed herein may be used with a variety of robotic systems, instruments, components, and methods, such as, but not limited to, those disclosed in U.S. patent 9,072,535, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS," which is hereby incorporated by reference in its entirety.

Fig. 2 illustrates the attachment of the interchangeable surgical tool assembly 1000 to the handle assembly 500. It should be appreciated that any of the other

interchangeable tool assemblies

3000, 5000, and 7000 may be coupled to the handle assembly 500 in a similar manner. The attachment arrangement and method depicted in fig. 2 may also be used in conjunction with the attachment of any of the interchangeable

surgical tool assemblies

1000, 3000, 5000, and 7000 with a tool drive portion or tool drive housing of a robotic system. The handle assembly 500 may include a handle housing 502, the handle housing 502 including a pistol grip portion 504 that may be grasped and manipulated by the clinician. As will be briefly discussed below, the handle assembly 500 operably supports a plurality of

drive systems

510, 530 configured to generate and apply various control actions to corresponding portions of interchangeable

surgical tool assemblies

1000, 3000, 5000, and/or 7000 operably attached to the handle assembly 500.

As can be seen in fig. 2, the handle assembly 500 may further include a handle frame 506 that operatively supports a plurality of drive systems. For example, the handle frame 506 can operably support a "first" or closure drive system, generally indicated at 510, which can be used to apply closing and opening motions to interchangeable

surgical tool assemblies

1000, 3000, 5000, and 7000 operably attached or coupled to the handle assembly 500. In at least one form, the closure drive system 510 can include an actuator in the form of a closure trigger 512 pivotally supported by the handle frame 506. Such an arrangement enables the closure trigger 512 to be manipulated by a clinician such that the closure trigger 512 can be readily pivoted from a start or "unactuated" position to an "actuated" position, and more particularly to a fully compressed or fully actuated position, when the clinician grasps the pistol grip portion 504 of the handle assembly 500. In various forms, the closure drive system 510 further includes a closure link assembly 514, the closure link assembly 514 being pivotably coupled to the closure trigger 512 or otherwise operatively connected with the closure trigger 512. As will be discussed in further detail below, in the illustrated example, the closure link assembly 514 includes a lateral attachment pin 516 that facilitates attachment to a corresponding drive system on a surgical tool assembly. In use, to actuate the closure drive system 510, the clinician presses the closure trigger 512 toward the pistol grip portion 504. As described in further detail in U.S. patent application serial No. 14/226,142, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM," which is now U.S. patent application publication 2015/0272575, which is hereby incorporated by reference in its entirety, the closure actuation system 510 is configured to lock the closure trigger 512 in a fully depressed or fully actuated position when the clinician fully depresses the closure trigger 512 to effect a full closure stroke. When the clinician desires to unlock the closure trigger 512 to allow the closure trigger 512 to be biased to the unactuated position, the clinician actuates the closure release button assembly 518 that enables the closure trigger to return to its unactuated position. The closure release button assembly 518 may also be configured to interact with various sensors that communicate with a microprocessor 560 in the handle assembly 500 to track the position of the closure trigger 512. Further details regarding the construction and operation of the closure release button assembly 518 can be found in U.S. patent application publication 2015/0272575.

In at least one form, the handle assembly 500 and the handle frame 506 may operatively support another drive system, referred to herein as a firing drive system 530, configured to apply firing motions to corresponding portions of interchangeable surgical tool assemblies attached thereto. As described in detail in U.S. patent application publication 2015/0272575, the firing drive system 530 may employ an electric motor 505 located in the pistol grip portion 504 of the handle assembly 500. In various forms, the motor 505 may be, for example, a DC brush drive motor having a maximum speed of about 25,000 RPM. In other arrangements, the motor 505 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 505 may be powered by a power source 522, which in one form may include a removable power pack. The power pack may support a plurality of lithium-ion ("LI") or other suitable batteries therein. Multiple batteries connected in series may be used as the power source 522 for the surgical system 10. In addition, the power source 522 may be replaceable and/or rechargeable.

The electric motor 505 is configured to axially drive a longitudinally movable drive member in distal and proximal directions depending on the polarity of a voltage applied to the motor. For example, when the motor is driven in one rotational direction, the longitudinally movable drive member will be driven axially in the distal direction "DD". When the motor 505 is driven in the opposite rotational direction, the longitudinally movable drive member will be driven axially in the proximal direction "PD". The handle assembly 500 may include a switch 513, and the switch 513 may be configured to reverse the polarity applied to the electric motor 505 by the power source 522 or otherwise control the motor 505. The handle assembly 500 may also include one or more sensors configured to detect the position of the drive member and/or the direction in which the drive member moves. Actuation of the motor 505 may be controlled by a firing trigger 532 (fig. 1) pivotally supported on the handle assembly 500. The firing trigger 532 is pivotable between an unactuated position and an actuated position. The firing trigger 532 may be biased to the unactuated position by a spring or other biasing arrangement such that when the clinician releases the firing trigger 532, the firing trigger 532 may be pivoted or otherwise returned to the unactuated position by the spring or biasing arrangement. In at least one form, the firing trigger 532 may be positioned "outboard" of the closure trigger 512 as described above. As discussed in U.S. patent application publication 2015/0272575, the handle assembly 500 may be equipped with a firing trigger safety button for preventing inadvertent actuation of the firing trigger 532. When the closure trigger 512 is in the unactuated position, a safety button is housed in the handle assembly 500, in which case the safety button is not readily accessible to a clinician and moves between a safety position preventing actuation of the firing trigger 532 and a firing position in which the firing trigger 532 may be fired. When the clinician depresses the closure trigger 512, the safety button and firing trigger 532 pivot downward, which can then be manipulated by the clinician.

In at least one form, the longitudinally movable drive member may have a rack (not shown) formed thereon for meshing engagement with a corresponding drive gear arrangement interfacing with the motor. Further details regarding those features can be found in U.S. patent application publication 2015/0272575. In at least one form, the handle assembly 500 further includes a manually actuatable "rescue" assembly configured to enable a clinician to manually retract the longitudinally movable drive member in the event the motor 505 becomes disabled. The rescue assembly may include a lever or rescue handle assembly that is stored within the handle assembly 500 below the releasable door 550. See fig. 2. The lever may be configured to be manually pivotable into ratchet engagement with teeth in the drive member. Thus, the clinician may manually retract the drive member using the rescue handle assembly to ratchet the drive member in the proximal direction "PD". U.S. patent 8,608,045, entitled "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," the entire disclosure of which is hereby incorporated by reference herein, discloses a rescue arrangement, and other components, arrangements, and systems that can also be employed with any of the various interchangeable surgical tool assemblies disclosed herein.

Turning now to fig. 3 and 4, the interchangeable surgical tool assembly 1000 includes a surgical end effector 1500, the surgical end effector 1500 including a first jaw 1600 and a second jaw 1800. In one arrangement, the first jaw 1600 includes an elongate channel 1602 configured to operably support a surgical staple/fastener cartridge 1700 therein. The second jaw 1800 includes an anvil 1810 pivotally supported relative to the elongate channel 1602. The interchangeable surgical tool assembly 1000 includes an articulation system 1300, the articulation system 1300 including an articulation joint 1302 and an articulation lock 1400 (fig. 4-6), the articulation lock 1400 may be configured to couple the surgical end effector 1500 relative to the shaft axis SA ₁ Releasably held in a position where articulation is desired.

As further seen in fig. 4 and 7-9, the interchangeable surgical tool assembly 1000 includes a tool frame assembly 1200 that includes a tool base 1210 that operatively supports a nozzle assembly 1240 thereon. In one form, the nozzle assembly 1240 is comprised of

nozzle portions

1242, 1244 and an actuator wheel portion 1246 that is configured to be coupled to the assembled

nozzle portions

1242, 1244, such as by snaps, lugs, and/or screws. The interchangeable surgical tool assembly 1000 includes a proximal closure assembly 1900 operably coupled to a distal closure assembly 2000 for closing and/or opening an anvil 1810 of a surgical end effector 1500, as will be described below As discussed in further detail herein. Further, the interchangeable surgical tool assembly 1000 includes a spine assembly 1250 that operatively supports the proximal closure assembly 1900 and is coupled to the surgical end effector 1500. In various instances, to facilitate assembly, the spine assembly 1250 may be made of an upper spine segment 1251 and a lower spine segment 1252 that are interconnected together, such as by snap features, adhesives, and/or welding. In various instances, the spine assembly 1250 includes a proximal end 1253 that is rotatably supported in the tool base 1210. In one arrangement, for example, the proximal end 1253 of the spine assembly 1250 is attached to a spine bearing that is configured to be supported within the tool base 1210. This arrangement facilitates rotatable attachment of the spine assembly 1250 to the tool base 1210 such that the spine assembly 1250 may be selectively rotated relative to the tool base 1210 about the shaft axis SA ₁ And (5) rotating. Specifically, in at least one arrangement, for example, the proximal end 1253 of the spine assembly 1250 includes an upper lug boss 1254 (fig. 4, 5, 7, 8, and 10) and a lower lug boss that are each configured to receive a corresponding nozzle lug 1245 extending inwardly from each of the

nozzle portions

1242, 1244. Such an arrangement facilitates the spine assembly 1250 about the shaft axis SA by rotating the actuator wheel portion 1246 of the nozzle assembly 1240 ₁ And (5) rotating.

As can be seen in fig. 4 and 5, the spine assembly 1250 also includes an intermediate spine shaft segment 1256 that has a diameter that is smaller than the diameter of the proximal end 1253 of the spine assembly 1250. The intermediate spine segment 1256 of the upper spine segment 1251 terminates in an upper lug mounting feature 1260 and the intermediate spine segment of the lower spine segment 1252 terminates in a lower lug mounting feature 1270. As seen in fig. 6, the upper lug mounting feature 1260 has formed therein a lug slot 1262 adapted to support an upper mounting connector 1264 therein in a mounting manner. Similarly, the lower lug mounting feature 1270 has a lug slot 1272 formed therein, the lug slot 1272 being adapted to mountingly support the lower mounting link 1274 therein. Upper mounting link 1264 includes a shaft axis SA therein ₁ Offset pivot socket 1266. The pivot socket 1266 is adapted to rotatably receive a pivot pin 1634 therein, the pivot pin 1634 being formed for attachment to a thin bodyA channel cap or anvil retainer 1630 of the proximal end portion 1610 of the elongate channel 1602. The lower mounting link 1274 includes a lower pivot pin 1276 that is adapted to be received within a pivot hole 1611 formed in the proximal portion 1610 of the elongate channel 1602. See fig. 6. Lower pivot pin 1276, pivot hole 1611 and shaft axis SA ₁ And (3) biasing. The lower pivot pin 1276 is vertically aligned with the pivot socket 1266 to define an articulation axis AA ₁ The surgical end effector 1500 can be articulated about the articulation axis relative to the shaft axis SA ₁ Articulation is performed. Although the articulation axis AA ₁ Transverse to the shaft axis SA ₁ But the articulation axis AA ₁ With axis SA of the shaft ₁ Laterally offset from, and not coaxial with, shaft axis SA ₁ And (5) intersecting.

Referring now to fig. 6 and 15, the anvil 1810 includes an anvil body 1812 that terminates in an anvil mounting portion 1820. Anvil mounting portion 1820 is movably or pivotably supported on elongate channel 1602 to be about a shaft axis SA transverse thereto ₁ Is fixed to the anvil pivot axis PA ₁ (fig. 15) selective pivotal travel. A pivot member or anvil trunnion 1822 extends laterally beyond each side of the anvil mounting portion 1820 for receipt in a corresponding trunnion mount 1614 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongate channel 1602. The anvil trunnions 1822 are pivotally retained in their corresponding trunnion mounts 1614 by a channel cap or anvil retainer 1630. The channel cap or anvil retainer 1630 includes a pair of attachment lugs 1636 configured to be retainably received within corresponding lug grooves or notches 1616 formed in the upstanding wall 1612 of the proximal end portion 1610 of the elongate channel 1602.

The surgical end effector 1500 is selectively positionable about an articulation axis AA by an articulation system 1300 ₁ Articulation is performed. In one form, the articulation system 1300 includes a proximal articulation driver 1310 that is pivotally coupled to an articulation link 1320. As seen in fig. 6, a bias attachment lug 1314 is formed on the distal end 1312 of the proximal articulation driver 1310. A pivot hole 1316 is formed in the offset attachment lug 1314 and is configured to enablePivotally receiving therein a proximal link pin 1326 formed on a proximal end 1325 of the articulation link 1320. The distal end 1322 of the articulation link 1320 includes a pivot bore 1324 that is configured to pivotally receive a channel pin 1618 formed on the proximal end portion 1610 of the elongate channel 1602 therein. Thus, axial movement of the proximal articulation driver 1310 will impart an articulation motion to the elongate channel 1602 to articulate the surgical end effector 1500 relative to the spine assembly 1250 about the articulation axis AA 1.

Movement of the anvil 1810 relative to the elongate channel 1602 is accomplished by axial movement of the proximal and

distal closure assemblies

1900, 2000. Referring now to fig. 4 and 7, a proximal closure assembly 1900 includes a proximal closure tube 1910 having a proximal closure tube portion 1920 and a distal portion 1930. The distal portion 1930 has a diameter that is less than the diameter of the proximal closure tube segment 1920. A proximal end 1922 of the proximal closure tube segment 1920 is rotatably supported in a closure shuttle 1940 that is slidably supported within the tool base 1210 such that the closure shuttle 1940 is axially movable relative to the tool base 1210. In one form, the closure shuttle 1940 includes a pair of proximally projecting hooks 1942 that are configured to attach to an attachment pin 516 that attaches to the closure link assembly 514 of the handle assembly 500. A proximal end 1922 of the proximal closure tube segment 1920 is rotatably coupled to the closure shuttle 1940. For example, the U-shaped connector 1944 is inserted into the annular slot 1924 in the proximal closure tube segment 1920 and is retained within the vertical slot 1946 in the closure shuttle 1940. This arrangement serves to attach the proximal closure assembly 1900 to the closure shuttle 1940 for axial travel with the closure shuttle 1940 while enabling rotation of the proximal closure assembly 1900 relative to the closure shuttle 1940 about the shaft axis SA 1. A closure spring 1948 (fig. 12-14) extends over the proximal closure tube portion 1920 to bias the closure shuttle 1940 in the proximal direction PD, which may be used to pivot the closure trigger 512 on the handle assembly 500 (fig. 2) to an unactuated position when the interchangeable surgical tool assembly 1000 is operatively coupled to the handle assembly 500.

Referring now to fig. 5 and 6, a distal portion 1930 of the proximal closure tube 1910 is attached to the distal closure assembly 2000. The distal closure assembly 2000 includes an articulation connector 2010 that is coupled to a distal closure tube segment 2030. The distal closure tube segment 2030 has a diameter that is greater than the diameter of the distal portion 1930 of the proximal closure tube 1910. The articulation connector 2010 has a proximally extending end portion 2012 that is adapted to be received over a connecting flange 1934 formed on the distal end of the distal portion 1930. The articulation connector 2010 may be retained on the connection flange 1934 by, for example, a suitable fastener arrangement, adhesive, and/or welding. The articulation connector 2010 includes an upper tang 2014 and a lower tang 2016 that protrude distally from the distal end of the articulation connector 2010 to movably couple to an end effector closure sleeve or distal closure tube segment 2030. The distal closure tube segment 2030 includes an upper tang 2032 and a lower tang that project proximally from its proximal end. The upper double pivot connection 2060 includes a proximal pin 2061 and a distal pin 2062 that engage corresponding

holes

2015, 2034 in the

upper tangs

2014, 2032 of the articulation connector 2010 and the distal closure tube segment 2030, respectively. Similarly, the lower dual pivot connection 2064 includes a proximal pin 2065 and a distal pin 2066 that engage corresponding holes 2019 in the inferior tangs 2016 of the articulation connector 2010 and distal closure tube segment 2030, respectively. As will be discussed in further detail below, distal and proximal axial translation of the proximal closure assembly 1900 and the distal closure assembly 2000 will cause the anvil 1810 to close and open relative to the elongate channel 1602.

The interchangeable surgical tool assembly 1000 also includes a firing system, generally indicated at 2100. The firing system 2100 includes a firing member assembly 2110 that is supported for axial travel within a spine assembly 1250. Firing member 2110 includes an intermediate firing shaft portion 2120 that is configured to attach to a distal cutting portion or knife bar 2130. Firing member assembly 2110 may also be referred to herein as a "second shaft" and/or a "second shaft assembly. As can be seen in fig. 5, the intermediate firing shaft portion 2120 can include a longitudinal slot 2124 in its distal end 2122 that can be configured to receive a proximal end 2132 of a knife bar 2130. The longitudinal slot 2124 and the proximal end 2132 of the knife bar 2130 are sized and configured to allow relative movement therebetween and may include a sliding joint 2134. The sliding joint 2134 may allow movement of the intermediate firing shaft portion 2120 of the firing member assembly 2110 to articulate the end effector 1500 without moving, or at least substantially moving, the knife bar 2130. Once the end effector 1500 has been properly oriented, the intermediate firing shaft portion 2120 can be advanced distally until the proximal side wall of the longitudinal slot 2124 contacts a portion of the knife bar 2130 to advance the knife bar 2130 and fire the surgical staple cartridge/fastener cartridge 1700 positioned within the elongate channel 1602. The proximal end 2127 of the intermediate firing shaft portion 2120 has a firing shaft attachment lug 2128 (fig. 8) formed thereon that is configured to seat into an attachment bracket on the distal end of a longitudinally movable drive member of the firing drive system 530 within the handle assembly 500. This arrangement facilitates axial movement of the intermediate firing shaft portion 2120 upon actuation of the firing drive system 530.

In addition to the above, the interchangeable tool assembly 1000 can include a clutch assembly 2200 that can be configured to selectively and releasably couple the proximal articulation driver 1310 to the firing system 2100. In one form, the clutch assembly 2200 includes a locking collar or sleeve 2210 positioned about an intermediate firing shaft portion 2120 of the firing system 2100, wherein the locking sleeve 2210 is rotatable between an engaged position in which the locking sleeve 2210 couples the proximal articulation driver 1310 to the firing member assembly 2110 and a disengaged position in which the proximal articulation driver 1310 is not operatively coupled to the firing member assembly 2110. When lockout sleeve 2210 is in its engaged position, distal movement of firing member assembly 2110 may move proximal articulation driver 1310 distally, and correspondingly, proximal movement of firing member assembly 2110 may move proximal articulation driver 1310 proximally. When lockout sleeve 2210 is in its disengaged position, movement of firing member assembly 2110 is not transferred to proximal articulation driver 1310, and thus, firing member assembly 2110 may be moved independently of proximal articulation driver 1310. In various circumstances, the proximal articulation driver 1310 may be held in place by the articulation lock 1400 when the firing member assembly 2110 is not moving the proximal articulation driver 1310 in a proximal or distal direction.

The intermediate firing shaft portion 2120 of the firing member assembly 2110 is formed with two opposing

flat sides

2121, 2123 with a drive recess 2126 formed therein. See fig. 8. As can also be seen in fig. 13, the locking sleeve 2210 can include a cylindrical or at least substantially cylindrical body including a longitudinal bore 2212 configured to receive the intermediate firing shaft portion 2120 therethrough. The lockout sleeve 2210 includes diametrically opposed, inwardly facing

lockout tabs

2214, 2216, the

lockout tabs

2214, 2216 being engagingly received within corresponding portions of the drive recess 2126 in the intermediate firing shaft portion 2120 when the lockout sleeve 2210 is in one position, and the

lockout tabs

2214, 2216 being not received within the drive recess 2126 when the lockout sleeve 2210 is in another position, thereby allowing relative axial movement between the lockout sleeve 2210 and the intermediate firing shaft portion 2120.

Referring now to fig. 8 and 12-14, the locking sleeve 2210 further includes a locking member 2218 sized to be movably received within a notch 1319 in the proximal end 1318 of the proximal articulation driver 1310. This arrangement allows the lockout sleeve 2210 to be rotated slightly into the intermediate firing shaft portion 2120 and out of engagement with the intermediate firing shaft portion 2120 while maintaining engagement with the notch 1319 in the proximal articulation driver 1310. For example, when the lock sleeve 2210 is in its engaged position, the locking

tabs

2214, 2216 are positioned within the drive recess 2126 in the intermediate firing shaft portion 2120 such that distal pushing forces and/or proximal pulling forces can be transferred from the firing member assembly 2110 to the lock sleeve 2210. Such axial pushing or pulling motion is then transferred from the locking sleeve 2210 to the proximal articulation driver 1310, thereby articulating the surgical end effector 1500. In effect, when the locking sleeve 2210 is in its engaged (articulation) position, the firing member assembly 2110, locking sleeve 2210 and proximal articulation driver 1310 will move together. On the other hand, when the locking sleeve 2210 is in its disengaged position, the locking

tabs

2214, 2216 are not received within the drive recess 2126 of the intermediate firing shaft portion 2120 and, as a result, distal pushing and/or proximal pulling forces may not be transferred from the firing member assembly 2110 to the locking sleeve 2210 (and the proximal articulation driver 1310).

The relative movement of the locking sleeve 2210 between its engaged and disengaged positions may be controlled by the shifter assembly 2200 interfacing with the proximal closure tube 1910 of the proximal closure assembly 1900. More specifically and with reference to fig. 8 and 9, the clutch assembly 2200 also includes a clutch key 2240, the clutch key 2240 being configured to be slidably received within a key recess 2217 formed in the outer periphery of the locking sleeve 2210. This arrangement enables the shifter key 2240 to move axially relative to the locking sleeve 2210. Referring to fig. 8-11, the clutch key 2240 includes an actuator tab 2242 that extends through a cam slot or cam opening 1926 in the proximal closure tube portion 1920. See fig. 9. A cam surface 2243 is also provided adjacent the actuator lug 2242 and is configured to cam interact with the cam opening 1926 to cause the clutch key 2240 to rotate in response to axial movement of the proximal closure tube portion 1920.

The shifter assembly 2200 also includes a switch drum 2220 rotatably received on a proximal end portion of the proximal closure tube segment 1920. As seen in fig. 10-14, the actuator lugs 2242 extend through the axial slot section 2222 in the shift barrel 2220 and are movably received within the arcuate slot section 2224 in the shift barrel 2220. A shift barrel torsion spring 2226 (fig. 12-14) is mounted on the shift barrel 2220 and engages the nozzle portion 1244 to apply a torsion bias or rotation (arrow SR in fig. 10 and 11) that rotates the shift barrel 2220 until the actuator lugs 2242 reach the ends of the arcuate slot segments 2224. See fig. 11 and 12. When in this position, the shift barrel 2220 may provide a torsional bias to the shifter key 2240 that thereby causes the locking sleeve 2210 to rotate to its position of engagement with the intermediate firing shaft portion 2120. This position also corresponds to the unactuated configuration of the proximal closure assembly 1900. In one arrangement, for example, when the proximal closure assembly 1900 is in an unactuated configuration (anvil 1810 is in an open position spaced apart from the housing staple/fastener cartridge 1700), the actuator lugs 2242 are located in an upper portion of the cam openings 1926 in the proximal closure tube portion 1920. When in this position, actuation of the intermediate firing shaft portion 2120 will result in axial movement of the proximal articulation driver 1310. When the user articulates the surgical end effector 1500 to a desired orientation, the user may then actuate the proximal closure assembly 1900. Actuation of the proximal closure assembly 1900 will cause distal advancement of the proximal closure tube segment 1920 to ultimately apply a closing motion to the anvil 1810. Such distal advancement of the proximal closure tube segment 1920 will cause the cam opening 1926 to cam with the cam surface 2243 on the actuator lug 2242, thereby causing the clutch key 2240 to rotate the locking sleeve 2210 in the actuation direction AD. Such rotation of the locking sleeve 2210 will cause the

locking tabs

2214, 2216 to disengage from the drive notch 2126 in the intermediate firing shaft portion 2120. When in this configuration, the firing drive system 530 may be actuated to actuate the intermediate firing shaft portion 2120 without actuating the proximal articulation driver 1310. Additional details regarding the operation of the switch drum 2220 and locking sleeve 2210, as well as alternative articulation and firing drive arrangements that may be used with the various interchangeable surgical tool assemblies described herein, may be found in U.S. patent application Ser. No. 13/803,086 (now U.S. patent application publication 2014/0263541) entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. patent application Ser. No. 15/019,196 entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT" filed on

day

2016, 2, 9, the disclosures of which are hereby incorporated by reference in their entirety.

Referring again to fig. 8-13, the shift barrel 2220 may further include at least partial

circumferential openings

2228, 2230 defined therein that may receive circumferential lugs/mounts 1245 extending from the

nozzle portions

1242, 1244 and permit relative rotation (rather than relative translation) between the shift barrel 2220 and the nozzle assembly 1240. The nozzle lugs 1245 extend through corresponding openings 1923 in the proximal closure tube portion 1920 to be seated in the lug seats 1254 in the spine assembly 1250. See fig. 8 and 9. This arrangement enables a user to rotate the spine assembly 1250 about the shaft axis by rotating the nozzle assembly 1240.

As also shown in fig. 7 and 12-14, the interchangeable surgical tool assembly 1000 can include a slip ring assembly 1230 that can be configured to conduct power to and/or from the surgical end effector 1500 and/or to transmit signals to and/or from the surgical end effector 1500, ultimately back to, for example, the microprocessor 560 (fig. 2) or robotic system controller in the handle assembly 500. Additional details of Guan Huahuan assemblies 1230 and associated connectors can be found in U.S. patent application Ser. No. 13/803,086 (now U.S. patent application publication 2014/0263541) entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK" and U.S. patent application Ser. No. 15/019,196 (each of which is incorporated herein by reference in its entirety) entitled "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT" and U.S. patent application Ser. No. 13/800,067 (now U.S. patent application publication 2014/0263552) entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", which is incorporated herein by reference in its entirety. As also described in further detail in the aforementioned patent applications, which have been incorporated by reference herein, the interchangeable surgical tool assembly 1000 can further include at least one sensor configured to detect the position of the switch drum 2220.

Referring again to fig. 2, tool base 1210 includes at least one tapered attachment portion 1212 formed thereon that is adapted to be received within a corresponding dovetail slot 507 formed in a distal end portion of handle frame 506 of handle assembly 500. The various interchangeable surgical tool assemblies employ a latching system 1220 for removably coupling the interchangeable surgical tool assembly 1000 to the handle frame 506 of the handle assembly 500. In at least one form, as seen in fig. 7, the latching system 1220 includes a locking member or locking yoke 1222, for example, movably coupled to the tool base 1210. The lock yoke 1222 is U-shaped with two spaced apart and downwardly extending legs 1223. The legs 1223 each have pivot lugs formed thereon that are adapted to be received in corresponding holes formed in the tool base 1210. This arrangement facilitates the pivotal attachment of the lock yoke 1222 to the tool base 1210. The lock yoke 1222 may include two proximally projecting lock lugs 1224 configured for releasable engagement with corresponding lock pawls or recesses 509 in the distal end of the handle frame 506 of the handle assembly 500. See fig. 2. In various forms, the lock yoke 1222 is biased in a proximal direction by a spring or biasing member 1225. Actuation of the lock yoke 1222 may be accomplished by a latch button 1226 slidably mounted on a latch actuator assembly 1221, the latch actuator assembly 1221 being mounted to the tool chassis 1210. The latch button 1226 may be biased in a proximal direction relative to the lock yoke 1222. The lock yoke 1222 may be moved to an unlocked position by biasing the latch button 1226 in a distal direction, which also pivots the lock yoke 1222 out of retaining engagement with the distal end of the handle frame 506. When the lock yoke 1222 is "held in engagement" with the distal end of the handle frame 506, the lock lugs 1224 remain disposed within the corresponding lock pawls or grooves 509 in the distal end of the handle frame 506.

The lock yoke 1222 includes at least one lock hook 1227 adapted to contact a corresponding lock tab portion 1943 formed on the closure shuttle 1940. When the closure shuttle 1940 is in the unactuated position, the lock yoke 1222 may be pivoted in a distal direction to unlock the interchangeable surgical tool assembly 1000 from the handle assembly 500. When in this position, the locking hook 1227 does not contact the locking lug portion 1943 on the closure shuttle 1940. However, when the closure shuttle 1940 is moved to the actuated position, the lock yoke 1222 is prevented from pivoting to the unlocked position. In other words, if a clinician attempts to pivot the lock yoke 1222 to an unlocked position, or for example, the lock yoke 1222 is inadvertently bumped or contacted in a manner that would otherwise cause it to pivot distally, the lock hook 1227 on the lock yoke 1222 will contact the lock ledge 1943 on the closure shuttle 1940 and prevent the lock yoke 1222 from moving to the unlocked position.

Referring again to fig. 6, knife bar 2130 can include a laminated beam structure including at least two beam layers. The beam layers may comprise, for example, stainless steel strips interconnected at the proximal end and/or at other locations along the length thereof by, for example, welding and/or pins. In alternative embodiments, the distal ends of the bands are not connected together to allow the laminate or bands to be deployed relative to each other as the end effector is articulated. Such an arrangement allows knife bar 2130 to be flexible enough to accommodate articulation of the end effector. Various laminated knife bar arrangements are disclosed in U.S. patent application Ser. No. 15/019,245, entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS," which is incorporated herein by reference in its entirety. As can also be seen in FIG. 6, a firing shaft support assembly 2300 is used to provide lateral support to a knife bar 2130 as it bends to accommodate articulation of the surgical end effector 1500. Further details regarding the operation of the firing shaft support assembly 2300 and the alternative knife bar support arrangement can be found in: U.S. patent application Ser. No. 15/019,245 entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS" and U.S. patent application Ser. No. 15/019,220 entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR", each of which is incorporated herein by reference in its entirety.

As also seen in fig. 6, a firing or knife member 2140 is attached to the distal end of the knife bar 2130. In one exemplary form, the firing member 2140 includes a main body portion 2142 that supports a knife or tissue cutting portion 2144. The body portion 2142 protrudes through an elongated slot 1604 in the elongated channel 1602 and terminates in a foot member 2146 extending laterally on each side of the body portion 2142. As the firing member 2140 is driven distally through the surgical staple/fastener cartridge 1700, the foot member 2146 rides within the elongate channel 1602 in a path below the surgical staple/fastener cartridge 1700. In one arrangement, the body portion 2142 includes two laterally protruding center tabs 2145 that may straddle a center channel within the surgical staple cartridge/fastener cartridge 1700. See fig. 6. Tissue cutting portion 2144 is disposed between the distally projecting top nose portion 2143 and the foot member 2146. As further seen in fig. 6, the firing member 2140 may also include two laterally extending top tabs, pins, or anvil engagement features 2147. When the firing member 2140 is driven distally, a top portion of the main body portion 2142 extends through the centrally disposed anvil slot 1814 and the anvil engagement features 2147 ride over corresponding anvil ledges 1816 formed on each side of the anvil slot 1814. In one arrangement, to facilitate assembly of the anvil 1810 and firing member 2140 arrangement, the top of the anvil body 1812 has an opening 1817 therein. When the anvil 1810 is assembled onto the elongate channel 1602 and the firing member 2140 is installed, the opening 1817 is covered by an anvil cover 1819 that is attached to the anvil body 1812 by welding and/or other suitable fastening means.

Returning to fig. 6, the firing member 2140 is configured to operatively interface with a sled assembly 2150 that is operatively supported within the body 1702 of the surgical staple cartridge/fastener cartridge 1700. The slide assembly 2150 is slidably displaceable within the surgical staple cartridge body/fastener cartridge body 1702 from a proximal end starting position adjacent the proximal end 1704 of the cartridge body 1702 to an ending position adjacent the distal end 1706 of the cartridge body 1702. The cartridge body 1702 operably supports a plurality of staple drivers therein that are aligned in rows on each side of a centrally disposed slot 1708. A centrally disposed slot 1708 enables the firing member 2140 to pass therethrough and cut tissue clamped between the anvil 1810 and the surgical staple/fastener cartridge 1700. The drivers are associated with corresponding staple/fastener pockets 1712, which staple/fastener pockets 1712 pass through the upper deck surface 1710 of the cartridge body 1702. Each of the staple drivers supports one or more surgical staples or fasteners thereon. The slide assembly 2150 includes a plurality of angled or wedge cams 2152, wherein each cam 2152 corresponds to a particular row of fasteners or drivers located on the sides of the slot 1708.

To exchange surgery The tool assembly 1000 is attached to the handle assembly 500, referring to fig. 2, a clinician may position a tool base 1210 of the interchangeable surgical tool assembly 1000 over or near the distal end of the handle frame 506 such that a tapered attachment portion 1212 formed on the tool base 1210 aligns with a dovetail slot 507 in the handle frame 506. The clinician may then place the surgical tool assembly 1000 along a direction perpendicular to the shaft axis SA ₁ To seat the tapered attachment portion 1212 into "operative engagement" with a corresponding dovetail receiving slot 507 in the distal end of the handle frame 506. In so doing, the firing shaft attachment lugs 2128 on the intermediate firing shaft portion 2120 will also rest in the attachment brackets in the longitudinally movable drive member within the handle assembly 500 and portions of the attachment pins 516 on the closure link 514 will rest in the corresponding hooks 1942 in the closure shuttle 1940. As used herein, the term "operably engaged" in the context of two components means that the two components are sufficiently engaged with each other that upon application of an actuation motion thereto, the components perform their intended actions, functions, and/or procedures.

During a typical surgical procedure, a clinician may introduce the surgical end effector 1500 into the surgical site through a trocar or other opening in the patient to access target tissue. In so doing, the clinician axially aligns, or at least substantially aligns, the surgical end effector 1500 along the shaft axis in a non-articulated state and inserts the surgical end effector 1500 through the trocar. Once the surgical end effector 1500 has passed through the trocar, a clinician may need to articulate the end effector 1500 to advantageously position the end effector 1500 near target tissue. In addition, the firing drive system 530 operates in a limited range of motion to move the articulation driver 1310 and articulate the end effector 1500. This articulation occurs prior to closing the anvil onto the target tissue. Then, once the end effector has reached the desired articulation position, the clinician may actuate the closure drive system 510 to close the anvil 1810 onto the target tissue. Such actuation of the closure drive system 510 actuates the shifter assembly 2200 and decouples the articulation driver 1310 from the intermediate firing shaft portion 2120. Thus, once the target tissue has been properly captured in the surgical end effector 1500, the clinician can again actuate the firing drive system 530 to axially advance the firing member 2140 through the surgical staple/fastener cartridge 1700 to fire staples into and cut the target tissue. Other closure and firing drive arrangements, such as hand-held, manual, automated, and/or robotic arrangements, may be employed to control the axial movement of closure system components, articulation system components, and/or firing system components of the surgical tool assembly 1000.

An end effector 10500 of the surgical instrument 10000 is shown in fig. 16-16B. The end effector 10500 includes a cartridge jaw 10600 (fig. 18) that includes a staple cartridge 10700 and, additionally, an anvil 10800 that is configured to deform staples ejected from the staple cartridge 10700. In use, the anvil 10800 is rotatable between an open, undamped position and a closed, clamped position; however, in other embodiments, the cartridge jaw 10600 can be rotated toward the anvil 10800. The surgical instrument 10000 further comprises a shaft 10100 wherein the end effector 10500 is rotatably coupled to the shaft 10100 about an articulation joint 10200. In use, the end effector 10500 can be articulated about the articulation joint 10200 at an angle θ _R Indicated right position of full articulation (fig. 16A) and defined by angle θ _L The indicated fully articulated left position (fig. 16B), and/or any suitable position therebetween. As discussed in more detail below, the angles θR and θL are limited by the design of the articulation drive system of the surgical instrument 10000. In at least one instance, the angles θR and θL are limited to about 45 degrees relative to the non-articulated position of the end effector 10500 (FIG. 16).

Referring to fig. 18, the shaft 10100 of the surgical instrument 10000 includes an outer closure tube comprising an outer housing 10110 that is movable distally to engage the anvil 10800 and move the anvil 10800 toward the staple cartridge 10700. The shaft 10100 further comprises a distal housing portion 10130 rotatably connected to the outer housing 10110 by two connector plates 10120 positioned on opposite sides of the articulation joint 10200. Each connector plate 10120 is connected to the outer housing 10110 at a pivot 10115 and similarly to the distal housing portion 10130 at a pivot 10125. The connector plate 10120 allows the closure tube to slide relative to the articulation joint 10200 when the end effector 10500 is in the articulated position, and thus, the anvil 10800 can be opened and closed when the end effector 10500 is in the articulated position. In addition, the distal housing 10130 includes an opening defined therein configured to receive a tab extending from a proximal end of the anvil 10800, a sidewall of the opening configured to engage the tab and transmit a proximal or opening motion of the closure tube to the anvil 10800.

An end effector 11500 of the surgical instrument system 11000 is illustrated in fig. 17-17B. End effector 11500 includes cartridge jaw 11600 (fig. 19) that includes a staple cartridge 11700 and, additionally, an anvil 11800 configured to deform staples ejected from staple cartridge 11700. In use, the anvil 11800 is rotatable between an open, undamped position and a closed, clamped position; however, embodiments are contemplated in which the cartridge jaw 11600 can be rotated relative to the anvil 11800. The surgical instrument 11000 further comprises a shaft 11100 wherein the end effector 11500 is rotatably coupled to the shaft 11100 about an articulation joint 11200. In use, the end effector 11500 can be articulated about the articulation joint 11200 at an angle α _R Indicated right position of full articulation (fig. 17A) and defined by angle alpha _L The indicated fully articulated left position (fig. 17B), and/or any suitable position therebetween. Although the angle alpha _R And alpha _L Ultimately limited by the design of the articulation drive system of the surgical instrument 11000, but at an angle α _R And alpha _L May be larger. In at least one instance, the angles αr and αl are limited to about 60 degrees (fig. 17), for example, relative to the non-articulated position of the end effector 11500.

Referring to fig. 19, the shaft 11100 of the surgical instrument 11000 includes an outer closure tube that comprises an outer housing 11110 that is movable distally to engage the anvil 11800 and move the anvil 11800 toward the staple cartridge 11700. The shaft 11100 also includes a distal housing 11130 rotatably connected to the outer housing 11110 by two connector plates 11120 positioned on opposite sides of the articulation joint 11200. Each connector plate 11120 is connected to the outer housing 11110 at a pivot 11115, and similarly to the distal housing 11130 at a pivot 11125. Similar to the above, when the end effector 11500 is in the articulated position, the connector plate 11120 allows the closure tube to slide relative to the articulation joint 11200, wherein, as a result, the anvil 11800 can be opened and closed when the end effector 11500 is in the articulated position. In addition, the distal housing 11130 includes an opening defined therein configured to receive a tab extending from a proximal end of the anvil 11800, a sidewall of which is configured to engage the tab and transfer a proximal or opening motion of the closure tube to the anvil 11800.

Referring again to fig. 18, the surgical instrument 10000 further comprises an articulation drive system 10300 that comprises an articulation drive actuator 10310 that extends through an interior aperture 10105 defined within a closure tube 10110 of the shaft 10100. The articulation drive actuator 10310 includes a distal end that operably engages the cartridge jaw 10600 of the end effector 10500. More specifically, the distal end of the articulation drive actuator 10310 includes an opening or slot 10320 defined therein and the cartridge jaw 10600 includes a pin 10620 extending into the slot 10320. When the articulation drive actuator 10310 is pushed distally, the end effector 10500 is driven rightward (fig. 16A) about a fixed axis defined by the pivot 10210, which pivot 10210 rotatably connects the cartridge jaw 10600 to the frame of the shaft 10100. Correspondingly, as the articulation drive actuator 10310 is pulled proximally, the end effector 10500 rotates left about the pivot 10210 (fig. 16B).

Referring again to fig. 19, the surgical instrument 11000 further includes an articulation drive system 11300 that includes an articulation drive actuator 11310 that extends through an internal aperture 11105 defined within the closure tube 11110. The articulation drive system 11300 also includes an articulation link 11320 that is rotatably coupled to the distal end of the articulation drive actuator 11310 about a pin 11315. Similarly, the articulation link 11320 is rotatably coupled to the cartridge jaw 11600 about a drive pin 11620 that extends through an aperture defined in the articulation link 11320. As the articulation drive actuator 11310 is urged distally, the end effector 11500 is driven rightward (FIG. 17A) about a fixed axis defined by the pivot 11210, which pivot 11210 rotatably connects the cartridge jaw 11600 to the frame of the shaft 11100. Correspondingly, as the articulation drive actuator 11310 is pulled proximally, the end effector 11500 rotates leftward about the pivot 11210 (FIG. 17B).

In addition, the articulation link 11320 of the articulation system 11300 allows the end effector 11500 to be articulated through a greater articulation angle than the end effector 10500 for a given, or equal, stroke length of the

articulation actuators

10310 and 11310. A side-by-side comparison of

end effectors

10500 and 11500 is provided in fig. 20 and 21, with fig. 20 and 21 showing

end effectors

10500 and 11500 in their fully right articulated configuration, and further showing that end effector 11500 may be articulated further to the right than end effector 10500. A similar comparison may be made to show the

end effectors

10500 and 11500 in their fully left articulated configuration. Further, fig. 22 depicts the full articulation range of end effector 10500, while fig. 23 depicts the full articulation range of end effector 11500.

Referring again to fig. 22, the articulation actuator 10310 of the surgical instrument 10000 advances a Distal Stroke Length (DSL) relative to its non-articulation position to fully articulate the end effector 10500 to the right. Correspondingly, the articulation actuator 10310 is retracted a Proximal Stroke Length (PSL) relative to its non-articulation position to fully articulate the end effector 10500 to the left. The distal and proximal stroke lengths (DSLs) of the articulation actuator 10310 are equal, or at least substantially equal. Referring now to fig. 23, the articulation actuator 11310 advances a Distal Stroke Length (DSL) relative to its non-articulation position to fully articulate the end effector 11500 to the right. Correspondingly, the articulation actuator 11310 is retracted a Proximal Stroke Length (PSL) relative to its non-articulation position to fully articulate the end effector 11500 to the left. The Distal Stroke Length (DSL) and the Proximal Stroke Length (PSL) of the articulation actuator 11310 are unequal, and conversely, the Distal Stroke Length (DSL) is shorter than the Proximal Stroke Length (PSL). In other embodiments, the proximal stroke length (DSL) is shorter than the distal stroke length (PSL). In any event, referring now to fig. 31-31B, the combination of the Proximal Stroke Length (PSL) and the Distal Stroke Length (DSL) is equal to the entire Stroke Length (SL).

In addition, the articulation actuator 10310 is configured to apply torque to the first jaw 10600 of the end effector 10500 via the pin 10620 to rotate the end effector 10500 about the articulation joint 10200. Referring again to fig. 22, when the end effector 10500 is in its non-articulated position, the lateral torque arm defined between the pivot joint 10210 of the articulation joint 10200 and the pin 10620 has a length TA _C1 . The length TA _C1 Measured in an orthogonal direction relative to a longitudinal axis 10190 extending through the articulation pivot joint 10210. Similarly, when the end effector 10500 is fully articulated to the right, the lateral torque arm defined between the pivot joint 10210 and the pin 10620 has a length TA _R1 And similarly, when the end effector 10500 is fully articulated to the left, the lateral torque arm defined between the pivot joint 10210 and the pin 10620 has a length TA _L1 These two lengths are measured orthogonally with respect to the longitudinal axis 10190. Notably, length TA _R1 And TA _L1 And that they define torque arms that are equal, or at least substantially equal. Furthermore, length TA _R1 And TA _L1 Less than the non-articulating lateral torque arm length TA _C1 . Thus, there is a maximum torque arm or mechanical advantage of the articulation system 10300 when the end effector 10500 is in its non-articulated position.

In at least one case, e.g. arm length TA _C1 About 0.180", arm length TA _R1 About 0.130 "and arm length TA _L1 About 0.130".

In addition, the articulation actuator 11310 of the surgical instrument 11000 is configured to apply torque to the first jaw 11600 of the end effector 11500 via the pin 11620 to rotate the end effector 11500 about the articulation joint 11200. Referring to fig. 23, 28 and 30, when the end effector 11500 is in its non-articulated position, the Lateral Torque Arm (LTA) defined between the pivot joint 11210 of the articulation joint 11200 and the pin 11620 is defined by a length of ss TA _C2 And (3) limiting. The length TA _C2 Measured in an orthogonal direction relative to a longitudinal axis 11190 extending through the articulation pivot joint 11210. Notably, the longitudinal axis 11190 is offset and parallel relative to a centerline of the shaft 11100, as discussed in more detail below in connection with fig. 25. Similar to the above, when the end effector 11500 is fully articulated to the right (fig. 30A), the lateral torque arm defined between the pivot joint 11210 and the pin 11620 is defined by a length TA _R2 Defined, and similarly, when end effector 11500 is fully articulated to the left (fig. 30B), the lateral torque arm defined between pivot joint 11210 and pin 11620 is defined by length TA _L2 The two lengths are defined as being measured orthogonally relative to the longitudinal axis 11190. Notably, length TA _R2 Greater than the non-articulating lateral torque arm length TA _C1 And length TA _L2 Less than the non-articulating lateral torque arm length TA _C1 . Furthermore, length TA _R2 And TA _L2 And the torque arms they define are not equal. Conversely, right articulation torque arm length TA _R2 Significantly greater than left articulation torque arm length TA _L2 . In fact, the right articulation torque arm length TA _R2 And left articulation torque arm length TA _L2 Extending in different directions. This arrangement provides a greater push torque arm than a smaller pull torque arm. Thus, in various circumstances, the retraction pull force applied by the articulation actuator 11310 to articulate the end effector 11500 to the left (FIG. 30B) may be greater than or may be required to be greater than to articulate the end effector11500 to the right (fig. 29 and 30A). Advantageously, the articulation actuator 11310 may accommodate such greater pulling forces when the articulation actuator 11310 is not subject to buckling failure when pulled.

In at least one case, e.g. arm length TA _C2 About 0.149", arm length TA _R2 About 0.154 "and arm length TA _L2 About 0.015%.

In addition, the surgical instrument 11000 is constructed and arranged to provide a large torque to the end effector 11500 while at the same time providing a large articulation range or sweep range in response to a short articulation stroke. That is, several design ratios of these relationships may be established and used to design the surgical instrument 11000. For example, the first ratio includes a full right articulation torque arm length (TA) divided by a full articulation travel length (SL) of the articulation actuator 11310. The value of this first ratio is dimensionless. In at least one instance, for example, the full right articulation torque arm length (TA) is 0.154 "and the full articulation Stroke Length (SL) is 0.275", resulting in a ratio value of 0.56. A larger ratio value of the first ratio indicates a more efficient articulation system. In each case, the value of the first ratio is less than 1.0, but may be greater than 1.0. In at least one case, for example, the full right articulation torque arm length (TA) is 2.79mm and the full articulation Stroke Length (SL) is 11.43mm, resulting in a ratio value of 0.24.

The example provided above for the first ratio is based on the torque arm length (TA) when the end effector 11500 is in its fully right articulation position. This particular position of the end effector 11500 is notable in that the articulation actuator 11310 is in a compressed state and may flex when the load transferred there is excessive. That is, the first ratio may also be used to analyze any suitable position of the end effector 11500, such as a non-articulated position of the end effector and a fully left articulated position of the end effector, for example. In at least one case, for example, the non-articulating torque arm length (TA) is 6.17mm, resulting in a ratio value of the Stroke Length (SL) of 11.43mm of 0.54. Also, in at least one instance, the full left articulation torque arm length (TA) is 1.41mm, resulting in a ratio value of 11.43mm Stroke Length (SL) of 0.12, for example.

The second ratio includes the arc length (i.e., its arc length swept range (ALS)) in which the drive pin 11620 sweeps as the end effector 11500 is articulated between its fully right articulation position and its fully left articulation position. More specifically, the second ratio includes the arc length swept range (ALS) of the drive pin 11620 divided by the full articulation Stroke Length (SL) of the articulation actuator 11310. The value of this second ratio is dimensionless. In at least one instance, the arc length swept range (ALS) of the drive pin 11620 is 0.387", and the full articulation Stroke Length (SL) is 0.275", resulting in a ratio value of 1.41, for example. In at least one case, for example, the arc length swept range (ALS) is 0.444 "and the full articulation Stroke Length (SL) is 0.306", resulting in a ratio value of 1.45. In at least one instance, for example, the arc length swept range (ALS) is 12.94mm and the full articulation Stroke Length (SL) is 11.43mm, resulting in a ratio value of 1.13. A larger ratio value for the second ratio indicates a more efficient articulation system. In various cases, the value of the second ratio is, for example, greater than 1.0, such as between 1.0 and 3.0. In at least one case, the second ratio value is, for example, about 2.0. In some cases, the value of the second ratio is, for example, about 1.1, but between 0.9 and 1.3.

The third ratio includes the sum of the full right articulation torque arm length (TA) and the arc length swept range (ALS) of the drive pin 11620 divided by the full articulation travel length (SL). The value of this third ratio is dimensionless. In at least one instance, for example, the full right articulation torque arm length (TA) is 0.154", the arc length swept range (ALS) of the drive pin 11620 is 0.387", and the full articulation Stroke Length (SL) is 0.275", resulting in a ratio value of 1.97. In at least one instance, for example, the full right articulation torque arm length (TA) is 2.79mm, the arc length swept range (ALS) of the drive pin 11620 is 12.94mm, and the full articulation travel length (SL) is 11.43mm, resulting in a ratio value of 1.38. A larger ratio value for the third ratio indicates a more efficient articulation system. In various cases, the value of the third ratio is, for example, greater than 1.0, such as between 1.0 and 3.0. In at least one instance, the third ratio value is, for example, about 2.0 or greater than 2.0.

Similar to the above, the third ratio can be used, for example, to evaluate the articulation system when the end effector 11500 is in any suitable position, such as its non-articulation position and fully left articulation position.

The fourth ratio includes the product of the full right articulation torque arm length (TA) and the arc length swept range (ALS) of the drive pin 11620 divided by the full articulation travel length (SL). The value of this fourth ratio is not dimensionless, but rather is measured in distance. In at least one instance, for example, the full right articulation torque arm length (TA) is 0.154", the arc length swept range (ALS) of the drive pin 11620 is 0.387", and the full articulation Stroke Length (SL) is 0.275", resulting in a ratio value of 0.217. This value can be made dimensionless by dividing it again by the run length (SL), resulting in a value of 0.79. In at least one instance, for example, the full right articulation torque arm length (TA) is 2.79mm, the arc length swept range (ALS) of the drive pin 11620 is 12.94mm, and the full articulation travel length (SL) is 11.43mm, resulting in a ratio value of 3.15 mm. In some cases, the fourth ratio has a value of, for example, about 3.1mm, but between 0.9mm and 5.4 mm. Like above, this value can be made dimensionless by dividing it again by the run length (SL), resulting in a value of 0.28. A larger fourth value of the fourth ratio indicates a more efficient articulation system.

Similar to the above, the fourth ratio can be used, for example, to evaluate the articulation system when the end effector 11500 is in any suitable position, such as its non-articulation position and fully left articulation position.

As discussed above, the end effector 11500 is rotatably mounted to the shaft 11100 about a fixed pivot 11210 of the articulation joint 11200. Referring now to fig. 24 and 25, the shaft 11100 includes a distal mounting tab 11220 extending from the frame or spine of the shaft 11100 and fixedly mounted to the frame or spine of the shaft 11100. The first distal mounting tab 11220 is mounted to a first jaw 11600 that includes a lower frame portion, and the second distal mounting tab 11220 is mounted to an upper frame portion 11230. The interconnection between the mounting tab 11220 and the first jaw 11600 and the upper frame portion 11230 define a fixed pivot 11210. As discussed above, the fixed axis pivot 11210 is laterally offset from the central longitudinal axis LA of the shaft 11100 by an offset distance OD. In at least one instance, the fixed axis pivot 11210 is offset laterally, for example, by about 0.036". Further, referring to fig. 28-30B, pin 11620 is longitudinally offset relative to fixed pivot 11210, which produces a longitudinal or Axial Torque Arm (ATA).

As discussed above, the closure tube of the shaft 11100 can be moved distally to engage the anvil jaw 11800 of the end effector 11500 and move the anvil jaw 11800 toward the staple cartridge 11700 positioned in the cartridge jaw 11600. In other words, the closure tube is configured to move the anvil 11800 from an open position (fig. 26-26B) to a closed position (fig. 27-27B) to clamp tissue of a patient against the staple cartridge 11700. In such cases, the closure tube, including the housing 11110, the connector plate 11120, and the distal housing 11130, slides distally relative to the articulation joint 11200 during a closing stroke. Referring now to FIG. 26, when the end effector 11500 is in the open, non-articulated configuration, the connector plate 11120 extends in a direction slightly transverse to the central longitudinal axis LA of the shaft 11100. More specifically, when the end effector 11500 is in the open, non-articulated configuration, the axis CA extending between the

joints

11115 and 11125 is slightly transverse relative to the central longitudinal axis LA of the shaft 11100. The orientation of the axis CA relative to the central longitudinal axis LA may change as the end effector 11500 is articulated to the right (FIG. 26A) or to the right (FIG. 26B).

In various circumstances, in addition to that, the orientation of axis CA will change with respect to a longitudinal axis extending between the proximal and distal ends of end effector 11500. In at least one instance, the axis CA is transverse to such longitudinal end effector axis, except in one configuration where the axis CA would be parallel to the longitudinal end effector axis.

In addition, the orientation of the axis AA defined between the articulation pivot 11210 and the distal pivot 11125 of the connector plate 11120 changes as the end effector 11500 is articulated. Referring to fig. 26, when the end effector 11500 is in the open, non-articulated configuration, the axis AA extends at an angle β relative to the axis CA. When the end effector 11500 is articulated to the open rightward configuration (fig. 26A), the angle β decreases. When the end effector 11500 is articulated to the open left configuration (fig. 26B), the angle β increases. However, when the open end effector 11500 is articulated, the axis AA is not collinear or parallel with the axis CA at all. Conversely, when end effector 11500 is articulated in the open configuration, axis AA is transverse to axis CA.

Referring to fig. 27, when the end effector 11500 is in a closed, non-articulated configuration, the axis AA extends at an angle γ relative to the axis CA. When the end effector 11500 is articulated to the closed rightward configuration (fig. 27A), the angle γ increases. When the end effector 11500 is articulated to the closed left configuration (fig. 27B), the angle δ also increases. However, axis AA is not collinear with axis CA at all when end effector 11500 is articulated in a closed configuration and/or any other configuration between an open configuration and a closed configuration. Conversely, when end effector 11500 is articulated in a closed configuration and/or any other configuration between an open configuration and a closed configuration, axis AA is transverse to axis CA.

Referring again to fig. 20 and 21, the design of the surgical instrument 11000 can shorten the end effector 11500 as compared to the end effector 10500. Also, the distance between the articulation joint 10200 and the proximal end of the staple line applied to the tissue of the patient by the end effector 10500 is a distance L1, while the distance between the articulation joint 11200 and the proximal end of the staple line applied by the end effector 11500 is a distance L2, the distance L2 being shorter than the distance L1.

Turning now to fig. 40-45, the surgical instrument 11000 further includes an articulation lock 11400 configured to selectively lock the articulation drive system 11300 and the end effector 11500 in place. The articulation lock 11400 includes a distal end 11402 that is mounted to the frame 11180 of the shaft 11100. More specifically, the shaft frame 11180 includes pins or protrusions 11182 that are closely received and/or pressed within apertures defined in the distal end 11402. The articulation lock 11400 also includes a proximal end 11404 that is configured to move relative to the distal end 11402. In at least one aspect, the articulation lock 11400 comprises a cantilevered beam with the distal end 11402 comprising a fixed end and the proximal end 11404 comprising a free end. The proximal end 11404 is positioned in a cavity 11184 defined in the shaft frame 11180 and is configured to move laterally toward and away from the articulation drive actuator 11310, as described in more detail below.

In addition, the proximal end 11404 of the articulation lock 11400 includes one or more teeth 11406 defined thereon that are configured to engage the articulation drive actuator 11310. As shown in fig. 40, teeth 11406 are arranged in a longitudinal array; however, any other suitable arrangement may be used. The articulation drive actuator 11310 includes a longitudinal array of teeth 11316 defined thereon that are configured to be engaged by the articulation locking teeth 11406. Referring to FIG. 41, the shaft frame 11180 also includes a longitudinal tooth array 11186 defined therein, which teeth are also configured to be engaged by the articulation lock teeth 11406. When the articulation lock 11400 is in a fully locked state, as described in more detail below, the articulation lock teeth 11406 engage with the drive actuator teeth 11316 and the shaft frame teeth 11186 such that the articulation lock 11400 locks the articulation drive actuator 11310 to the shaft frame 11180 and prevents, or at least inhibits, relative movement between the articulation drive actuator 11310 and the shaft frame 11180.

In addition to the above, the articulation lock 11400 may be configured in three states: self-locking, unlocking and fully locking. Referring to fig. 43, when the articulation lock 11400 is in a self-locking state, the teeth 11406 of the articulation lock 11400 engage the drive actuator teeth 11316 and the shaft frame teeth 11186. In such cases, the articulation lock 11400 may resist some of the force transmitted through the articulation drive actuator 11310; however, proximal and/or distal movement of the articulation drive actuator 11310 may overcome the retention force of the articulation lock 11400 and displace the articulation lock 11400 into its unlocked configuration, as shown in fig. 44. In such cases, the articulation lock 11400 may flex or deflect laterally away from the drive actuator 11310. The articulation lock 11400 includes a spring member 11403 extending between the distal portion 11402 and the proximal portion 11404 that is configured to resiliently return the articulation lock to, or at least bias toward, its self-locking configuration (fig. 42). Thus, the articulation drive system 11300 may lock and unlock itself and articulate the end effector 11500 due to its own motion unless the articulation lock 11400 is placed in its fully locked position, as discussed below.

As further discussed above, the shaft 11100 of the surgical instrument 11000 includes a closure tube 11110 that is advanced distally during a closure stroke to close the end effector 11500. Prior to the closing stroke, the articulation lock 11400 may be moved between its self-locking and unlocking configurations to allow the end effector 11500 to be articulated by the articulation drive system 11300. However, during the closing stroke, the closure tube 11110 is configured to engage the articulation lock 11400 and place or hold the articulation lock 11400 in its fully locked configuration. More specifically, the closure tube 11110 includes a tab or tab 11118 configured to engage a cam surface 11408 defined on the back side of the articulation lock 11400 and prevent the articulation lock teeth 11406 from disengaging the drive actuator teeth 11316 and the shaft frame teeth 11186. When the closure tube 11110 is retracted proximally to open the end effector 11500, the tab 11118 disengages the articulation lock 11400, and the articulation lock 11400 is free to move between its self-locking and unlocked positions, as discussed above, so that the end effector 11500 can again articulate.

The surgical instrument 11000 described above is further illustrated in fig. 80-82. The surgical instrument 11000 includes a shaft 11100 configured for use with a trocar having a channel defined therein. The surgical instrument shaft 11100 includes different diameters at different points along the length of the surgical instrument shaft 11100. The surgical instrument shaft 11100 includes a central region 11160 that includes a smaller diameter than any other region of the surgical instrument shaft 11000, among other things. This geometry of the surgical instrument shaft 11100 provides significant advantages over previous designs and solves long-felt problems associated with the use of trocars. Typically, when a surgical instrument is used in conjunction with a trocar during surgery, the surgery is limited by the range of angles that the instrument can assume due to the shrinkage of the trocar passageway. The configuration of the surgical instrument shaft 11100 is an improvement over existing shaft configurations because the existing shaft configurations increase the range of angles that the surgical instrument can assume relative to the longitudinal axis of the trocar. Thus, due to the smaller diameter of the central region 11160 of the surgical instrument shaft 11100, a user of the surgical instrument 11000 can manipulate the surgical instrument 11000 at a variety of angles relative to the longitudinal axis of the trocar.

Referring to fig. 80 and 81, the surgical instrument shaft 11100 further includes a proximal region 11150 and a distal region 11170. The proximal region 11150 of the surgical instrument shaft 11000 is positioned adjacent to the nozzle assembly 11140 of the shaft 11100. Distal region 11170 is positioned closest to end effector 11500. The proximal region 11150 of the surgical instrument shaft includes a first diameter and the central region 11160 includes a second diameter. Distal region 11170 also includes a third diameter. The first diameter of the proximal region 11150 is different from the second diameter of the central region 11160. Similarly, the second diameter of the central region 11160 is different from the third diameter of the distal region 11170. The first diameter of the proximal region 11150 is different from the third diameter of the distal region 11170; however, embodiments are contemplated in which the first diameter and the third diameter are the same.

In addition, the proximal region 11150 defines a central longitudinal axis. The central region 11160 extends along and is centered with respect to the central longitudinal axis. The proximal region 11150 and the central region 11160 each define a circular profile, but they may comprise any suitable configuration. Distal region 11170 is not centered with respect to the central longitudinal axis. Conversely, the distal region 11170 is laterally offset relative to the central longitudinal axis. Further, a majority of the cross-section and/or perimeter of the distal region 11170 is positioned on the first side of the central longitudinal axis rather than the second side. In at least one instance, the distal region 11170 includes an enlargement that extends to one side of the central longitudinal axis. Further, distal region 11170 does not define a circular profile.

Referring again to fig. 80 and 81, the central region 11160 includes a second width that is less than the first width of the proximal region 11150. The central region also includes a second width that is less than the third width of the distal region 11170. The proximal region 11150 also includes a width that is different from the width of the distal region 11170. For example, the width of the proximal region 11150 is less than the width of the distal region 11170, but still greater than the width of the central region 11160. Similarly, the width of the proximal region 11150 is greater than the width of the distal region 11170 and the width of the central region 11160. In other cases, the proximal region 11150 and the distal region 11170 comprise about the same width.

Referring to fig. 80-82, the surgical instrument shaft 11100 of the surgical instrument 11000 is configured to mate through a 12mm trocar, for example. In at least one such instance, the central region 11160 of the surgical instrument shaft 11100 includes a maximum diameter of about 9 mm. This diameter of the central region 11160 provides a wider range of angles that the shaft 11100 may take relative to the centerline of the trocar. Moreover, such an arrangement may reduce the likelihood of causing intercostal nerve damage associated with placing the surgical instrument shaft 11100 between the patient's ribs during certain surgical procedures. The distal region 11170 of the surgical instrument shaft 11100 is configured to fit through a 12mm trocar and includes one or more flat sides 11172 to provide increased levels of access during procedures requiring high levels of articulation. Other embodiments are contemplated in which the shaft 11100 is inserted through, for example, an 8mm trocar and/or a 5mm trocar.

The proximal region 11150 includes a stepped down or tapered region near the proximal end of the surgical instrument shaft 11100, with the surgical instrument shaft 11100 transitioning from the proximal region 11150 to the central region 11160. The central region 11160 also includes a stepped upward or tapered region proximate to the distal end of the surgical instrument shaft 11100, wherein the surgical instrument shaft 11100 transitions from the central region 11160 to the distal region 11170.

Referring again to fig. 80 and 81, the proximal region 11150 includes a first circumference, the central region 11160 includes a second circumference, and the distal region 11170 includes a third circumference. Due to the difference in diameter of such portions of the surgical instrument shaft 11100, the circumference of the proximal region 11150 is different from the circumference of the central region 11160. Similarly, the circumference of the central region 11160 and the circumference of the distal region 11170 are different. The circumference of the proximal region 11150 and the circumference of the distal region 11170 are the same, but may be different in other embodiments.

Referring again to fig. 80 and 81, the surgical instrument shaft 11100 comprises a single piece of formed material, but the surgical instrument shaft 11100 may comprise multiple pieces of material that are otherwise combined to form a single cohesive surgical instrument shaft. The pieces of material may be assembled using any suitable method. The surgical instrument shaft 11100 is configured to operate in a variety of surgical arrangements not limited to the surgical stapling instruments described above. The surgical instrument shaft 11100 can be used with other surgical instruments having an articulatable end effector. Other surgical instruments may include: such as ultrasonic surgical devices, clip appliers, and fastener appliers. In addition, the surgical instrument shaft 11100 is configured to be used with any surgical instrument in which a trocar passageway is suitably used.

In addition, the outer tube 11110 of the shaft 11100 includes a proximal end 11150 and a longitudinal portion 11160 that includes a diameter or width that is narrower than the diameter or width of the proximal end 11150. That is, the surgical instrument 11000 is constructed and arranged to provide a high torque to the end effector 11500 while the longitudinal portion 11160 comprises a narrow diameter. That is, at least one design ratio of this relationship may be established and used to design the surgical instrument 11000. For example, one ratio includes the diameter of the longitudinal portion 11160 (D) divided by the torque arm length (TA) of full right articulation. The value of this ratio is dimensionless. In at least one instance, for example, the longitudinal portion 11160 (D) has a diameter of 0.316 "and the torque arm length (TA) is 0.154", resulting in a ratio value of 2.06. A smaller value for this ratio indicates a more efficient articulation system. In each case, the value of this ratio is for example less than 2.0, such as between 1.0 and 2.0. In at least one case, the ratio value is, for example, between 2.0 and 3.0. In some cases, the ratio value is, for example, less than 3.38.

In addition, the outer tube 11110 of the shaft 11100 includes a longitudinal portion 11160 and an enlarged distal end 11170 (fig. 80). Referring again to fig. 40, the entirety of the articulation lock 11400 is positioned in the longitudinal portion 11160 rather than the enlarged distal end 11170. However, embodiments are contemplated in which at least a portion of the articulation lock 11400 is positioned in the enlarged distal end 11170. In at least one such instance, the articulation lock 11400 is mounted to the shaft frame such that the distal end 11402 of the articulation lock 11400 is located in the enlarged distal end 11170 of the outer tube 11110. In some cases, the articulation lock 11400 is rearranged such that the movable end of the articulation lock 11400 is positioned in the enlarged distal end 11170 of the outer tube 11110. In various instances, the entirety of the articulation lock 11400 is positioned in the enlarged distal end 11170.

Turning now to fig. 46, a surgical instrument 14000 includes: shaft 14100, end effector 11500, and further comprises an articulation drive system comprising an articulation drive actuator 14310 configured to articulate end effector 11500. The shaft 14100 includes an articulation locking system configured to selectively lock the articulation drive actuator 14310 and the end effector 14500 in place. The articulation locking system includes an articulation lock 14400 that includes a proximal end and a distal end of a frame 14180 that is mounted to a shaft 14100. In at least one aspect, the articulation lock 14400 includes a beam that is fixedly and/or only supported at both ends. The articulation lock 14400 further includes a middle portion 14404 positioned in a cavity 14184 defined in the axle frame 14180 that is configured to move laterally toward and away from the articulation drive actuator 14310 of the articulation drive system 14300. Similar to the above, the articulation lock 14400 includes one or more spring portions 14403 that are configured to allow the articulation lock 14400 to flex toward and away from the articulation drive actuator 14310.

In addition, the intermediate portion 14404 of the articulation lock 14400 includes one or more teeth 14406 defined thereon that are configured to engage the articulation drive actuator 14310. The teeth 14406 are arranged in a longitudinal array; however, any other suitable arrangement may be used. The articulation drive actuator 14310 includes a longitudinal array of teeth 14316 defined thereon that are configured to be engaged by the articulation locking teeth 14406. The articulation locking system also includes a locking plate 14420 slidably positioned in the shaft cavity 14184 that includes a longitudinal array of teeth 14226 defined therein, the teeth 14226 also being configured to be engaged by the articulation locking teeth 14406. When the articulation lock 14400 is in a fully locked state, as described in more detail below, the articulation locking teeth 14406 engage with the drive actuator teeth 14316 and the locking plate teeth 14226 such that the articulation lock 14400 locks the articulation drive actuator 14310 in place and prevents, or at least inhibits, relative movement between the articulation drive actuator 14310 and the shaft frame 14180.

The locking plate 14420 includes a shoulder 14424 positioned below the articulation drive actuator 14310. The locking plate teeth 14426 are defined on lateral edges of the shoulder 14424 and are substantially aligned with the teeth 14316 defined in the articulation drive actuator 14310. In at least one instance, the articulation drive actuator teeth 14316 are aligned along a first tooth axis and the locking plate teeth 14406 are defined along a second tooth axis that is parallel, or at least substantially parallel, to the first tooth axis. In each case, the drive actuator teeth 14316 are defined in a plane parallel to the plane including the locking plate teeth 14406. Such an arrangement allows the articulation lock 14400 to simultaneously engage the locking plate 14420 and the articulation drive actuator 14310. Although the first and second tooth axes are parallel to the longitudinal axis of the shaft 14100, embodiments are contemplated in which the first and second tooth axes are skewed or transverse relative to the longitudinal axis of the shaft 14100.

Referring again to fig. 46, the locking plate 14420 is longitudinally slidable within the cavity 14184; however, longitudinal movement of the locking plate 14420 is limited by the proximal and distal end walls 14427. Thus, the locking plate 14420 can float within the shaft cavity 14184 between the end walls 14427. In various circumstances, when the articulation lock 14400 engages the

teeth

14426 and 14316, the locking plate teeth 14426 may not be fully aligned with the drive actuator teeth 14316. In such cases, the locking plate 14420 may be longitudinally movable to some extent such that the locking plate teeth 14426 are aligned with the drive actuator teeth 14316. In various circumstances, the locking plate 14420 may move in response to a locking force applied thereto by the articulation lock 14400. In at least one instance, the locking plate 14420 may be permitted to move distally one tooth pitch distance and proximally one tooth pitch distance relative to its centered position, where the tooth pitch distance is the distance between the peaks of adjacent locking teeth 14426 of the locking plate 14420. In other cases, for example, locking plate 14420 may be permitted to move distally 1/4 of the tooth pitch distance and proximally 1/4 of the tooth pitch distance relative to its centered position. In various circumstances, the locking plate 14420 may be allowed to move more than one tooth pitch distance proximally and more than one tooth pitch distance distally.

In addition to the above, the articulation lock 14400 may be configured in three states: self-locking, unlocking and fully locking. When the articulation lock 14400 is in a self-locking state, the teeth 14406 of the articulation lock 14400 engage with the drive actuator teeth 14316 and the shaft frame teeth 14186. In such cases, the articulation lock 14400 may resist some of the forces transmitted through the articulation drive actuator 14310; however, proximal and/or distal movement of the articulation drive actuator 14310 may overcome the retention force of the articulation lock 14400 and displace the articulation lock 14400 into its unlocked configuration. In such cases, the articulation lock 14400 may flex or deflect laterally away from the drive actuator 14310 so that the end effector 11500 may be articulated. Similar to the above, the spring member 14403 of the articulation lock 14400 can resiliently return the articulation lock 14400 to its self-locking configuration or at least bias toward its self-locking configuration. Thus, the articulation drive system may lock and unlock itself due to its own motion unless it is placed in its fully locked position, as discussed below.

Similar to the above, the shaft 14100 of the surgical instrument 14000 includes a closure tube that is advanced distally during a closure stroke to close the end effector 11500. Prior to the closing stroke, the articulation lock 14400 may be moved between its self-locking and unlocking configurations to allow the end effector 11500 to be articulated by the articulation drive system. During a closing stroke, the closure tube is configured to engage the articulation lock 14400 and place, jam, or retain the articulation lock 14400 in its fully locked configuration. More specifically, the closure tube includes a cam 14118 configured to engage a cam surface 14405 defined on a rear face of the articulation lock 14400 and prevent the articulation lock teeth 14406 from disengaging from the drive actuator teeth 14316 and the shaft frame teeth 14186. The cam 14118 includes an angled surface 14115 that engages a corresponding angled surface defined on the cam surface 14405, although any suitable arrangement may be used. When the closure tube is retracted proximally to allow the end effector 11500 to open, the tab 14118 disengages the articulation lock 14400 and the articulation lock 14400 is free to move between its self-locking and unlocked positions, as discussed above, so that the end effector 11500 can again articulate.

Referring again to fig. 46, as the articulation lock 14400 is moved from the closure tube to its fully locked configuration, the articulation lock 14400 pushes the locking plate 14420 against the lateral side walls 14183 of the shaft cavity 14184. In effect, the articulation lock 14400 engages the locking plate 14420 with sufficient force to secure the locking plate 14420 against the side walls 14183 such that the locking plate 14420 does not move longitudinally, or at least does not substantially move, relative to the axle frame 14180. The locking plate 14420 includes one or more protrusions 14422 extending therefrom that are configured to engage, bite, and/or deflect the side walls 14183 of the shaft cavity 14184 when the locking plate 14420 is pushed against the side walls 14183 to prevent or at least reduce the likelihood of the locking plate 14420 moving longitudinally relative to the shaft frame 14180.

In addition, the axle frame 14180 includes one or more cavities or openings defined therein that are configured to permit and/or facilitate deflection of the side walls 14183. For example, as shown in fig. 46, the axle frame 14180 includes a cavity 14182 defined therein that is aligned or at least substantially aligned with the projection 14422. When the locking plate 14420 is laterally displaced by the closure tube, as discussed above, the side walls 14183 resiliently displace into the cavity 14182, and the locking plate 14420 is locked in place. In such cases, the engagement between the shaft frame 14180 and the locking plate 14420 prevents the articulation drive actuator 14310 from moving longitudinally and lock the end effector 11500 in place. When the closure tube is retracted and disengaged from the articulation lock 14400, the sidewall 14183 can return to its undeflected state and laterally displace the locking plate 14420. At this point, the locking plate 14420 is unlocked and the end effector 11500 can be articulated, as outlined above.

The surgical instrument 15000 is shown in fig. 47-49 and is similar in many respects to the surgical instrument 14000, most of which will not be repeated herein for the sake of brevity. The surgical instrument 15000 includes, among other things: a shaft, an end effector 11500, and an articulation drive system that includes an articulation drive actuator 14310. The surgical instrument 15000 also includes an articulation locking system that includes an articulation lock 15400 similar to that described above that is movable between a self-locking position, an unlocked position, and a fully locked position. The articulation locking system also includes a locking plate 15420 that is similar in many respects to the locking plate 14420. For example, the lock plate 15420 may be laterally movable into engagement with the wall 14183. Also, for example, the lock plate 15420 can be longitudinally movable to float into a suitable locked position wherein teeth 15426 defined on the lock plate 15420 engage with teeth 14406 of the articulation lock 15400, as depicted in fig. 48. That is, the shaft of the surgical instrument 15000 further includes a distal spring 15429 positioned intermediate the locking plate 15420 and a distal end wall 15427 defined in the shaft frame, and further includes a proximal spring 15429 positioned in the locking plate 15420 and a proximal end wall 15427 defined in the shaft frame. The spring 15429 is configured to position the lock plate 15420 in a centered or balanced position between the end walls 15427, as shown in fig. 47. This centered position creates a Proximal Gap (PG) and a Distal Gap (DG) between the end wall 15427 and the locking plate 15420, which are equal or at least substantially equal to each other. That is, when the lock plate 15420 engages itself with the articulation lock 15400, as shown in fig. 49, the spring 15429 may experience different deflections or loads, which may create unequal gaps PG and DG.

Surgical instrument 16000 is shown in fig. 50-52 and is similar in many respects to

surgical instruments

14000 and 15000, most of which will not be repeated herein for the sake of brevity. Among other things, surgical instrument 16000 includes: a shaft, an end effector 11500, and an articulation drive system that includes an articulation driver 16310. Referring primarily to fig. 50, the surgical instrument 16000 further comprises an articulation locking system comprising an articulation lock 16400 similar to that described above that can be configured in a self-locking configuration, an unlocked configuration, and a fully locked configuration. The articulation locking system also includes a locking plate 16420 that is similar in many respects to the locking plate 14420. For example, the lock plate 16420 can be moved laterally into engagement with the wall 14183 as shown in fig. 51. Also, for example, the lock plate 16420 can be moved longitudinally to float into a proper locked position, with the teeth 16426 of the lock plate 16420 engaging the teeth 16406 of the articulation lock 16400, as depicted in fig. 52. In addition, the teeth 16406 of the articulation lock 16400, the teeth 16426 of the lock plate 16420, and the locking teeth 16316 of the articulation driver 16310 are constructed and arranged to provide a plurality or arrangement of positions wherein the articulation lock 16400 can lock the articulation driver 16310 to the lock plate 16420. For example, the articulation locking system has reached a fully locked configuration in one set of positions shown in fig. 51 and a fully locked configuration in a different set of positions shown in fig. 52.

The flexibility of the articulation locking system discussed above may be achieved by the tooth pitch of the articulation locking teeth 16406, the articulation driver teeth 16316 and the locking plate teeth 16426. For example, referring primarily to fig. 50, the articulation locking teeth 16406 are provided at a first pitch 16407, the articulation driver teeth 16316 are provided at a second pitch 16317, and the locking plate teeth 16426 are provided at a third pitch 16427. The first pitch is different from the second pitch and the third pitch-the second pitch is different from the first pitch and the third pitch-and the third pitch is different from the first pitch and the second pitch, but embodiments are envisaged in which two of the first pitch, the second pitch and the third pitch are the same. Referring again to fig. 50, the third pitch 16427 of the locking plate teeth 16426 is greater than the second pitch 16317 of the articulation driver teeth 16316 and the second pitch 16317 is greater than the first pitch 16407 of the articulation locking teeth 16406, although any suitable arrangement may be used.

The surgical instrument 17000 is illustrated in fig. 53-56 and is similar in many respects to the surgical instrument 11000, and for brevity, much of this document will not be repeated. The surgical instrument 17000 includes: a shaft, an end effector 11500 rotatably coupled to the shaft about an articulation joint 11200, and an articulation drive system configured to articulate the end effector 11500 about the articulation joint 11200. Similar to the above, the articulation drive system includes: an articulation link 17320 rotatably mounted to jaw 11600 about pin 11620 and an articulation driver 17310 rotatably mounted to articulation link 17320 about pin 17315. The surgical instrument 17000 also includes an articulation lock 17400 movably mounted to the shaft frame of the surgical instrument 17000 that is movable between an unlocked position and a locked position. The articulation lock 17400 includes a distal end 17402 fixedly mounted to the shaft frame and a proximal end 17404 slidably mounted to the shaft frame. More specifically, the shaft frame includes: a pin extending into an aperture defined in the distal end 17402 of the articulation lock 17400 and a guide tab 17114 extending into an elongated aperture defined in the proximal end 17404. In some cases, the shaft frame may include two or more pins extending into apertures defined in the distal end 17402 of the articulation lock 17400 to secure the distal end 17402 to the shaft frame and prevent rotation of the distal end 17402 relative to the shaft frame. As a result of the above, at least the proximal end 17404 of the articulation lock 17400 can be moved relative to the shaft frame to engage the articulation driver 17310 and lock the articulation system and end effector 11500 in place.

In addition, the articulation driver 17310 includes a longitudinal rack 17316 defined thereon and the articulation lock 17400 includes a longitudinal rack 17406 defined thereon. As shown in fig. 53 and 54, when the articulation lock 17400 is in its unlocked position, the teeth 17406 of the articulation lock 17400 do not engage the teeth 17316 of the articulation driver 17310. In such cases, the articulation driver 17310 may be free to move relative to the articulation lock 17400 to articulate the end effector 11500. As shown in fig. 55, when the articulation lock 17400 is in a partially locked position, the articulation locking teeth 17406 are partially engaged with the articulation driver teeth 17316. In such cases, the proximal and distal end movements of the articulation driver 17310 are resisted by the articulation lock 17400; however, the articulation driver 17310 may still move relative to the articulation lock 17400 to articulate the end effector 11500. As shown in fig. 56, when the articulation lock 17400 is in a fully locked position, the articulation locking teeth 17406 are fully engaged with the articulation driver teeth 17316. In such cases, proximal and distal movement of the articulation driver 17310 and articulation of the end effector 11500 is prevented by the articulation lock 17400.

In addition, the surgical instrument 17000 does not include a biasing member configured to move the articulation lock 17400 toward the articulation driver 17310 in addition to the closure member or tube 17110. The closure tube 17110 is configured to engage the articulation lock 17400 and move the articulation lock 17400 from its unlocked position (fig. 54) to its partially locked position (fig. 55) and fully locked position (fig. 56). Similar to the above, the closure tube 17110 includes a cam 17118 configured to engage a cam surface defined on the articulation lock 17400, although other arrangements may be used. The closure tube 17110 is configured to move the articulation lock 17400 between its unlocked position and its partially locked position as the closure tube 17110 is moved distally through a Partial Closure Stroke (PCS) that at least partially closes the end effector 11500. In such cases, the end effector 11500 of the surgical instrument 17000 may be used, for example, to grasp tissue of a patient. The closure tube 17110 is configured to move the articulation lock 17400 to its fully locked position as the closure tube 17110 moves distally through a Full Closure Stroke (FCS) that fully closes the end effector 11500. In such cases, the end effector 11500 of the surgical instrument 17000 may be used, for example, to fully clamp tissue of a patient.

As discussed above, the locking force applied to the articulation driver 17310 by the articulation lock 17400 increases as the closure tube 17110 is advanced distally. In other words, the articulation locking force is a function of the travel of the closure tube 17110. In addition to the above, turning now to fig. 57, the locking force between the articulation driver 17310 and the articulation lock 17400 is represented by line 17101. As shown in fig. 57, the articulation lock tooth 17406 initially engages the articulation driver tooth 17316 during a partial closing stroke. In at least one instance, this initial engagement of the

teeth

17406 and 17316 occurs after a closing stroke of approximately 0.050 "of the closure tube 17110, although any suitable distance may be used. Notably, this initial engagement of

teeth

17406 and 17316 does not necessarily coincide with the end of a partial closing stroke; instead, it may occur at some point during the Partial Closing Stroke (PCS). It also occurs at some point during the Full Closing Stroke (FCS). However, such initial engagement does not include a locking force coupling. Instead, the locking force coupling between tooth 17406 and tooth 17316 is established only somewhere during the Full Closing Stroke (FCS). In at least one instance, the Full Closing Stroke (FCS) has a length of, for example, about 0.260 ".

The surgical instrument 18000 is illustrated in fig. 58-60, and is similar in many respects to the

surgical instruments

11000 and 17000, and for brevity, much of this document will not be repeated. The surgical instrument 18000 includes: a shaft, an end effector 11500 rotatably coupled to the shaft about an articulation joint, and an articulation system configured to articulate the end effector 11500. The shaft includes a frame 18180 that includes first and second longitudinal racks 18186 that are parallel, or at least substantially parallel, to one another, although the racks 18186 may extend transversely to one another. The surgical instrument 18000 further includes an articulation lock 18400 and a closure member that includes a cam 18118. The articulation lock 18400 includes: a first locking arm 18410 configured to engage the first longitudinal rack 18186 and a second locking arm 18420 configured to engage the second longitudinal rack 18186. With primary reference to fig. 59 and 60, the first locking arm 18410 includes a first cam surface 18415 defined thereon and the second locking arm 18420 includes a second cam surface 18425 defined thereon that are configured to be contacted by the cam 18118 and displaced or deflected outwardly into full locking engagement with the longitudinal rack 18186 during the closing stroke of the closure member. In addition, when the locking

arms

18410 and 18420 are displaced outwardly into engagement with the shaft frame 18180, one or both of the locking

arms

18410 and 18420 also engage the articulation system to lock the end effector 11500 in place.

Upon displacement or flexing to a fully locked state of the locking

arms

18410 and 18420, the locking arms define a longitudinal slot 18430 therebetween configured to allow the cam 18118 to pass, for example, during the remainder of the closing stroke. Further, in such cases, the cam 18118 wedges the articulation lock 18400 into engagement with the frame 18180 and securely holds the locking

arms

18410 and 18420 in their fully locked positions.

In at least one alternative embodiment, in addition, the first locking arm 18410 of the articulation lock 18400 can be configured to engage the shaft frame 18180 of the surgical instrument 18000, while the second locking arm 18420 of the articulation lock 18400 can be configured to engage an articulation system of the surgical instrument 18000.

The surgical instrument 19000 is shown in fig. 61-65 and is similar in many respects to the surgical instrument 11000, and for brevity, much of this document will not be repeated. Surgical instrument 19000 includes: a shaft 19100 including a closure member 19110; an end effector 11500 rotatably coupled to the shaft 19100 about an articulation joint 11200; and an articulation drive system 19300 that includes an articulation driver 19310 that is configured to articulate the end effector 11500 about an articulation joint 11200. Referring primarily to fig. 61, the surgical instrument 19000 further includes an articulation lock 19400 that is configured to selectively engage the articulation drive system 19300 and lock the end effector 11500 in place. The shaft 19100 further includes a frame 19180, and the articulation lock 19400 is movably mounted to the frame 19180 between an unlocked position (fig. 61), a partially locked position (fig. 63), and a locked position (fig. 64). As described in more detail below, the articulation lock 19400 can move laterally toward the articulation driver 19310 to bring the articulation lock 19400 into close proximity with the articulation driver 19310 (fig. 63) and also laterally into interference with the articulation driver 19310 (fig. 64).

In addition, the shaft frame 19180 includes a proximal guide post 19182 and a distal guide post 19184. The proximal guide post 19182 extends into a laterally elongated slot defined in the proximal end 19402 of the articulation lock 19400, and similarly, the distal guide post 19184 extends into a laterally elongated slot defined in the distal end 19404 of the articulation lock 19400. The laterally elongated slot allows the articulation lock 19400 to move laterally toward and away from the articulation driver 19310, as outlined above. The laterally elongated slot also defines a lateral path of the articulation lock 19400 and prevents, or at least substantially prevents, longitudinal movement of the articulation lock 19400 relative to the shaft frame 19180. Thus, the elongated slot of the articulation lock 19400 can guide the articulation lock 19400 between an unlocked position (fig. 61), wherein the locking teeth 19406 of the articulation lock 19400 do not engage the longitudinal racks 19316 defined on the articulation driver 19310, a partially locked position (fig. 63), wherein the locking teeth 19406 partially engage the teeth 19316 and a fully locked position (fig. 64), wherein the locking teeth 19406 fully engage the teeth 19316.

In addition, the articulation lock 19400 further includes a longitudinal cam slot 19408 defined therein, and the closure member 19110 includes a cam pin 19188 positioned in the cam slot 19408. When the closure member 19110 is in the unactuated or open position (fig. 61), the cam pin 19188 is positioned in the proximal portion 19408a of the cam slot 19408. When the closure member 19110 is moved distally to a partially actuated or partially closed position, as shown in fig. 62, the cam pin 19188 moves into the central portion 19408b of the cam slot 19408. In such cases, the cam pin 19188 displaces the articulation lock 19400 toward the articulation driver 19310. However, in such cases, the teeth 19406 of the articulation lock 19400 may not engage the teeth 19316 of the articulation driver 19310 and, thus, the articulation driver 19310 may still be movable to articulate the end effector 11500 relative to the shaft 19100. Thus, the end effector 11500 may be articulated when the closing stroke of the closing member 19110 is only partially completed.

As the closure member 19110 moves further distally, as shown in fig. 63, the cam pin 19188 moves into the distal portion 19408c of the cam slot 19408. In such cases, the cam pin 19188 displaces the articulation lock 19400 into close proximity with the articulation driver 19310 and into partial interengagement with the teeth 19316 of the articulation driver 19310. That is, such partial interengagement between

teeth

19406 and 19316 may resist only a certain amount of force transmitted through articulation driver 19310, and may overcome such resistance to move articulation driver 19310 relative to articulation lock 19400 and articulate end effector 11500.

In addition, during a partial closing stroke of the closure member 19110 (fig. 61-63), the articulation lock 19400 does not laterally lift or lower relative to the shaft frame 19180. Instead, the articulation lock 19400 is lifted upward such that the teeth 19406 of the articulation lock 19400 fully engage the teeth 19316 of the articulation driver 19310 and lock the articulation driver 19310 in place during the final or last portion of the closing stroke of the closure member 19110, as shown in fig. 64. The articulation lock 19400 is moved upward by a different cam pin that extends from the closure member 19110 (i.e., cam pin 19189 that engages the articulation lock 19400 at the end of the closing stroke of the closure member 19110). Notably, the cam pin 19189 does not engage the articulation lock 19400 at the beginning of the closing stroke or during a partial closing stroke of the closure member 19110. At most, the cam pin 19189 can slidably touch the bottom of the articulation lock 19400 during a partial closing stroke. That is, referring primarily to fig. 65, the articulation lock 19400 includes a cutout or recess 19409 defined therein that provides clearance between the cam pin 19189 and the articulation lock 19400 during a partial closing stroke. That is, when the cam pin 19189 reaches the end of the groove 19409, the cam pin 19189 contacts the articulation lock 19400 and, in such a case, drives the articulation lock 19400 laterally upward such that the locking teeth 19406 are interferometrically engaged with the teeth 19316 of the articulation driver 19310 and the articulation lock 19400 is placed in its fully locked position, as shown in fig. 64. At this point, the articulation driver 19310 is locked in place and cannot move longitudinally to articulate the end effector 11500.

Referring again to fig. 65, the teeth 19316 of the articulation driver 19310 are angled or canted relative to the longitudinal axis of the shaft 19100. The locking teeth 19406 of the articulation lock 19400 are not angled or angled in a different orientation than the teeth 19316. Thus, when the articulation lock 19400 is in its lowered position (fig. 63) and fully engaged with the teeth 19316, and when the articulation lock 19400 is in its raised position (fig. 64), the locking teeth 19406 of the articulation lock 19400 can partially engage with the teeth 19316 of the articulation driver 19310.

To unlock the articulation system 19300 of the surgical instrument 19000, the closure member 19110 must be retracted to disengage the cam pin 19189 from the articulation lock 19400 so that the articulation lock 19400 can return to its lowered position. Once the cam pin 19189 has disengaged from the articulation lock 19400, proximal retraction of the cam pin 19188 can drive the articulation lock 19400 downward as the cam pin 19188 is pulled proximally through the cam slot 19408. Further, as cam pin 19188 is pulled proximally, cam pin 19188 may displace articulation lock 19400 away from articulation driver 19310. In various embodiments, the shaft 19110 may include one or more biasing members, such as springs, for example, configured to bias or urge the articulation lock 19400 downward to quickly reset the articulation lock to the unlocked position.

The surgical instrument 20000 is shown in fig. 66-68 and is similar in many respects to

surgical instruments

11000, 17000, 18000, and 19000, most of which will not be repeated herein for the sake of brevity. The surgical instrument 20000 comprises: a shaft comprising a closure tube 20110, an end effector 11500 rotatably mounted to the shaft about an articulation joint 11200, and an articulation system configured to articulate the end effector 11500 relative to the shaft. Similar to the above, the articulation system includes: an articulation link 20320 rotatably secured to the end effector 11500 and further includes an articulation actuator 20310 rotatably secured to the articulation link 20320. In use, the articulation actuator 20310 is moved proximally and/or distally to drive the articulation link 20320 and articulate the end effector 11500. The surgical instrument 20000 further comprises an articulation locking system comprising an articulation locking gear 20400 rotatably mounted to the frame of the shaft about a fixed axis. The articulation locking gear 20400 includes an annular array of teeth 20406 that meshingly engage a longitudinal array of teeth 20316 defined on the articulation actuator 20310. Thus, referring generally to fig. 66, the articulation locking gear 20400 will rotate in response to proximal and/or distal movement of the articulation actuator 20310 until the articulation locking gear 20400 is locked in place by the closure tube 20110 as shown in fig. 68.

In addition, the articulation locking system further includes a locking arm 20405 that extends from the shaft frame into a central aperture defined in the articulation locking gear 20400 and when the closure tube 20110 is moved distally during a closing stroke to close the end effector 11500, a cam or wedge 20118 of the closure tube 20110 is configured to engage the locking arm 20405 and cause the locking arm 20405 to spread outwardly into engagement with the articulation locking gear 20400. Once the locking arm 20405 is engaged with the articulation locking gear 20400, the locking arm 20405 may prevent rotation of the articulation locking gear 20400 and also prevent longitudinal movement of the articulation actuator 20310. In such cases, the locking arms 20405 can prevent, or at least substantially prevent, articulation of the end effector 11500 until the wedge 20118 of the closure tube 20110 is retracted proximally during the opening stroke and the locking arms 20405 resiliently return to their unflexed or unlocked configuration.

In addition, the articulation system of surgical instrument 20000 may be placed in an unlocked configuration (fig. 66), a partially locked configuration (fig. 67), and a fully locked configuration (fig. 68). The articulation system may be placed in its partially locked configuration (fig. 67) as the closure tube 20110 is advanced distally through a Partial Closure Stroke (PCS). In such cases, the end effector 11500 is at least partially closed but still can be articulated even though the locking arm 20405 can be partially engaged with the articulation locking gear 20400. More specifically, the articulation lock gear 20400 is rotatable despite drag forces generated by the engagement of the lock arm 20405 against the portion of the articulation lock gear 20400. In at least one case, the PCS is, for example, about 0.050. When the closure tube 20110 is advanced distally through a Full Closure Stroke (FCS), the articulation system may be placed in its fully locked configuration (fig. 68). In such cases, the end effector 11500 is fully closed and cannot be articulated until the articulation system has returned to its partially locked and/or unlocked configuration.

The surgical instrument 21000 is shown in fig. 69-71 and is similar in many respects to

surgical instruments

11000, 17000, 18000, 19000, and 20000, most of which will not be repeated herein for the sake of brevity. The surgical instrument 21000 includes: an articulation system including a shaft that includes a closure member 21110, an end effector 11500 rotatably mounted to the shaft about an articulation joint 11200, and an articulation actuator 21130 that is configured to articulate the end effector 11500 relative to the shaft. The surgical instrument 21000 also includes an articulation locking system that comprises an articulation locking gear 21400 rotatably mounted to the frame of the shaft about a fixed axis. The articulation locking gear 21400 includes an annular array of teeth 21406 that meshingly engage a longitudinal array of teeth 21316 defined on the articulation actuator 21310. Thus, referring generally to fig. 69, the articulation locking gear 21400 rotates in response to proximal longitudinal movement and/or distal longitudinal movement of the articulation actuator 21310 until the articulation locking gear 21400 is locked in place by the closure member 21110 (fig. 71), as described in more detail below.

In addition, the articulation locking system of surgical instrument 21000 also includes a movable locking element 21405 that is slidably mounted to the shaft frame. More specifically, referring primarily to fig. 69, the locking element 21405 includes a guide tab 21402 extending therefrom that extends into a laterally elongated slot 21403 defined in the shaft frame that is configured to permit the locking element 21405 to slide laterally toward and/or away from the articulation driver 21310. Further, referring primarily to fig. 70, the locking element 21405 slides laterally within an aperture defined in the articulation locking gear 21400 between an unlocked position (fig. 69) and a locked position (fig. 71). The locking element 21405 includes an annular array of locking teeth 21407 and the articulation locking gear 21400 includes an annular array of locking teeth 21408 defined about its interior aperture and the locking teeth 21407 of the locking element 21405 do not engage with the locking teeth 21408 of the articulation locking gear 21400 when the locking element 21405 is in its unlocked position (fig. 69). When the locking element 21405 is in its locked position (fig. 71), the locking teeth 21407 of the locking element 21405 engage the locking teeth 21408 of the articulation locking gear 21400 such that the articulation locking gear 21400 does not rotate and thus prevents the articulation actuator 21300 from moving longitudinally to articulate the end effector 11500.

Fig. 69-71 illustrate distal advancement of the closure member 21110 during a closure stroke. Fig. 69 shows the closure member 21110 in an unactuated, open position. In this position, the closure member 21110 is not engaged with the locking element 21405. Fig. 70 shows the closure member 21110 in a partially closed position, wherein the closure member 21110 has at least partially closed the end effector 11500. In such a position, the cam surface 21115 of the closure member 21110 engages the locking element 21405. In at least one instance, the closure member 21110 moves distally from its open position (fig. 69) about 0.050 "to its partially closed position (fig. 70). Fig. 71 shows the closure member 21110 in a fully closed position, wherein the closure member 21110 has fully closed the end effector 11500. In such a position, the cam surface 21115 has been moved by the locking element 21405, and the locking element 21405 has been displaced by the entire thickness of the closure member 21110.

In accordance with the foregoing, a surgical instrument can comprise an articulation locking system configured to prevent an end effector of the surgical instrument from being articulated and/or inadvertently back-driven by a load or torque applied to the end effector. At least a portion of the articulation locking system is movable into engagement with an articulation drive system of the surgical instrument to prevent articulation of the end effector. In at least one instance, the articulation lock may be integral to the articulation drive system as described in more detail below.

Referring to fig. 72-74, a surgical instrument 22000 includes: a shaft and articulation drive system 22300 configured to articulate an end effector, such as, for example, end effector 11500 of surgical instrument 22000, relative to the shaft. The articulation drive system 22300 includes an articulation driver 22310 and a pinion 22320. The articulation driver 22310 includes a longitudinal rack 22316 defined thereon that operably engage with the teeth 22326 of the pinion 22320. As the articulation driver 22310 translates distally, the pinion 22320 rotates in a first direction. Correspondingly, as the articulation driver 22310 translates proximally, the pinion 22320 rotates in the second direction. Pinion 22320 includes bevel gear 22330 fixedly mounted thereto such that bevel gear 22330 rotates with pinion 22320 about a common axis of rotation. The combined assembly of pinion 22320 and bevel gear 22330 is rotatably mounted on the shaft of surgical instrument 22000.

In addition, teeth 22336 of bevel gear 22330 meshingly engage teeth 22346 of bevel gear 22340, which is rotatably mounted about a rotatably threaded articulation lead screw 22350. More specifically, bevel gear 22340 includes a nut portion that includes an at least partially threaded aperture that threadably engages articulation lead screw 22350. When bevel gear 22340 is rotated in a first direction by articulation driver 22310 via bevel gear 22330, bevel gear 22340 rotates articulation lead screw 22350 in the first direction. Correspondingly, when bevel gear 22340 rotates in the second direction, bevel gear 22340 rotates articulation lead screw 22350 in the second direction. Further, when the articulation lead screw 22350 is rotated in its first direction, the end effector 11500 is rotated in a first direction and when the threaded articulation drive shaft 22350 is rotated in its second direction, the corresponding end effector 11500 is rotated in its second direction.

In addition, the pitch of the threads on the threaded articulation lead screw 22350 may be selected to prevent backdrive within the articulation drive system 22300. In other words, the large pitch of the threads defined on the articulation lead screw 22350 will be able to resist forces and/or torques transmitted proximally from the end effector 11500 through the articulation drive system 22300 and, thus, may prevent the end effector 11500 from inadvertently articulating. Thus, the thread pitch may be used as an articulation lock integral to the articulation drive system 22300. In at least one instance, the articulation lead screw includes, for example, an ACME lead screw.

Referring to fig. 75-79, a surgical instrument 23000 includes: a shaft and an articulation drive system 23300 configured to articulate an end effector, such as, for example, end effector 11500 of surgical instrument 23000, relative to the shaft. The articulation drive system 23300 includes an articulation driver 23310 and a pinion 23320. The articulation driver 23310 includes a longitudinal rack 23316 defined thereon that is in operative engagement with the teeth 2326 of the pinion gear 23320. As the articulation driver 23310 translates distally, the pinion gear 23320 rotates in a first direction. Correspondingly, as the articulation driver 23310 translates proximally, the pinion gear 23320 rotates in the second direction. Pinion 23320 includes a worm gear 2330 fixedly mounted thereto such that worm gear 2330 rotates with pinion 23320 about a common axis of rotation. The combination of pinion 23320 and worm 2330 is rotatably mounted on the shaft of surgical instrument 23000.

In addition, teeth 23336 of worm gear 2330 meshingly engage teeth 23346 of worm 23340 rotatably mounted to the axle frame. The worm 23340 includes a pinion 23350 fixedly mounted thereto such that the pinion 23350 rotates with the worm 23340 about a common axis of rotation. Pinion 23350 is operably engaged with translatable articulation output drive 23360. More specifically, pinion 23350 includes teeth 23356 that meshingly engage a rack 23366 defined on output drive 23360. As worm 23340 is rotated in a first direction by articulation driver 23310 through worm gear 2330, pinion 23350 drives output driver 23360 distally. Correspondingly, when worm 23340 is rotated in a second direction by worm gear 23330, worm 23340 and pinion 23350 drive output driver 23360 proximally. Further, when the output driver 23350 is driven distally by the articulation drive system 23330, the end effector 11500 is rotated in a first direction and when the output driver 23350 is driven proximally by the articulation drive system 2330, the end effector 11500 is rotated in a second direction.

In addition, the pitch of the threads on the worm 23340 can be selected to prevent backdrive within the articulation drive system 23300. In other words, for example, the large pitch of the threads defined on the worm 23340 will be able to resist forces and/or torques transmitted proximally from the end effector 11500 through the articulation drive system 23300 and may prevent the end effector 11500 from inadvertently articulating. Thus, the thread pitch may be used as an articulation lock integral to the articulation drive system 23300.

The surgical instrument 12000 is shown in fig. 32-34B, similar in several respects to the surgical instrument 11000, many of which will not be repeated herein for the sake of brevity. In addition to the shaft 11100, the end effector 11500, and the articulation joint 11200, the surgical instrument 12000 further includes a staple firing system 12900 that includes, for example, a firing rod 12910 that extends through the articulation joint 11200. In use, the firing bar 12910 can be translated distally to perform a staple firing stroke and retracted proximally after at least a portion of the staple firing stroke has been completed. The firing bar 12910 extends through a channel or slot 11190 defined in the frame 11180 of the shaft 11100 that is configured to closely receive and/or guide the firing bar 12910 as the firing bar 12910 moves relative to the shaft 11100. Similarly, the end effector 11500 includes a channel or slot 11590 defined in a frame 11580 of the end effector 11500 that is also configured to closely receive and/or guide the firing bar 12910 as the firing bar 12910 moves relative to the end effector 11500.

In addition, the

passages

11190 and 11590 do not extend into the articulation joint 11200, and in the absence of other conditions, the firing bar 12910 may not be supported within the articulation joint 11200. When the end effector 11500 is in the non-articulated configuration (fig. 34), the firing bar 12910 is less likely to flex within the articulation joint 11120 during a staple firing stroke, however, when the end effector 11500 is in the articulated configuration (fig. 34A and 34B), the firing bar 12910 is likely to flex laterally during a staple firing stroke. To reduce the likelihood of such buckling, the surgical instrument 12000 further comprises a firing bar support 12400 configured to support the firing bar 12910. Firing bar support 12400 includes: a proximal portion 12410 connected to the shaft frame 11180, a distal portion 12430 connected to the end effector frame 11580, and an intermediate portion 12420 extending between the proximal portion 12410 and the distal portion 12430.

Portions

12410, 12420 and 12430 of firing bar support 12400 are integrally formed; however, other embodiments are contemplated in which the

sections

12410, 12420, and 12430 are assembled to one another and/or include separate components.

In addition, the distal portion 12430 of the firing bar support 12400 is fixedly mounted to the end effector frame 11580 and does not move, or at least does not substantially move, relative to the end effector frame 11580. The middle portion 12420 of the firing bar support 12400 includes one or more portions having a reduced cross-section that, among other things, allow the firing bar support 12400 to flex within the articulation joint 11200 as the end effector 11500 articulates. The proximal portion 12410 of the firing bar support 12400 is slidably mounted to the shaft frame 11180 such that the firing bar support 12400 can translate relative to the shaft frame 11180 as the end effector 11500 is articulated. That is, the proximal portion 12410 of the firing bar support 12400 includes a proximal head 12415 that is slidable within a cavity or cavity 11185 defined within the shaft frame 11180, which can limit travel of the firing bar support 12400. However, embodiments are contemplated that do not have such travel constraints. In any event, the proximal portion 12410, the middle portion 12420, and the distal portion 12430 of the firing bar support 12400 collectively operably define a channel or slot 12490 that is configured to support the firing bar 12910 (particularly within the articulation joint 11200) and reduce the likelihood of the firing bar 12910 buckling during, for example, a staple firing stroke.

In various instances, firing bar 12910 is constructed from a plurality of parallel, or at least substantially parallel, layers. The layers are attached to the distal cutting member and may partially translate or slide relative to each other, particularly within the articulation joint 11200. Each such layer is configured to be able to transfer load in the same direction (i.e., proximally or distally), even though such layers may move or slide relative to each other. In addition, such layers may be laterally deployed relative to one another when the end effector 11500 has been articulated, particularly within the articulation joint 11200. The middle portion 12420 of the firing bar support 12400 includes a plurality of connected control elements that can at least reduce (if not prevent) the relative lateral deployment of the firing bar layers. Alternatively, as mentioned above, one or more of the control elements may be disconnected from each other.

In addition to the firing bar support 12400 or in lieu of the firing bar support 12400, the surgical instrument 12000 also includes one or more spacers that separate and control the layers of the firing bar 12910. 34-34B, the shaft 11110 includes a spacer 12920 positioned within the layers of the firing bar 12910. Two layers of firing bar 12910 are positioned on one side of spacer 12920 while two layers are positioned on the other side of spacer 12920, although any suitable arrangement may be used. The spacer 12920 prevents half of the firing bar 12910 from expanding outwardly when the end effector 11500 is articulated. In other words, the spacer 12920 prevents the two rightmost firing bar layers from spreading to the left when the end effector 11500 is articulated to the right (fig. 34A), and similarly, the spacer 12920 prevents the two leftmost firing bar layers from spreading to the right when the end effector 11500 is articulated to the left (fig. 34B). The spacer 12920 extends through the articulation joint 11200 and the firing bar support 12400 and into the end effector 11500 and can flex as the end effector 11500 is articulated. Thus, in such cases, the spacer 12920 is flexible. Spacer 12920 is mounted to frame 11180 of shaft 11110 and does not move relative to frame 11180; however, embodiments are contemplated in which the spacer 12920 is not mounted to the frame 11180 and can float within the firing bar layer.

The surgical instrument 13000 is illustrated in fig. 35-39B, similar in several respects to

surgical instruments

11000 and 12000, many of which will not be repeated herein for the sake of brevity. In addition to the shaft 13100, end effector 13500, and articulation joint 11200, the surgical instrument 13000 further comprises a staple firing system 12900 that comprises, for example, a firing rod 12910 that extends through the articulation joint 11200. In use, the firing bar 12910 can be translated distally to perform a staple firing stroke and retracted proximally after at least a portion of the staple firing stroke has been completed. Referring primarily to fig. 39-39B, the firing bar 12910 extends through a channel or slot 13190 defined in the frame 13180 of the shaft 13100 that is configured to closely receive and/or guide the firing bar 12910 as the firing bar 12910 moves relative to the shaft 11100. Similarly, the end effector 13500 includes a channel or slot defined in the frame 13580 of the end effector 13500 that is also configured to closely receive and/or guide the firing bar 12910 as the firing bar 12910 moves relative to the end effector 13500.

In addition to this, the firing bar 12910 is less likely to flex within the articulation joint 11120 during a staple firing stroke when the end effector 13500 is in the non-articulation configuration (fig. 39A and 39B), however, the firing bar 12910 is likely to flex laterally during a staple firing stroke when the end effector 13500 is in the articulation configuration (fig. 39A and 39B). To reduce the likelihood of such buckling, the surgical instrument 13000 further comprises a firing bar support 13400 configured to support the firing bar 12190. The firing bar support 13400 includes a first side plate 13410 and a second side plate 13420.

Side plates

13410 and 13420 are positioned on opposite sides of firing bar 12910. Each

side panel

13410, 13420 includes: a proximal portion connected to the shaft frame 13180, a distal portion connected to the end effector frame 13580, and an intermediate portion extending between the proximal and distal portions. Portions of each

panel

13410, 13420 are integrally formed; however, other embodiments are contemplated in which the parts are assembled to each other and/or comprise separate components.

In addition, the first side panel 13410 includes a distal portion 13416 that is fixedly mounted to the end effector frame 13580 and does not move, or at least does not substantially move, relative to the end effector frame 13580. Similarly, the second side plate 13420 includes a distal portion 13426 that is fixedly mounted to the end effector frame 13580 and does not move, or at least does not substantially move, relative to the end effector frame 13580. The first side plate 13410 includes a proximal portion 13412 that is slidably mounted to the shaft frame 13180 such that the first side plate 13410 can translate relative to the shaft frame 13180 when the end effector 13500 is articulated. The proximal portion 13412 includes a head that is slidable within a cavity or cavity 13185 defined within the shaft frame 13180, which can limit travel of the firing bar support 13400. Similarly, the second side plate 13420 includes a proximal portion 13422 that is slidably mounted to the shaft frame 13180 such that the firing bar support 13400 can translate relative to the shaft frame 13180 when the end effector 13500 is articulated. The proximal portion 13422 includes a head that is slidable within a cavity 13185 defined within the shaft frame 13180, which may also limit travel of the firing bar support 13400.

The first side plate 13410 includes a flexible portion 13414 positioned in the articulation joint 11200 that allows the distal portion 13416 of the first side plate 13410 to flex relative to the proximal portion 13412 and accommodate articulation of the end effector 13500. The flexible portion 13414 extends laterally from the first side panel 13410 and includes a hinge including a gap 13413 defined therein that allows for rotation within the first side panel 13410. In addition to or in lieu of the above, the first side panel 13410 includes a longitudinal opening 13415 defined therein that allows the first side panel 13410 to flex within the end effector 13500 and accommodate articulation of the end effector 13500. The first side panel 13410 can include any suitable number and configuration of openings and/or recesses defined therein at any suitable locations configured to allow the first side panel 13410 to flex during articulation of the end effector 13500. Similarly, the second side plate 13412 includes a flexible portion 13424 positioned in the articulation joint 11200 that allows the distal portion 13426 of the second side plate 13420 to flex relative to the proximal portion 13422 and accommodate articulation of the end effector 13500. The flexible portion 13424 extends laterally from the first side panel 13420 and includes a hinge including a gap defined therein that allows rotation within the second side panel 13420. In addition to or in lieu of the above, the second side plate 13420 includes a longitudinal opening defined therein that allows the second side plate 13420 to flex within the end effector 13500 and accommodate articulation of the end effector 13500. The second side plate 13420 can include any suitable number and configuration of openings and/or recesses defined therein at any suitable locations configured to allow the second side plate 13420 to flex during articulation of the end effector 13500.

In addition, the

side plates

13410 and 13420 are flexible and the

side plates

13410 and 13420 can resiliently return to their undeflected configuration when the end effector 13500 returns to its non-articulated configuration. In various instances, the

side plates

13410 and 13420 include springs that resiliently bias the end effector 13500 into its non-articulated configuration.

The firing member 24900 is illustrated in fig. 83 and 84 and may be used with any of the surgical stapling instruments disclosed herein. The firing member 24900 includes a firing bar 24910 that includes multiple layers, similar to that described above. More specifically, the firing bar 24910 includes two outer layers 24911 and two inner layers 24912. The firing member 24900 further comprises a distal cutting member 24920 that includes a tissue cutting edge 24926. The distal cutting member 24920 further comprises: a first cam 24922 configured to engage a first jaw of the end effector and a second cam 24924 configured to engage a second jaw of the end effector. That is, embodiments are contemplated in which the distal cutting member 24920 is configured to engage only one jaw of the end effector or, alternatively, not engage any jaw of the end effector.

Layers

24911 and 24912 of firing bar 24910 are welded to distal cutting member 24920 at weld 24930. As shown in fig. 84, a first weld 24930 is present on a first side of the firing member 24900 and a second weld 24930 is present on a second side of the firing member 24900. The first weld 24930 penetrates the first outer layer 24911 and the adjacent inner layer 24912. In each case, the first weld 24930 penetrates completely through the adjacent inner layer 24912 and/or also into the other inner layer 24912. The second weld 24930 penetrates the second outer layer 24911 and the adjacent inner layer 24912. In each case, the second weld 24930 penetrates completely through the adjacent inner layer 24912 and/or also into the other inner layer 24912.

Referring primarily to fig. 83, each weld 24930 of the firing member 24900 includes a weld line configured to securely hold the firing bar 24910 to the cutting member 24920 while at the same time providing a flexible connection therebetween. Each weld 24930 includes a butt weld 24931 connecting the cutting member 24920 to the distal ends of the

plates

24911 and 24912, and each weld 24930 is placed in tension and/or compression as a longitudinal firing force is transmitted through the firing member 24900. The butt weld is orthogonal, or at least substantially orthogonal, to the longitudinal Firing Axis (FA) of the firing member 24900. The butt weld 24931 can comprise any suitable configuration, such as, for example, square, closed square, single bevel, double bevel, single J, double J, single V, double V, single U, double U, flange, flank, and/or tee configurations.

In addition, each weld 24930 includes: a distal hook weld 24932 and a proximal hook weld 24933. Each

hook weld portion

24932 and 24933 includes a longitudinal portion that is aligned with or parallel to a longitudinal Firing Axis (FA) of the firing member 24900 and is placed in a sheared state as a longitudinal firing force is transmitted through the firing member 24900. Further, each

hook weld portion

24932 and 24933 includes an abutment portion that is orthogonal, or at least substantially orthogonal, to the longitudinal Firing Axis (FA) and is placed in tension and/or compression as a longitudinal firing force is transmitted through the firing member 24900. Notably, each set of hook welds 24932 and 24933 includes an interlocking connection between the firing bar 24910 and the cutting member 24920 that can transmit stress flow therebetween without failure and/or discomfort.

Each weld 24930 is generally L-shaped, for example; however, the weld 24930 can comprise any suitable configuration.

Although

surgical instruments

10000, 11000, 12000, 13000, 14000, 15000, 16000, 17000, 18000, 19000, 20000, 21000, 22000, and 23000 are surgical staplers, their designs can be readily adapted to other surgical instruments having an articulatable end effector or the like. Such other surgical instruments may include: such as clip appliers, fastener appliers, and/or surgical instruments configured to deliver electrical and/or vibrational energy to tissue.

Fig. 86 shows a surgical staple cartridge 25100 that includes an elongate nose 25150 (generally indicated as 25102) at a distal end thereof. The elongate nose 25150 has a base 25152 defined by a first length 25154 extending a distance between the end of the staple line 25056 and the distal end 25142 of the staple cartridge 25100. The distal tip 25142 is formed at an angle σ to the base 25152 of the staple cartridge 25100. The distal end 25142 on the staple cartridge 25100 is directed and configured to act as a parking zone for a wedge sled (not shown) of the firing system upon completion of a staple firing stroke.

To shorten the overall length of the staple cartridge without sacrificing the length of the stapled tissue, the surgical staple cartridge 25200 depicted in FIG. 85 includes a cartridge body 25210 which includes a shortened nose 25250, generally indicated as 25202, at its distal end. The shortening nose 25250 has a base 25252 defined by a second length 25254 extending a distance between the end of the staple line 25056 and the blunt distal tip 25242 of the staple cartridge 25200. Shortening the second length 25254 of the nose 25250 is minimized by dulling the parking area of the wedge sled 25270 (see fig. 89). While the blunt shortened nose 25250 of the staple cartridge 25200 in fig. 85 still provides a parking area for the wedge sled, additional storage space may have to be provided as will be discussed below. The blunt distal tip 25242 is formed at an angle γ to the base 25252 of the staple cartridge 25200.

In comparing

staple cartridges

25200 and 25100 depicted in fig. 85 and 86, the reader should recognize that second length 25254 is shorter than first length 25154. Thus, the length of the staple cartridge 25200 beyond the ends of the staple lines 25056 is minimized, among other things, to allow improved spatial access within the surgical site. The shortened nose 25250 also prevents the blunt distal tip 25242 from piercing seals on the trocar system, as described further below. Further, it will be appreciated that the angle γ of the blunt distal tip 25242 of the staple cartridge 25200 relative to the base 25252 is greater than the angle σ of the pointed distal tip 25142 of the staple cartridge 25100 relative to the base 25152. For example, the blunt distal tip 25242 may extend at an angle of about 45 degrees to 50 degrees relative to the base 25252 of the staple cartridge 25200, while the pointed distal tip 25142 may extend at an angle of about 30 degrees relative to the base 25152 of the staple cartridge 25100. The steeper angle of the blunt distal tip 25242 provides enhanced stability throughout the distal region of the structure of the staple cartridge 25200.

Fig. 89 is a plan view of staple cartridge 25200. The cartridge body 25210 of the staple cartridge 25200 includes an elongate slot 25230 that extends from the proximal end 25204 of the staple cartridge 25200 toward the distal shortening nose 25250. A plurality of staple cavities 25220 are formed within cartridge body 25210. The staple cavities 25220 extend between a proximal end 25204 and a distal end 25202 of the staple cartridge 25200. The staple cavities 25220 are arranged in six laterally spaced

longitudinal rows

25221, 25222, 25223, 25224, 25225, 25226, with three rows on each side of the elongated slot 25230. Removably positioned within the staple cavity 25220 are staples 25260.

FIG. 87 illustrates one embodiment of a three staple driver 25240 within a staple cartridge 25200 for supporting and driving three staples 25260. The staple driver 25240 includes a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. The central base member 25348 connects the first and

third driver portions

25342, 25346 to the second driver portion 25344. The first driver portion 25342 is positioned at least partially distal to the second driver portion 25344. Further, third driver portion 25346 is positioned at least partially distal to second driver portion 25344. A plurality of first staple drivers 25240 are slidably mounted within the corresponding staple cavities 25220 from three

longitudinal rows

25221, 25222, 25223 on one side of the elongated slot 25230. In other words, each staple driver 25240 is configured to support three staples 25260: staples 25260 stored within the staple cavities 25220 in the first longitudinal row 25221; staples 25260 stored within staple cavities 25220 in a second longitudinal row 25222; and staples 25260 stored within staple cavities 25220 in a third longitudinal row 25223. Due to the distal position of the first and

third driver portions

25342, 25346 relative to the second driver portion 25344, staples 25260 are fired in a reverse arrow configuration. As shown in FIG. 89, the last staple 25260 in the first longitudinal row 25221 and third longitudinal row 25223 is closer to the shortened nose 25250 of staple cartridge 25200 than the last staple 25260 in the second longitudinal row 25222.

On the other side of the elongated slot 25230, a plurality of second staple drivers are mounted within corresponding staple cavities 25220 in three

longitudinal rows

25224, 25225, 25226. Similar to staple drivers 25240, the second staple drivers each include a first driver portion 25342, a second driver portion 25344, and a third driver portion 25346. The central base member 25348 connects the first and

third driver portions

25342, 25346 to the second driver portion 25344. The first driver portion 25342 is positioned at least partially distal to the second driver portion 25344. Further, third driver portion 25346 is positioned at least partially distal to second driver portion 25344. As with staple drivers 25240 above, each second staple driver is configured to support three staples 25260: staples 25260 stored within staple cavities 25220 in fourth longitudinal row 25224, staples 25260 stored within staple cavities 25220 in fifth longitudinal row 25225, and staples 25260 stored within staple cavities 25220 in sixth longitudinal row 25226. Due to the distal position of the first and

third driver portions

25342, 25346 relative to the second driver portion 25344, staples 25260 are fired in a reverse arrow configuration. As shown in FIG. 89, the last staple 25260 in the fourth and sixth

longitudinal rows

25224, 25226 is closer to the shortened nose 25250 of the staple cartridge 25200 than the last staple 25260 in the fifth longitudinal row 25225.

The first driver portion 25342 of the staple driver 25240 has a first forward support column 25352 and a first rearward support column 25354 projecting upwardly from the base of the first driver portion. The first forward support column 25352 and the first rearward support column 25354 are spaced apart from each other and together form a first staple cradle for supporting the staples 25260 in an upright position (i.e., the staples face the prongs of the anvil). Similarly, the second driver portion 25344 has second forward support columns 25362 and second rearward support columns 25364 projecting upwardly from the base of the second driver portion. The second forward support column 25362 and the second rearward support column 25364 are spaced apart from each other and together form a second staple cradle for supporting the staples 25260 in an upright position (i.e., the staples face the prongs of the anvil). The third driver portion 25346 has: a third forward support column 25372 and a third rearward support column 25374 that protrude upward from the third driver portion base. The third forward support column 25372 and the third rearward support column 25374 are spaced apart from one another and together form a third staple cradle for supporting staples 25260 in an upright position (i.e., the staples face the prongs of the anvil).

The centers of mass of the first and

second driver portions

25342, 25346 are indicated by dashed lines D-D. Similarly, the dashed line P-P represents the center of mass of the second driver portion 25344. The combination of the centers of mass of the three staple drivers 25240 is shown in fig. 87 and 88 as dashed line C-C. Thus, the staple driver 25240 is less likely to roll forward. Notably, C-C is closer to D-D than P-P, which makes the staple driver 25240 very stable.

As discussed above, the central base member 25348 of the staple driver 25240 depicted in fig. 88 attaches the first and

third driver portions

25342, 25346 to the second driver portion 25344. The central base member 25348 extends laterally between the proximal ends of the first and third

rearward support columns

25354, 25374, respectively, on the first and

third driver portions

25342, 25346, and the proximal end of the second rearward support column 25362 is on the second driver portion 25344. As seen in fig. 90, the central base member 25348 has an angled rearward edge 25349 adapted to be engaged by a wedge sled 25270, as will be discussed in further detail below. Due to the extension of the central base member 25348 between all three

driver portions

25342, 25344, 25346, the midpoint of the rearward edge 25349 can diverge into a portion closer to the first portion 25342 and a portion closer to the third portion 25346. This arrangement balances the torque created during firing and forming of staples 25260 stored within staple cavities 25220.

Referring primarily to fig. 89, each staple cavity 25220 defined in the cartridge body 25210 of the staple cartridge 25200 includes a proximal wall 25264 and a distal wall 25262. The reverse arrow orientation created by the arrangement of the first 25342, second 25344, third 25346 driver portions of the three staple drivers 25240 discussed above reduces forward and/or lateral rolling of the staple drivers 25240 during the staple firing stroke. In various cases, the distal ends of the first and third

forward support columns

25352, 25372 are pushed into the distal walls 25262 of their respective staple cavities 25220, which stabilizes the driver 25240. Thus, when the sled 25270 (fig. 89) lifts the staple drivers 25240 upward during the staple firing stroke, the two distal walls 25262 of the staple cavities 25220 provide opposing forces against the forward support posts 25352, 25372, thereby preventing any undesired movement or rolling of the staple drivers 25240.

As shown in fig. 87-90, the elongate slot 25230 of the staple cartridge 25200 is configured to receive a portion of the firing assembly 25280. The firing assembly 25280 is configured to push the sled 25270 distally to eject the staples 25260 stored within the staple cavities 25220 and to deform the staples 25260 against an anvil positioned opposite the staple cartridge 25200. More specifically, the coupling member 25282 pushes the wedge sled 25270 of the staple cartridge 25200 distally. Wedge sled 25270 has: four rails, two inner rails 25272, and two outer rails 25274, which are connected to each other by a center member 25276. One inner rail 25272 and one outer rail 25274 are positioned on one side of the elongated slot 25230, while the other inner rail 25272 and the other outer rail 2674 are positioned on the opposite side of the elongated slot 25230. When the inner rail 25272 is driven distally, the inner rail 25272 passes through an inner channel 25212 defined in the cartridge body 25210 and engages a rearward edge 25349 of the driver 25240 that supports the staples 25260 to fire the staples toward the anvil. Likewise, the external rail 25274 passes through an external channel 25214 defined in the cartridge body 25210 and engages portions of the drivers 25240 that support the staples 25260 to urge the staples toward the anvil. Distal movement of wedge sled 25270 causes

rails

25272, 25274 to contact rearward edge 25349 of staple driver 25240, pushing driver 25240 upward to eject staples 25260 from staple cartridge 25200 into tissue captured between staple cartridge 25200 and the opposing anvil. The coupling member 25282 also includes a cutting edge 25284 that cuts into tissue as the coupling member 25282 is advanced distally to eject the staples 25260 from the cartridge body 25210.

Referring again to fig. 87, the positioning of the first 25342, second 25344, third 25346 driver portions of the staple driver 25240 between the inner 25272 and outer 25274 rails of the wedge sled 25270 provides increased lateral stability. Two rails (one inner rail 25272 and one outer rail 25274) bridge the staple drivers 25240, providing enhanced support and stability throughout the firing stroke. In addition to providing enhanced stability to the staple driver 25240, another benefit of the staple driver 25240 having two

rails

25272, 25274 spanning the wedge sled 25270 is the reduced force required to perform the firing stroke. The required force is reduced because of less deflection and losses within the system. Further, the additional drive surface provided by the rearward edge 25349 allows the

rails

25272, 25274 of the wedge sled 25270 to extend at a steeper angle to the base 25278 of the wedge sled 25270. The steeper angle of wedge sled 25270 allows the length of base 25278 of wedge sled 25270 to be generally reduced, thereby further helping to shorten the length of shortening nose 25250 of staple cartridge 25200. Referring again to FIG. 89, upon completion of the staple firing stroke, the wedge sled 25270 of the firing assembly 25280 is parked within the shortened nose 25250 of the staple cartridge 25200.

FIG. 89 shows a wedge sled 25270 of the firing assembly 25280 that is parked in the shortening nose 25250 upon completion of the staple firing stroke. The shortened nose 25250 includes a plurality of

openings

25292, 25294 at the distal end of the shortened nose 25250 to receive the four

rails

25272, 25274. The shortened nose 25250 also includes an opening 25296 configured to receive the central slider member 25276 of the wedge sled 25270. Thus, the

rails

25272, 25274 of the wedge sled 25270 and portions of the central sled member 25276 are exposed at the distal end 25202 of the staple cartridge 25200.

Openings

25292, 25294 are a continuum of

channels

25212, 25214 within which rails 25272, 25274 of wedge sled 25270 slidably travel. The two inner openings 25292 are configured to receive the two inner rails 25272 of the wedge sled 25270, while the two outer openings 25294 are configured to receive the two outer rails 25274 of the wedge sled 25270. A central opening 25296 in the center of the distal portion 25202 of the shortened nose 25250 is configured to receive the central member 25276 of the wedge sled 25270. The

openings

25292, 25294, 25296 at the distal end 25202 of the shortened nose 25250 allow for completion of the staple firing stroke and parking of the wedge sled 25270 in the shortened distal end.

Referring again to fig. 89, the staple cartridge 25200 further includes protrusions 25262 extending around the proximal and distal ends of the staple cavity 25220. The protrusions 25262 in the first longitudinal row 25221 are shown in the singular, while the protrusions in the second and third

longitudinal rows

25222, 25223 are shown connected. The protrusions 25262 are configured to provide additional support to the staples 25260 as the staples 25260 are fired upward from their staple cavities 25220. In addition, protrusions 25264 formed on the distal-most staple cavities 25220 are angled to control the flow of tissue into the end effector. A more detailed discussion of these protrusions can be found in U.S. patent application publication 2015/0297228, entitled FASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENT configuration, filed on 6-month 30 of 2014, the entire disclosure of which is incorporated herein by reference.

Fig. 91 illustrates some of the advantages obtained by using the shortened staple cartridge 25200 of fig. 85 instead of the elongated staple cartridge 25100 of fig. 86. Both staple cartridges are suitable for use in a variety of surgical procedures, including, for example, low Anterior Resection (LAR). LAR is for example a common treatment for colorectal cancer. Such procedures require precise separation and sealing of tissue deep within the pelvic cavity of the patient. As will be discussed in greater detail below, the shortened length of the staple cartridge 25200 allows the end effector of the surgical instrument to gain more access to tissue within the pelvic cavity due to, among other things, the shortened nose 25250 of FIG. 85. The reader should appreciate that the staple cartridges described herein can be used in a variety of surgical treatments and are not limited by the specific procedures discussed herein.

In addition to the above, the short staple cartridge 25200 is part of a first end effector 25202 on a first surgical instrument 25201, which first end effector further comprises an anvil 25203. The first surgical instrument 25201 also includes a first shaft 25206 rotatably coupled to the first end effector 25202. The first end effector 25202 is capable of articulation about an articulation joint 25208 positioned intermediate the first end effector 25202 and the first shaft 25206. The first end effector 25202 is capable of being articulated to an angle α relative to the first shaft 25206. Similarly, the elongate staple cartridge 25100 is part of a second end effector 25102 on a second surgical instrument 25101 that also includes an anvil 25103. In addition, the second surgical instrument 25101 further comprises a second shaft 25106 rotatably coupled to the second end effector 25102. The second end effector 25102 is capable of articulation about an articulation joint 25108 positioned intermediate the second end effector 25102 and the second shaft 25106. The second end effector 25102 can be articulated to an angle β relative to the second shaft 25106.

In addition to the above, in use, the clinician inserts the end effector 25202 through a cannula or trocar and into the patient while the end effector 25202 is in its non-articulated state. Once through the trocar, the end effector 25202 may be articulated as shown in FIG. 91. At this point, the shaft 25206 can be moved to position the end effector 25202 in the bone pelvis. Similar steps may be used to position end effector 25102.

During LAR surgery, the first end effector 25202 is able to reach the distance X of the pelvic floor within the talar pelvis ₁ Where it is located. During the LAR procedure, the second end effector 25102 is able to reach a distance X to the pelvic floor within the talar pelvis ₂ Where it is located. Distance X1 is shorter than distance X2, allowing the first surgical instrument 25201 to be placed deeper into the bone pelvis than the second surgical instrument 25101, thereby enabling the surgeon to, among other things, target, access and remove a greater amount of diseased tissue in the colon. In addition, the articulation capability of the first surgical instrument 25201 allows for deeper access to tissue within the surgical site while causing minimal trauma to surrounding tissue. The first end effector 25202 can be articulated to a greater extent than the second end effector 25102, e.g., β is greater than α. For example, the first end effector 25202 may be articulated to an angle of 115 degrees to the first shaft 25206, while the second end effector 25102 may only be articulated to an angle of 135 degrees to the second shaft 25106.

As shown in fig. 91, the staple cartridge 25100 and anvil 25103 of the end effector 25102 have substantially the same length, but the staple cartridge 25100 is significantly longer than the anvil 25103. In contrast, the staple cartridge 25200 of the end effector 25202 and the anvil 25203 have substantially the same length (if not the same length). In any event, the difference in length (if any) between the staple cartridge 25200 of the end effector 25202 and the anvil 25203 is much smaller than the end effector 25102.

Extreme differences between the distal end of the staple cartridge and the distal end of the anvil may result in damage to the trocar as the end effector is inserted through the trocar. Referring to fig. 92, the end effector 25810 includes a distal end 25802, an anvil 25820, and a staple cartridge 25830. Cartridge 25830 has a blunt shortened nose 25840 similar to shortened nose 25250 on cartridge 25200 in fig. 85. As can be seen in fig. 92 and 93, the anvil 25820 has a protective tip 25822 thereon. The protective tip 25822 is sized and positioned on the anvil 25820 in such a way that the length of the anvil 25820 is shorter than the staple cartridge 25830. Thus, the shortened nose 25840 of the staple cartridge 25830 extends distally relative to the anvil 25820. The protective tip 25822 may be integrally formed (molded, machined, etc.) on the distal end 25802 of the anvil 25820, or the protective tip 25822 may comprise a separate piece configured to receive a complementary portion of the anvil. A more extensive discussion of protective tips can be found in U.S. patent application publication 2008/0169328, entitled "IMPROVED BUTTRESS MATERIAL FOR USE WITH A SURGICAL STAPLER," the entire disclosure of which is hereby incorporated by reference.

As can be seen in fig. 92 and 93, the protective tip 25822 of the anvil 25820 has a first curved or angled outer surface 25824 and a second curved or angled outer surface 25826 that are configured to form a stubby distal end on the anvil 25820. The first angled outer surface 25824 extends downwardly from the top surface 25828 of the anvil 25820 at a first angle Φ. The second angled outer surface 25826 extends downwardly from the first angled outer surface 25824 at a second angle θ toward the staple cartridge 25830. The second angle θ is greater than the first angle Φ. Various embodiments are contemplated wherein the angle θ is, for example, about 90 degrees. Other embodiments of the protective tip 25822 having only one of the first angled outer surface 25824 or the second angled outer surface 25826 are contemplated. The first angled outer surface 25824 is used to deflect the centering ring of the trocar seal assembly during insertion of the end effector 25810 through the trocar. As the second angle θ becomes farther and farther from 90 degrees and/or as the first and second curved

outer surfaces

25824, 25826 are discontinuous, the anvil 25820 may puncture the trocar seal or may displace the centering ring of the trocar seal system, as will be discussed in more detail below.

The protective tip may be attached to the anvil in any suitable manner. Fig. 94-99 illustrate exemplary embodiments of separately formed

protective tips

25922, 26022 and various methods for attaching them to an anvil. As depicted in fig. 94-96, the distal portion of the anvil 25920 includes attachment features including

attachment members

25927, 25929 configured to be retention-engaged with complementary retention channels 25926, 25928 formed in the protective tip 25922. More specifically, a center retention channel 25928 is formed within the protective tip 25922 to receive the center attachment member 25929 of the anvil 25920. A pair of side retention channels 25296 are formed within the protective tip 25922 to receive a corresponding side attachment member 25927 on the anvil 25920. Fig. 96 is a cross-sectional view of the anvil 25920 of fig. 94 taken along line 96-96 in fig. 95 in an unassembled configuration, showing the alignment of the retention channels 25926, 25928 with their

respective attachment members

25927, 25929. The elongated slot 25994 extends longitudinally from the proximal end 25904 of the anvil 25920 toward the distal end 25902 of the anvil 25920. The longitudinal slot 25994 is configured to receive a portion of the firing assemblies discussed herein.

In addition to or in the alternative to the above, the protective tip 25922 may be secured to the anvil 25920 using rivets 25924. As shown in fig. 96, the through bore 25925 extends through the central retention passage 25928 of the protective tip 25922. The through bore 25925 also extends through the central attachment member 25929 of the anvil 25920 such that when the protective tip 25922 is attached to the anvil 25920, the through bore 25925 is aligned to facilitate insertion of the rivet 25924 therein. Fig. 95 is a cross-sectional view of the anvil 25920 of fig. 94 taken along line 95-95 in fig. 94 in an unassembled configuration, showing a rivet assembly for removably attaching the protective tip 25922 to the anvil 25920. In addition to or in the alternative to the above, the protective tip 25922 may be formed by an adhesive such as, for example, cyanoacrylate, photo-curable acrylic, polyurethane, polysiloxane, epoxy, and/or uv-curable adhesive (such as HENKEL

) Attached to anvil 25920. In any event, a combination of attachment members and retention channels may be provided on anvil 25920 and protective tip 25922. Still other forms of attachment and attachment arrangements may be used to attach the protective tip 25922 to the anvil 25920.

Fig. 97-99 illustrate another embodiment of a tip attachment arrangement. The distal portion of the anvil 26020 includes attachment members 26027 that are configured to be held in engagement with complementary holding channels 26026 defined in the protective tip 26022. Further, a center retention channel 26028 defined within the protective tip 26022 is configured to receive a center attachment member 26029 of the anvil 26020. Fig. 98 is a cross-sectional view of the anvil 26020 of fig. 97 taken along line 98-98 in fig. 97 in an unassembled configuration, showing the alignment of the

retention channels

26026, 26028 with their

respective attachment members

26027, 26029. FIG. 99 is a cross-sectional view of the anvil 26020 of FIG. 97 taken along line 99-99 in FIG. 97 in an assembled configuration. The protective tip 26022 is secured to the anvil 26020 using a compression fit. The center attachment member 26029 is press fit into the center retention channel 26028, thereby being held in place due to the geometry of the center retention channel 26028. The center attachment member 26029 of the anvil 26020 in fig. 98 has a trapezoidal shape that is simulated by the center retention channel 26028. The elongated slot 26094 extends longitudinally from the proximal end 26004 of the anvil 26020 toward the distal end 26002 of the anvil 26020. The longitudinal slot 26094 is configured to receive a portion of the firing assemblies discussed herein.

In addition to or in the alternative to the above, protective tip 26022 may be formed by an adhesive such as, for example, cyanoacrylate, photo-curable acrylic, polyurethane, polysiloxane, epoxy, and/or uv-curable adhesive (such as, for example, HENKEL

) Attached to the anvil 26020. In various embodiments, a combination of attachment members and retention channels may be provided on anvil 26020 and protective tip 26022. Still other forms of attachment and attachment arrangements may be used to attach the protective tip 26022 to the anvil 26020. Fig. 97-99 also illustrate means for assisting a user in attaching the protective tip 26022 to the anvil 26020. Fig. 97 shows protective tip 26022 removably positioned within temporary holder 26030. To releasably attach the protective tip 26022 to the anvil 26020, a userThe temporary holder 26030 and the anvil 26020 are pressed together. The temporary retainer 26030 can provide an additional sterilization barrier to the protective tip 26022 when the protective tip 26022 is attached to the anvil 26020. Further, because the size of the protective tip 26022 may be smaller, the temporary holder 26030 provides a user with a thicker object to hold when attaching the protective tip 26022 to the anvil 26020. Various embodiments of protective tips are contemplated, including temporary retainers 26030 used on other embodiments disclosed herein.

Various protective anvil tips have been described and depicted herein as being used in connection with linear end effectors. However, those of ordinary skill in the art will readily appreciate that the protective anvil tips described herein may be used in connection with a variety of different end effector configurations, such as curved end effectors and other types of end effectors, without departing from the spirit and scope of the present disclosure. Thus, the protective tips described above should not be limited to use with linear end effectors and/or staples.

Figures 100 through 106 illustrate exemplary practical applications when the various end effectors described herein are inserted through a trocar sealing system prior to being introduced into a surgical site. The trocar sealing system 27040 of fig. 100-106 includes an outer housing 27042 configured to support a floating seal assembly 27050 and a central opening 27044 configured to receive a surgical instrument. The floating seal assembly 27050 includes a first seal door 27052 and a second seal door 27054 that work together to inhibit gas from escaping from an inflatable body cavity within a patient during surgery. The floating seal assembly 27050 also includes a centering ring 27058 configured to guide a surgical instrument through the central opening 27044 of the trocar seal system 27040. The floating seal assembly 27050 is attached to the outer housing 27042 of the trocar seal system 27040 by an annular resilient member 27056.

Fig. 100 depicts an end effector 27000 comprising an anvil 27010 and a staple cartridge 27020. The staple cartridge 27020 includes a blunt shortened nose 27022 similar to the shortened nose 25250 depicted on the staple cartridge 25200 in fig. 85. The distal end 27202 of the anvil 27010 is pointed and does not have a protective tip such as that shown in fig. 92. As can be seen in fig. 100, the anvil 27010 is shorter in length than the staple cartridge 27020. In other words, the shortened nose 27022 of the staple cartridge 27020 extends longitudinally beyond the distal end 27002 of the anvil 27010. Prior to insertion of end effector 27000 through trocar seal system 27040, first seal door 27052 and second seal door 27054 extend inward to prevent gases from escaping from the surgical site. Fig. 101 depicts the end effector 27000 of fig. 100 partially inserted into a trocar sealing system 27040. The shortened nose 27022 of the staple cartridge 27020 is the first component of the end effector 27000 for contact with the first seal door 27052 and the second seal door 27054 of the trocar seal system 27040 to tilt the floating seal assembly 27050 to one side. Because of its blunt shape, the shortened nose 27022 does not damage the second sealing door 27054 even if a force is applied to the second sealing door 27054.

Fig. 102 depicts the end effector 27000 of fig. 100 and 101 when the end effector 27000 has been further introduced into the central opening 27044 of the trocar sealing system 27040. After the shortened cartridge nose 27022 is initially contacted by the trocar sealing system 27040, the pointed distal end 27002 of the anvil 27010 contacts the first seal door 27052 of the trocar sealing system 27040. In various examples, the pointed distal end 27002 of the anvil 27010 can fracture the first seal door 27052 of the trocar seal system 27040 because the contact between the shortened nose 27022 and the second seal door 27054 has laterally shifted the position of the floating seal assembly 27050. As shown in fig. 103, if the distal end 27002 of the anvil 27010 includes a protective tip 27012 similar to the protective tip 25822 shown in fig. 92, the risk of rupturing the first seal door 27052 will be reduced. By using the protective tip 27012 on the anvil 27010, the risk of breakage is reduced because the first sealing door 27052 will stretch smoothly around the protective tip 27012. In addition, the same length cartridge and anvil reduce or prevent pre-displacement of the floating seal assembly.

Fig. 104 depicts an end effector 27100 comprising an anvil 27110 and a staple cartridge 27120. The staple cartridge 27120 includes a pointed elongate nose 27122 similar to the elongate nose 25150 depicted in fig. 86 as being located on the staple cartridge 25100. The distal end 27102 of the anvil 27110 is pointed and does not have a protective tip such as that shown in fig. 92. Anvil 27110 is shorter in length than staple cartridge 27120. In other words, the elongate nose 27122 of the staple cartridge 27120 extends longitudinally beyond the distal end 27102 of the anvil 27110. Prior to insertion of the end effector 27100 through the trocar seal system 27040, the first seal door 27052 and the second seal door 27054 of the trocar seal system 27040 extend inward to prevent gases from escaping from the surgical site. Fig. 105 depicts the end effector 27100 of fig. 104 when the end effector 27100 is initially inserted into the trocar sealing system 27040. The elongate nose 27122 of the staple cartridge 27120 is the first component of the end effector 27100 for contact with the first seal door 27052 and the second seal door 27054 of the trocar seal system 27040 to tilt or pre-displace the floating seal assembly 27050 to one side, as discussed above.

Fig. 106 depicts the end effector 27100 of fig. 104 and 105 when the end effector 27100 has been further introduced into the central opening 27044 of the trocar sealing system 27040. After initial contact of the elongate nose 27122 of the staple cartridge 27120, the pointed distal end 27102 of the anvil 27110 contacts the first sealing door 27052 of the trocar sealing system 27040. In various examples, the pointed distal end 27102 of the anvil 27110 can rupture the first sealing door 27052 of the trocar sealing system 27040 because the contact between the elongate nose 27122 and the second sealing door 27054 has displaced the position of the floating seal assembly 27050.

As discussed herein, a first staple cartridge can comprise a first cartridge length and a second staple cartridge can comprise a second cartridge length that is different than the first cartridge length. In various examples, an end effector of a surgical stapling instrument can comprise cartridge jaws configured to receive a first staple cartridge and, in the alternative, a second staple cartridge. In other words, the cartridge jaw is configured to receive the first and second staple cartridges, but not simultaneously. The first and second staple cartridges each include a proximal end that is aligned with a proximal cartridge jaw datum when it is positioned in the cartridge jaw. For example, where the first cartridge length is longer than the second cartridge length, the distal end of the first staple cartridge will be positioned farther from the proximal cartridge jaw reference than the distal end of the second staple cartridge. The reader should appreciate that in other examples, the second bin length may be longer than the first bin length.

In addition to the above, the end effector includes an anvil jaw that is movable relative to the cartridge jaw between an open or undamped position and a closed or clamped position. In an alternative embodiment, the cartridge jaw is movable relative to the anvil jaw. In either case, the anvil jaw includes a distal anvil end that is supported by the first and second staple cartridges, depending on which cartridge is located in the cartridge jaw. The distal anvil end is supported at a first position on the first cartridge jaw and at a second position on the second cartridge jaw. In various examples, the first position and the second position can be different distances from a proximal cartridge jaw reference. However, in some examples, the first and second positions can be the same distance from the proximal cartridge jaw reference. Further, in various examples, the first position is located a first distance from the distal end of the first staple cartridge and the second position is located a second or different distance from the distal end of the second staple cartridge. In use, the tissue of the patient will be positioned between the anvil jaw and the cartridge jaw, but nonetheless the support position of the staple cartridge will still support the anvil jaw or the clamping load applied by the anvil jaw.

In various examples, in addition to the above, the distal anvil end can extend distally beyond the distal end of the first staple cartridge when the end effector is in the clamped configuration and the first staple cartridge is in the cartridge jaw, and similarly, the distal anvil end can extend distally beyond the distal end of the second staple cartridge when the end effector is in the clamped configuration and the second staple cartridge is in the cartridge jaw. However, in the event that the first cartridge length is longer than the second cartridge length, in various examples, the distal anvil head may extend distally beyond the distal end of the second staple cartridge rather than distally beyond the distal end of the first staple cartridge. In such instances, the anvil jaw may be longer than the second staple cartridge when the second staple cartridge is in the cartridge jaw, but shorter than the first staple cartridge when the first staple cartridge is in the cartridge jaw. In some examples, the anvil jaw is the same length as the first staple cartridge or the second staple cartridge.

In addition to the above, the anvil jaw will deflect as it moves to its clamped position. Due to the different cartridge lengths of the staple cartridges, the deflection of the anvil jaw may be different depending on which staple cartridge is located in the cartridge jaw. Thus, the staple forming gap between the anvil jaw and the staple driver of the first cartridge jaw may be different from the staple forming gap between the anvil jaw and the staple driver of the second cartridge jaw. In some examples, the difference in staple forming gap is negligible and the staples ejected from the first and second staple cartridges will be formed to the same or at least a suitable height and sufficient to staple the tissue captured between the anvil jaw and cartridge jaw. In such instances, the unformed height of the staples in the first staple cartridge can be the same as the unformed height of the staples in the second staple cartridge. In other examples, the unformed height of the staples in the first staple cartridge is different than the unformed height of the staples in the second staple cartridge. In such instances, for example, taller staples can be used in a first staple cartridge and shorter staples can be used in a second staple cartridge depending on the intended deflection and/or orientation of the anvil jaw when clamped against the first and second staple cartridges. In at least one such example, each of the staples in the first staple cartridge has an unformed height in a first unformed height range and each of the staples in the second staple cartridge has an unformed height in a second unformed height range. In some examples, the first unformed height range is completely different from the second unformed height range, while in other examples, the first unformed height range partially overlaps the second unformed height range.

As discussed above, the first and second staple cartridges are selectively positioned in the cartridge jaw of the end effector and, in addition to the above, the cartridge jaw further comprises a bottom support or support surface configured to support the staple cartridge when the staple cartridge is disposed in the cartridge jaw. Such a support may comprise a vertical datum. In various examples, the first support position on the first staple cartridge and the second support position on the second staple cartridge as discussed above are the same vertical distance from the vertical reference of the cartridge jaw. The vertical distance is measured orthogonal to the vertical reference, but may be measured in any suitable manner. In other examples, the first support location on the first staple cartridge has a different vertical height than the second support location on the second staple cartridge. In such examples, the orientation and/or deflection of the anvil jaw when the anvil jaw is in its clamped position may be different due to the first and second support positions having different vertical heights. Such different vertical heights may occur, among other reasons, where the distal end or nose of the first staple cartridge is different from the distal end of the second staple cartridge.

Many of the surgical instrument systems described herein are actuated by electric motors; the surgical instrument systems described herein may be actuated in any suitable manner. In various examples, for example, the surgical instrument systems described herein can be actuated by a manually operated trigger. In certain examples, the motors disclosed herein may comprise a portion or portions of a robotic control system. Further, any of the end effector and/or tool assemblies disclosed herein may be used with robotic surgical instrument systems. Several examples of robotic surgical instrument systems are disclosed in more detail in U.S. patent application Ser. No. 13/118,241 (now U.S. patent application publication 2012/0298719), entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS".

The surgical instrument systems described herein have been described in connection with the deployment and modification of staples; however, the embodiments described herein are not limited thereto. For example, various embodiments are contemplated for deploying fasteners other than staples, such as clips or tacks. Further, various embodiments utilizing any suitable means for sealing tissue are also contemplated. For example, end effectors according to various embodiments may include electrodes configured to heat and seal tissue. Additionally, for example, end effectors in accordance with certain embodiments may apply vibrational energy to seal tissue.

Examples

Example 1-a surgical instrument comprising an end effector. The end effector includes a cartridge jaw and an anvil jaw, wherein one of the cartridge jaw and the anvil jaw is rotatable relative to the other about a closure axis. The surgical instrument further includes a shaft comprising a frame defining a longitudinal shaft axis and a closure actuator, wherein the closure actuator is translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion, and a connector. The connector is rotatably connected to the proximal portion about a proximal connector axis and rotatably connected to the distal portion about a distal connector axis. The proximal connector axis and the distal connector axis define a longitudinal connector axis therebetween. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about an articulation axis defined by the articulation joint. The end effector is capable of articulating within an articulation plane between a non-articulation position and an articulation position wherein the articulation axis is offset from the longitudinal shaft axis. The longitudinal link axis is non-collinear with the longitudinal shaft axis when the end effector is in the non-articulation position or the articulation position.

Embodiment 2-the surgical instrument of embodiment 1 wherein the proximal link axis is positioned along the longitudinal shaft axis.

Embodiment 3-the surgical instrument of

embodiments

1 or 2, wherein the cartridge jaw comprises a staple cartridge comprising staples removably stored therein.

Example 4-the surgical instrument of example 3, wherein the staple cartridge is replaceable.

Embodiment 5-the surgical instrument of embodiments 3 or 4, further comprising a firing actuator separate and distinct from the closure actuator, wherein the firing actuator is configured to actuate to eject the staples from the staple cartridge.

Embodiment 6-the surgical instrument of embodiments 3, 4, or 5 wherein the longitudinal link axis is non-parallel with the longitudinal shaft axis when the end effector is in the non-articulated position or the articulated position.

Embodiment 7-the surgical instrument of embodiments 3, 4, or 5 wherein the end effector further comprises a longitudinal end effector axis. The longitudinal end effector axis is collinear with the longitudinal shaft axis when the end effector is in the non-articulated position. The end effector also includes a distal end positioned along the longitudinal end effector axis, wherein the distal link axis is offset relative to an axis extending between the distal end and the proximal link axis when the end effector is in either of the non-articulation position and the articulation position.

Example 8-a surgical instrument comprising an end effector. The end effector includes a longitudinal end effector axis, a distal end positioned along the end effector axis, a cartridge jaw, and an anvil jaw, wherein one of the cartridge jaw and the anvil jaw is rotatable relative to the other about a closure axis. The surgical instrument further includes a shaft including a frame defining a longitudinal shaft axis and a closure actuator translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion, and a connector. The connector is rotatably connected to the proximal portion about a proximal connector axis and rotatably connected to the distal portion about a distal connector axis. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about an articulation axis defined by the articulation joint. The end effector is capable of articulating within an articulation plane between a non-articulation position and an articulation position wherein the articulation axis is offset from the longitudinal shaft axis. The longitudinal end effector axis is aligned with the longitudinal shaft axis when the end effector is in the non-articulated position. The distal link axis is offset relative to an axis extending between the distal end and the proximal link axis of the end effector when the end effector is in either of the non-articulation position and the articulation position.

Embodiment 9-the surgical instrument of embodiment 8 wherein the proximal link axis and the distal link axis define a longitudinal link axis. The longitudinal link axis is non-collinear with the longitudinal shaft axis when the end effector is in either of the non-articulation position and the articulation position.

Embodiment 10-the surgical instrument of embodiment 9 wherein the longitudinal link axis is non-parallel with the longitudinal shaft axis when the end effector is in either of the non-articulated position and the articulated position.

Embodiment 11-the surgical instrument of

embodiments

8, 9, or 10 wherein the proximal link axis is positioned along the longitudinal shaft axis.

Embodiment 12-the surgical instrument of

embodiments

8, 9, 10, or 11 wherein the cartridge jaw comprises a staple cartridge comprising staples removably stored therein.

Example 13-the surgical instrument of example 12, wherein the staple cartridge is replaceable.

Embodiment 14-the surgical instrument of embodiments 12 or 13, further comprising a firing actuator separate and distinct from the closure actuator, wherein the firing actuator is configured to actuate to eject the staples from the staple cartridge.

Example 15-a surgical instrument comprising an end effector. The end effector includes a longitudinal end effector axis, a distal end positioned along the end effector axis, a first jaw, and a second jaw, wherein one of the first jaw and the second jaw is rotatable relative to the other between an open position and a closed position. The surgical instrument further includes a shaft including a frame defining a longitudinal shaft axis and a closure actuator translatable relative to the frame. The closure actuator includes a proximal portion, a distal portion, and a connector. The connector is rotatably connected to the proximal portion about a proximal connector axis and rotatably connected to the distal portion about a distal connector axis. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about an articulation axis defined by the articulation joint. The end effector is capable of articulating between a non-articulating position and an articulating position, wherein the articulation axis is laterally positioned relative to the longitudinal shaft axis. The longitudinal end effector axis is aligned with the longitudinal shaft axis when the end effector is in the non-articulated position. The distal link axis is laterally positioned relative to an axis extending between the distal end of the end effector and the proximal link axis when the first jaw is in the open position, the closed position, and any positions between the open position and the closed position.

Embodiment 16-the surgical instrument of embodiment 15 wherein the proximal link axis and the distal link axis define a longitudinal link axis. The longitudinal link axis is misaligned with the longitudinal shaft axis when the first jaw is in the closed position, regardless of whether the end effector is in the non-articulated position or the articulated position.

Embodiment 17-the surgical instrument of embodiments 15 or 16 wherein the longitudinal link axis is non-parallel to the longitudinal shaft axis when the first jaw is in the closed position, regardless of whether the end effector is in the non-articulated position or the articulated position.

Embodiment 18-the surgical instrument of embodiments 15, 16, or 17 wherein the proximal link axis is positioned along the longitudinal shaft axis.

Embodiment 19-the surgical instrument of embodiments 15, 16, 17, or 18, wherein the first jaw comprises a staple cartridge comprising staples removably stored therein.

Example 20-the surgical instrument of example 19, wherein the staple cartridge is replaceable.

Embodiment 21-the surgical instrument of embodiments 19 or 20, further comprising a firing actuator separate and distinct from the closure actuator, wherein the firing actuator is configured to actuate to eject the staples from the staple cartridge.

Example 22-a surgical instrument comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis. The surgical instrument further includes an articulation driver coupled to the end effector frame at an attachment position, wherein the articulation driver is movable to a proximal position to rotate the end effector to a first fully articulated position and movable to a distal position to rotate the end effector to a second fully articulated position. The proximal position and the distal position define an articulation stroke of the articulation driver, wherein the articulation stroke has an articulation stroke length. A lateral moment arm is defined between the attachment location and the fixed articulation axis, wherein the lateral moment arm is orthogonal to the longitudinal axis. The surgical instrument is configured to maximize a ratio of the lateral moment arm to the articulation stroke length.

Example 23-the surgical instrument of example 22, wherein the end effector is positionable in a non-articulated position aligned with the longitudinal axis. The end effector sweeps a first arc length as the end effector moves from the non-articulated position to the first fully articulated position. The end effector sweeps a second arc length as the end effector moves from the non-articulated position to the second fully articulated position.

Embodiment 24-the surgical instrument of embodiment 23, wherein the first arc length is equal to the second arc length.

Embodiment 25-the surgical instrument of embodiment 23, wherein the first arc length and the second arc length are different.

Example 26-the surgical instrument of examples 22, 23, 24, or 25, wherein the ratio is between 1.1 and 1.4.

Embodiment 27-the surgical instrument of embodiments 22, 23, 24, 25, or 26 wherein the attachment position sweeps an articulation arc length as the end effector moves between the first fully articulated position and the second fully articulated position.

Example 28-the surgical instrument of example 27, wherein the surgical instrument is configured to maximize an articulation ratio comprising a ratio of the articulation arc length to the articulation travel length.

Example 29-the surgical instrument of example 28, wherein the articulation ratio is between 1.2 and 1.7.

Embodiment 30-the surgical instrument of embodiments 27, 28, or 29 wherein the surgical instrument is configured to maximize a ratio comprising a product of the articulation arc length and the lateral moment arm to a ratio of the articulation stroke length.

Example 31-the surgical instrument of example 30, wherein the ratio is between 1 and 3.

Embodiment 32-the surgical instrument of embodiments 22, 23, 24, 25, 26, 27, 28, 29, 30, or 31 wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

Example 33-the surgical instrument of example 32, wherein the staple cartridge is replaceable.

Example 34-a surgical instrument comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis. The surgical instrument also includes an articulation driver coupled to the end effector frame at an attachment location. The articulation driver is movable to a proximal position to rotate the end effector to a first fully articulated position and movable to a distal position to rotate the end effector to a second fully articulated position. The proximal position and the distal position define an articulation stroke of the articulation driver. The articulation travel has an articulation travel length with a lateral moment arm defined between the attachment location and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis. The surgical instrument is configured such that a ratio of the lateral moment arm to the articulation stroke length is greater than 1.

Example 35-the surgical instrument of example 34, wherein the ratio is between 1.1 and 1.4.

Embodiment 36-the surgical instrument of embodiments 34 or 35 wherein the attachment position sweeps an articulation arc length as the end effector moves between the first fully articulated position and the second fully articulated position.

Example 37-the surgical instrument of example 36, wherein the surgical instrument is configured to maximize an articulation ratio comprising a ratio of the articulation arc length to the articulation travel length.

Example 38-the surgical instrument of example 37, wherein the articulation ratio is between 1.2 and 1.7.

Example 39-the surgical instrument of example 36, wherein the surgical instrument is configured to maximize a ratio comprising a product of the articulation arc length and the lateral moment arm to a ratio of the articulation travel length.

Example 40-the surgical instrument of example 39, wherein the articulation ratio is between 1 and 3.

Embodiment 41-the surgical instrument of embodiments 34, 35, 36, 37, 38, 39, or 40, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

Example 42-the surgical instrument of example 41, wherein the staple cartridge is replaceable.

Example 43-a surgical instrument comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis. The surgical instrument further includes an articulation driver coupled to the end effector frame at an attachment position, wherein the articulation driver is movable to a proximal position to rotate the end effector to a first fully articulated position and movable to a distal position to rotate the end effector to a second fully articulated position. The proximal position and the distal position define an articulation stroke of the articulation driver, wherein the articulation stroke has an articulation stroke length. The attachment position sweeps an articulation arc length as the end effector moves between the first fully articulated position and the second fully articulated position. A lateral moment arm is defined between the attachment location and the fixed articulation axis, wherein the lateral moment arm is orthogonal to the longitudinal axis. The surgical instrument is configured such that a ratio of a product of the lateral moment arm and the articulation arc length to the articulation travel length is greater than 1.

Example 44-a surgical instrument comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis. The surgical instrument further includes an articulation driver coupled to the end effector frame at an attachment position, wherein the articulation driver is movable to a proximal position to rotate the end effector to a first fully articulated position and movable to a distal position to rotate the end effector to a second fully articulated position. The proximal position and the distal position define an articulation stroke of the articulation driver, wherein the articulation stroke has an articulation stroke length. A lateral moment arm is defined between the attachment location and the fixed articulation axis. The surgical instrument further comprises means for increasing the lateral moment arm while limiting the articulation travel.

Example 45-a surgical instrument comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end; and an outer housing including a shaft radius defined relative to the longitudinal axis. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis. The surgical instrument also includes an articulation driver coupled to the end effector frame at an attachment position, wherein the articulation driver is movable proximally to rotate the end effector in a first direction, wherein the articulation driver is movable distally to rotate the end effector in a second direction, the second direction being opposite the first direction. A lateral moment arm is defined between the attachment location and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis, wherein a ratio of the shaft radius to the lateral moment arm is less than 1.4.

Example 46-the surgical instrument of example 45, wherein the ratio is less than 1.3.

Example 47-the surgical instrument of example 45, wherein the ratio is less than 1.2.

Example 48-the surgical instrument of example 45, wherein the ratio is less than 1.1.

Embodiment 49-the surgical instrument of embodiments 45, 46, 47, or 48, wherein the end effector is configured to rotate a first distance in the first direction and a second distance in the second direction, and wherein the first distance and the second distance are equal.

Embodiment 50-the surgical instrument of embodiments 45, 46, 47, or 48, wherein the end effector is configured to rotate a first range in the first direction and a second range in the second direction, and wherein the first range and the second range are not equal.

Embodiment 51-the surgical instrument of embodiments 45, 46, 47, 48, 49, or 50, further comprising a staple cartridge comprising staples removably stored therein.

Example 52-the surgical instrument of example 51, wherein the staple cartridge is replaceable.

Embodiment 53-the surgical instrument of embodiments 45, 46, 47, 48, 49, 50, 51, or 52, wherein the outer housing defines an inner aperture, and wherein the shaft radius is defined by the inner aperture.

Embodiment 54-the surgical instrument of embodiment 53, wherein the shaft comprises a shaft frame extending through the internal aperture, and wherein the end effector frame is rotatably coupled to the shaft frame.

Embodiment 55-the surgical instrument of embodiments 45, 46, 47, 48, 49, 50, 51, 52, 53, or 54, wherein the shaft comprises a first longitudinal portion and a second longitudinal portion, wherein the shaft radius of the outer housing comprises a first shaft radius in the first longitudinal portion and a second shaft radius in the second longitudinal portion, and wherein the first shaft radius is different from the second shaft radius.

Embodiment 56-a shaft assembly comprising a shaft comprising a proximal end, a distal end, and a longitudinal axis extending between the proximal end and the distal end; and an outer housing including a shaft radius defined relative to the longitudinal axis. The shaft assembly also includes an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis. The shaft assembly also includes an articulation driver coupled to the end effector frame at an attachment location. The articulation driver is configured to move proximally to rotate the end effector in a first direction, wherein the articulation driver is configured to move distally to rotate the end effector in a second direction that is opposite the first direction. A lateral moment arm is defined between the attachment location and the fixed articulation axis. The lateral moment arm is orthogonal to the longitudinal axis, wherein the shaft assembly is configured to minimize a ratio of the shaft radius to the lateral moment arm.

Embodiment 57-the shaft assembly of embodiment 56, wherein the ratio is less than 1.4.

Embodiment 58-the shaft assembly of embodiment 56, wherein the ratio is less than 1.1.

Embodiment 59-the shaft assembly of embodiments 56, 57, or 58, further comprising a staple cartridge comprising staples removably stored therein.

Embodiment 60-the shaft assembly of embodiment 59, wherein the staple cartridge is replaceable.

Embodiment 61-the shaft assembly of embodiments 56, 57, 58, 59, or 60, wherein the outer housing defines an inner aperture, and wherein the shaft radius is defined by the inner aperture.

Embodiment 62-the shaft assembly of embodiments 56, 57, 58, 59, 60, or 61, wherein the shaft comprises a first longitudinal portion and a second longitudinal portion. The shaft radius of the outer housing includes a first shaft radius in the first longitudinal portion and a second shaft radius in the second longitudinal portion. The first axis radius is different from the second axis radius.

Example 63-a surgical instrument comprising a shaft comprising an outer housing comprising a shaft radius. The surgical instrument further comprises an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines an articulation axis, and wherein the articulation axis is positioned laterally offset relative to a centerline of the shaft. The surgical instrument also includes an articulation driver coupled to the end effector frame at an attachment location. The articulation driver is movable proximally to rotate the end effector in a first direction to a first fully articulated position, wherein the articulation driver is movable distally to rotate the end effector in a second direction to a second fully articulated position. A lateral moment arm is defined between the attachment location and the articulation axis. The lateral moment arm is orthogonal to the centerline of the shaft, and wherein a ratio of the shaft radius to the lateral moment arm is between 1 and 1.4.

Example 64-a surgical instrument comprising a shaft and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, wherein one of the first jaw and the second jaw includes a staple cartridge including staples removably stored therein. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about the articulation joint. The surgical instrument also includes an articulation rod that is operably coupled to the end effector. The articulation rod is distally movable to rotate the end effector in a first direction, wherein the articulation rod is proximally movable to rotate the end effector in a second direction. The surgical instrument also includes a closure tube configured to engage the first jaw and move the first jaw toward the closed position during a closure stroke, wherein the closure tube is configured to slide over the articulation joint during the closure stroke. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during staple firing, a firing bar attached to the cutting member, wherein the firing bar includes a plurality of flexible layers, and wherein the firing bar extends through the articulation joint. The staple firing assembly also includes a buttress positioned within the flexible layers, wherein the buttress is positioned proximal to the articulation joint. The staple firing assembly also includes a plurality of control elements, wherein each of the control elements includes an aperture defined therein. The firing bar extends through the apertures. The control element is configured to hold the flexible layers together.

Embodiment 65-the surgical instrument of embodiment 64 wherein the control elements are positioned within the articulation joint.

Embodiment 66-the surgical instrument of embodiments 64 or 65, wherein the first jaw comprises the staple cartridge.

Embodiment 67-the surgical instrument of embodiments 64 or 65, wherein the second jaw comprises the staple cartridge.

Embodiment 68-the surgical instrument of embodiments 64, 65, 66, or 67, wherein the cutting member is welded to the firing bar.

Example 69-the surgical instrument of examples 64, 65, 66, 67, or 68, wherein the control elements are connected to one another.

Example 70-the surgical instrument of examples 64, 65, 66, 67, or 68, wherein the control elements are not connected to each other.

Example 71-the surgical instrument of examples 64, 65, 66, 67, 68, 69, or 70, wherein the control elements are not connected to each other.

Example 72-the surgical instrument of examples 64, 65, 66, 67, 68, 69, 70, or 71 wherein the articulation joint defines a fixed axis of rotation about which the end effector rotates.

Example 73-a surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an undamped position and a clamped position. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about the articulation joint. The surgical instrument further comprises an articulation link operably connected to the end effector, wherein the articulation link is configured to move distally to rotate the end effector in a first direction, and wherein the articulation link is configured to move proximally to rotate the end effector in a second direction. The surgical instrument also includes a clamping member configured to engage the first jaw and move the first jaw toward the clamping position during a clamping stroke, wherein the clamping member is slidable relative to the articulation joint during the clamping stroke. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke and a firing member. The firing member includes a plurality of flexible layers attached to the cutting member, wherein the flexibility is configured to longitudinally slide relative to one another. The firing member extends through the articulation joint. The surgical instrument further includes a plurality of control elements, wherein each of the control elements includes an aperture defined therein. The firing bar extends through the apertures, wherein the control elements are configured to hold the flexible layers together.

Embodiment 74-the surgical instrument of embodiment 73 wherein the control elements are positioned within the articulation joint.

Embodiment 75-the surgical instrument of embodiment 73 or 74, wherein the first jaw comprises a staple cartridge.

Embodiment 76-the surgical instrument of embodiment 73 or 74, wherein the second jaw comprises a staple cartridge.

Embodiment 77-the surgical instrument of embodiments 73, 74, 75, or 76, wherein the cutting member is welded to the firing bar.

Example 78-the surgical instrument of examples 73, 74, 75, 76, or 77, wherein the control elements are connected to one another.

Example 79-the surgical instrument of examples 73, 74, 75, 76, or 77, wherein the control elements are connected to one another.

Embodiment 80-the surgical instrument of embodiments 73, 74, 75, 76, 77, 78, or 79, wherein the shaft comprises a shaft frame, and wherein the support is mounted to the shaft frame.

Example 81-a surgical instrument comprising a shaft defining a longitudinal axis and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an undamped position and a clamped position. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about the articulation joint. The surgical instrument also includes an articulation link that is operably coupled to the end effector. The articulation link is distally movable to rotate the end effector in a first direction, wherein the articulation link is proximally movable to rotate the end effector in a second direction. The surgical instrument also includes a clamping member configured to engage the first jaw and move the first jaw toward the clamped position during a clamping stroke. The clamping member is slidable relative to the articulation joint during the clamping stroke. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member and a firing member. The firing member is movable through the end effector during a staple firing stroke. The firing member includes a plurality of flexible layers attached to the cutting member, wherein the flexibility is configured to longitudinally slide relative to one another. The firing member extends through the articulation joint. The staple firing assembly also includes a buttress positioned between two of the flexible layers. The staple firing assembly also includes means for limiting lateral displacement between the flexible layers.

Embodiment 82-the surgical instrument of embodiment 81 wherein the first jaw comprises a staple cartridge.

Embodiment 83-the surgical instrument of embodiment 81, wherein the second jaw comprises a staple cartridge.

Embodiment 84-a surgical instrument comprising a shaft and an end effector. The end effector includes a proximal end, a distal end, a longitudinal axis extending between the proximal end and the distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an undamped position and a clamped position. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about the articulation joint. The surgical instrument further includes a staple firing assembly. The staple firing assembly includes a cutting member movable through the end effector during a staple firing stroke and a firing member, wherein the cutting member includes a first portion configured to engage the first jaw and a second portion configured to engage the second jaw. The staple firing assembly also includes a firing member that includes a plurality of flexible layers welded to the firing member along a weld line. The weld line includes a longitudinal portion and a transverse portion extending orthogonal to the longitudinal portion.

Embodiment 85-the surgical instrument of embodiment 84, wherein the first jaw comprises a staple cartridge.

Embodiment 86-the surgical instrument of embodiment 84, wherein the second jaw comprises a staple cartridge.

Embodiment 87-the surgical instrument of embodiments 84, 85, or 86, wherein the second jaw comprises a staple cartridge.

Embodiment 88-the surgical instrument of embodiments 84, 85, 86, or 87, wherein the firing member comprises a first side and a second side, and wherein the weld line is present on the first side and the second side.

Example 89-a surgical instrument comprising a shaft frame; an end effector. The end effector includes a proximal frame, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an undamped position and a clamped position. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about the articulation joint. The surgical instrument also includes a staple firing assembly including a cutting member that is movable through the end effector during a staple firing stroke. The staple firing assembly also includes a firing member, wherein the firing member includes a plurality of flexible layers attached to the cutting member, and wherein the firing member extends through the articulation joint. The surgical instrument also includes a lateral spring support positioned adjacent the firing member. The lateral spring support includes a distal end mounted to the proximal frame of the end effector. The lateral spring support also includes a proximal end configured to slide relative to the shaft frame.

Embodiment 90-the surgical instrument of embodiment 89, wherein the first jaw comprises a staple cartridge.

Embodiment 91-the surgical instrument of embodiment 89, wherein the second jaw comprises a staple cartridge.

Embodiment 92-the surgical instrument of embodiments 89, 90, or 91 wherein the lateral spring support comprises a first lateral spring support positioned along a first side of the firing member. The surgical instrument further includes a second lateral spring support positioned along a second side of the firing member.

Example 93-a surgical instrument comprising a shaft and an end effector. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position, wherein one of the first jaw and the second jaw includes a staple cartridge including staples removably stored therein. The surgical instrument also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft about the articulation joint. The surgical instrument further comprises an articulation rod operably connected to the end effector, wherein the articulation rod is configured to move distally to rotate the end effector in a first direction, and wherein the articulation rod is configured to move proximally to rotate the end effector in a second direction. The surgical instrument further includes a firing bar comprising a plurality of flexible layers, wherein the firing bar is movable through the articulation joint during a staple firing stroke. The surgical instrument further includes a first flexible support positioned on a first side of the firing bar, a second flexible support positioned on a second side of the firing bar, and a plurality of control elements, wherein each of the control elements includes an aperture defined therein. The firing bar extends through the apertures, wherein the first flexible support, the second flexible support, and the control elements are configured to hold the flexible layers together.

Embodiment 94-the surgical instrument of embodiment 93, wherein the first flexible support and the second flexible support extend through at least some of the control element apertures.

Example 95-a surgical instrument comprising an end effector comprising a proximal end and a distal end. The surgical instrument further includes a shaft. The shaft includes a frame, a locking plate movable relative to the frame, wherein the locking plate includes locking teeth of a first longitudinal rack. The shaft also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector, wherein the articulation actuator is distally movable to rotate the end effector in a first direction and proximally movable to rotate the end effector in a second direction. The articulation actuator includes locking teeth of a second longitudinal rack. The shaft also includes an articulation lock including locking teeth of a third longitudinal rack. The articulation lock is positionable in an unlocked position in which the articulation actuator is movable relative to the frame and a locked position in which the locking teeth of the third longitudinal rack engage the locking teeth of the first longitudinal rack and the locking teeth of the second longitudinal rack to prevent the proximal and distal movement of the articulation actuator.

Embodiment 96-the surgical instrument of embodiment 95, wherein the locking teeth of the first longitudinal rack are defined in a first plane and the locking teeth of the second longitudinal rack are defined in a second plane. The first plane and the second plane are different.

Embodiment 97-the surgical instrument of

embodiments

95 or 96, wherein the locking plate is slidable relative to the frame.

Embodiment 98-the surgical instrument of

embodiments

95, 96, or 97, wherein the frame comprises a recess and the locking plate is positioned within the recess. The recess includes a proximal end wall configured to limit the proximal movement of the locking plate within the recess. The recess also includes a distal end wall configured to limit the distal movement of the locking plate within the recess.

Embodiment 99-the surgical instrument of embodiment 98, further comprising a biasing member positioned between the proximal end wall and the locking plate.

Embodiment 100-the surgical instrument of embodiment 98, further comprising a biasing member positioned between the distal end wall and the locking plate.

Embodiment 101-the surgical instrument of

embodiments

95, 96, 97, 98, 99, or 100, wherein the end effector comprises a first jaw and a second jaw, wherein the first jaw is movable relative to the second jaw between an open position and a closed position. The surgical instrument also includes a closure member configured to move the first jaw toward the closed position during a closure stroke. The closure member is configured to engage the articulation lock and retain the articulation lock in the locked position during the closure stroke.

Embodiment 102-the surgical instrument of embodiment 101, wherein the shaft defines a longitudinal axis. The frame includes a flexible portion, wherein the closure member is configured to push the locking plate against the flexible portion and laterally deflect the flexible portion relative to the longitudinal axis.

Embodiment 103-the surgical instrument of embodiment 102 wherein the flexible portion comprises a lateral sidewall and a cavity defined behind the lateral sidewall. The lateral side wall is configured to flex into the cavity.

Embodiment 104-the surgical instrument of

embodiments

95, 96, 97, 98, 99, 100, 101, 102, or 103, wherein the articulation lock is biased into engagement with the locking plate and the articulation actuator.

Embodiment 105-the surgical instrument of

embodiments

95, 96, 97, 98, 99, 100, 101, 102, 103, or 104, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

Embodiment 106-the surgical instrument of embodiment 105, wherein the staple cartridge is replaceable.

Embodiment 107-the surgical instrument of embodiments 105 or 106, wherein the end effector comprises a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The first jaw includes the staple cartridge.

Embodiment 108-the surgical instrument of embodiments 105 or 106, wherein the end effector comprises a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The second jaw includes the staple cartridge.

Embodiment 109-the surgical instrument of

embodiments

95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, or 108, wherein the locking teeth of the first longitudinal rack comprise teeth spaced apart at a first pitch. The locking teeth of the second longitudinal rack comprise teeth spaced apart at a second pitch, wherein the second pitch is different from the first pitch. The locking teeth of the third longitudinal rack comprise teeth spaced apart at a third pitch, wherein the third pitch is different from the first pitch and the second pitch.

Embodiment 110-a surgical instrument comprising an end effector and a shaft. The end effector includes a proximal end and a distal end. The shaft includes a frame including locking teeth of a first longitudinal rack. The shaft also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector. The articulation actuator is distally movable to rotate the end effector in a first direction and the articulation actuator is proximally movable to rotate the end effector in a second direction. The articulation actuator includes locking teeth of a second longitudinal rack. The shaft also includes an articulation lock including locking teeth of the second longitudinal rack. The articulation lock is positionable in an unlocked position in which the articulation actuator is movable relative to the frame and a locked position in which the locking teeth of the third longitudinal rack engage the locking teeth of the first longitudinal rack of the frame and the locking teeth of the second longitudinal rack of the articulation actuator to inhibit the proximal and distal movement of the articulation actuator.

Embodiment 111-the surgical instrument of embodiment 110, wherein the frame comprises a slidable locking plate, and wherein the locking teeth of the first longitudinal rack are defined on the locking plate.

Embodiment 112-the surgical instrument of embodiments 110 or 111, wherein the end effector comprises a staple cartridge comprising staples removably stored therein.

Embodiment 113-a surgical instrument comprising an end effector and a shaft. The shaft includes a frame and an articulation joint, wherein the end effector is rotatably coupled to the shaft through the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector. The articulation actuator is movable in a first direction to rotate the end effector in one direction and the articulation actuator is movable in a second direction to rotate the end effector in the other direction. The shaft also includes an articulation lock positionable in a first position in which the articulation lock is movable relative to the frame and a second position in which the articulation lock engages the frame and the articulation actuator to limit the movement of the articulation actuator in the first and second directions.

Embodiment 114-the surgical instrument of embodiment 113 wherein the end effector comprises a staple cartridge comprising staples removably stored therein.

Example 115-a surgical instrument comprising an end effector head configured to an undamped configuration and a clamped configuration. The surgical instrument further includes a shaft. The shaft includes a frame including a longitudinal axis; and an articulation joint, wherein the end effector head is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector head. The articulation actuator is movable in a first direction to rotate the end effector head in one direction and the articulation actuator is movable in a second direction to rotate the end effector head in the other direction. The articulation actuator includes at least one locking tab extending laterally relative to the longitudinal axis. The shaft also includes an articulation lock including at least two protrusions extending laterally relative to the longitudinal axis. The articulation lock is configured to flex laterally relative to the longitudinal axis to effect articulation of the end effector head. The shaft also includes a closure member configured to move the end effector head from the undamped configuration to the clamped configuration during a closure stroke, wherein the closure member prevents lateral deflection of the articulation lock after the closure stroke, thereby inhibiting articulation of the end effector head.

Example 116-a surgical instrument comprising an end effector comprising a proximal end, a distal end, a first jaw, and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The surgical instrument further comprises a shaft comprising a frame, wherein the frame comprises locking teeth of the first longitudinal rack. The shaft also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector, wherein the articulation actuator is distally movable to rotate the end effector in a first direction and proximally movable to rotate the end effector in a second direction. The articulation actuator includes locking teeth of a second longitudinal rack. The shaft also includes an articulation lock including a third set of locking teeth. The articulation lock is positionable in a disengaged position in which the third set of locking teeth is not engaged with the frame and the articulation actuator and an engaged position in which the third set of locking teeth is engaged with the locking teeth of the first longitudinal rack and the locking teeth of the second longitudinal rack to prevent the proximal and distal movement of the articulation actuator. The shaft also includes a closure member configured to move the first jaw toward the closed position during a closure stroke. The closure member is configured to engage the articulation lock and move the articulation lock from the disengaged position to the engaged position during the closure stroke.

Embodiment 117-the surgical instrument of embodiment 116, wherein the locking teeth of the first longitudinal rack are defined in a first plane. The locking teeth of the second longitudinal rack are defined in a second plane. The first plane and the second plane are different.

Embodiment 118-the surgical instrument of embodiments 116 or 117 wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

Example 119-the surgical instrument of example 118, wherein the staple cartridge is replaceable.

Embodiment 120-the surgical instrument of embodiments 118 or 119, wherein the end effector comprises a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The first jaw includes the staple cartridge.

Embodiment 121-the surgical instrument of embodiments 118 or 119, wherein the end effector comprises a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The second jaw includes the staple cartridge.

Embodiment 122-the surgical instrument of embodiments 116, 117, 118, 119, 120, or 121, wherein the locking teeth of the first longitudinal rack comprise teeth spaced apart at a first pitch. The locking teeth of the second longitudinal rack comprise teeth spaced apart at a second pitch, wherein the second pitch is different from the first pitch. The third set of locking teeth includes teeth spaced apart at a third pitch, wherein the third pitch is different from the first pitch and the second pitch.

Example 123-the surgical instrument of examples 116, 117, 118, 119, 120, 121, or 122, wherein the shaft defines a longitudinal axis. The articulation lock includes a locking plate that is laterally slidable relative to the longitudinal axis between the disengaged position and the engaged position. The frame includes a proximal guide post and a distal guide post. The locking plate includes a proximal lateral slot and a distal lateral slot, wherein the proximal guide post extends into the proximal lateral slot and the distal guide post extends into the distal lateral slot. The proximal guide post and the distal guide post cooperate to define a lateral path of the locking plate.

Embodiment 124-the surgical instrument of embodiment 123, wherein the locking plate comprises a locking slot comprising a sidewall defined therein. The closure member includes a locking driver extending into the locking slot. The lock actuator is configured to engage the sidewall during the closing stroke to displace the lock plate from the disengaged position to the engaged position.

Embodiment 125-the surgical instrument of embodiment 124, wherein the closure member is movable by a retraction stroke to allow the first jaw to move to the open position. The lock driver is configured to engage one of the side walls of the lock slot during the retraction stroke to displace the lock plate from the engaged position to the disengaged position.

Embodiment 126-the surgical instrument of embodiment 124, wherein the closure member is movable by an opening stroke to move the first jaw to the open position. The lock driver is configured to engage one of the side walls of the lock slot during the opening stroke to displace the lock plate from the engaged position to the disengaged position.

Embodiment 127-the surgical instrument of embodiments 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, or 126, wherein the articulation lock comprises a locking arm that is deflectable to the engaged position by the closure member.

Embodiment 128-the surgical instrument of embodiments 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, or 126, wherein the articulation lock comprises a first locking arm and a second locking arm. The closure member includes a wedge positionable between the first locking arm and the second locking arm during the closure stroke to deflect the articulation lock to the engaged position.

Embodiment 129-the surgical instrument of embodiment 128, wherein the third set of locking teeth is present on the first locking arm and the second locking arm.

Embodiment 130-the surgical instrument of embodiments 128 or 129, wherein the first locking arm is configured to engage locking teeth of the first longitudinal rack and the second locking arm is configured to engage locking teeth of the second longitudinal rack.

Embodiment 131-a surgical instrument comprising an end effector comprising a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame and a locking plate movable relative to the frame, wherein the locking plate includes a first set of locking teeth. The shaft also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector, wherein the articulation actuator is configured to rotate the end effector in a first direction and a second direction. The articulation actuator includes a second set of locking teeth. The shaft also includes an articulation lock including a third set of locking teeth. The articulation lock is positionable in a disengaged position in which the third set of locking teeth is not engaged with the locking plate, the frame, and the articulation actuator, and an engaged position in which the third set of locking teeth is engaged with the first set of locking teeth and the second set of locking teeth to inhibit the articulation of the end effector. The shaft also includes a closure member configured to move the first jaw toward the closed position during a closure stroke. The closure member is configured to engage the articulation lock and move the articulation lock from the disengaged position to the engaged position during the closure stroke.

Embodiment 132-the surgical instrument of embodiment 131, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

Embodiment 133-a surgical instrument comprising an end effector comprising a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame, wherein the frame includes a first set of locking teeth. The shaft also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector, wherein the articulation actuator is configured to rotate the end effector in a first direction and a second direction. The shaft also includes an articulation lock including a gear including a second set of teeth in meshing engagement with the first set of teeth, wherein the gear is rotatably mounted to the frame. The shaft also includes a closure member configured to move the first jaw toward the closed position during a closure stroke. The closure member is configured to engage the gear during the closure stroke to inhibit articulation of the end effector.

Example 134-the surgical instrument of example 133, wherein the end effector further comprises a staple cartridge comprising staples removably stored therein.

Embodiment 135-a surgical instrument comprising an end effector comprising a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame and a locking plate movable relative to the frame, wherein the locking plate includes a first set of coupling features. The shaft also includes an articulation joint, wherein the end effector is rotatably coupled to the shaft by the articulation joint. The shaft also includes an articulation actuator operably connected to the end effector, wherein the articulation actuator is configured to rotate the end effector in a first direction and a second direction. The articulation actuator includes a second set of coupling features. The shaft also includes an articulation lock including a third set of coupling features, wherein the articulation lock is positionable in a disengaged position in which the third set of coupling features is not engaged with the locking plate and the articulation actuator and an engaged position in which the third set of coupling features is engaged with the first set of coupling features and the second set of coupling features to inhibit the articulation of the end effector. The shaft also includes a closure member configured to move the first jaw toward the closed position during a closure stroke. The closure member is configured to engage the articulation lock and move the articulation lock from the disengaged position to the engaged position during the closure stroke.

Embodiment 136-a surgical instrument comprising an end effector comprising a first jaw and a second jaw. The first jaw is movable relative to the second jaw between an open position and a closed position. The surgical instrument further includes a shaft. The shaft includes a frame, a ground member movable relative to the frame, and an articulation joint through which the end effector is rotatably coupled to the shaft. The shaft also includes an articulation actuator operably connected to the end effector, wherein the articulation actuator is configured to rotate the end effector in a first direction and a second direction. The shaft also includes an articulation lock positionable in a disengaged position in which the articulation lock is not engaged with the ground member and the articulation actuator and an engaged position in which the articulation lock is engaged with the ground member and the articulation actuator to inhibit the articulation of the end effector. The shaft also includes a closure member configured to move the first jaw toward the closed position during a closure stroke. The closure member is configured to engage the articulation lock and move the articulation lock from the disengaged position to the engaged position during the closure stroke.

Example 137-a surgical instrument capable of being inserted through a trocar. The surgical instrument includes a handle and a shaft extending from the handle. The shaft includes a frame, a proximal portion connected to the handle, a distal portion including an end effector, and an articulation joint about which the end effector is rotatable. The shaft also includes an articulation actuator operably coupled to the end effector, wherein the articulation actuator is selectively movable to rotate the end effector in a first direction and a second direction. The shaft also includes an outer housing that is slidable relative to the frame. The outer housing includes a distal non-circular housing portion adjacent the articulation joint and a longitudinal circular housing portion extending between the proximal portion and the distal non-circular housing portion. The longitudinal circular housing portion includes a first diameter. The distal non-circular housing portion includes a second diameter. The first diameter is smaller than the second diameter. The distal non-circular housing portion and the longitudinal circular housing portion are sized and configured to be insertable through the trocar into a surgical site. The shaft also includes an articulation lock configured to engage the articulation actuator and prevent the rotation of the end effector, wherein the articulation lock is positioned within the distal non-circular housing portion.

Example 138-the surgical instrument of example 137, wherein the end effector comprises a staple cartridge comprising staples removably stored therein.

Example 139-the surgical instrument of example 138, wherein the end effector further comprises an anvil configured to deform the staples. The anvil is rotatable relative to the staple cartridge.

Embodiment 140-the surgical instrument of embodiment 138, wherein the end effector further comprises an anvil configured to deform the staples, and wherein the staple cartridge is rotatable relative to the anvil.

Embodiment 141-the surgical instrument of embodiments 137, 138, 139, or 140, wherein the staple cartridge is replaceable.

Example 142-the surgical instrument of examples 137, 138, 139, 140, or 141, wherein the end effector is replaceable.

Embodiment 143-the surgical instrument of embodiments 137, 138, 139, 140, 141, or 142, wherein the longitudinal circular housing portion defines a longitudinal axis. The distal non-circular housing portion is eccentrically offset relative to the longitudinal axis.

Embodiment 144-the surgical instrument of embodiments 137, 138, 139, 140, 141, 142, or 143, wherein the proximal portion of the shaft comprises a connector comprising a latch configured to releasably retain the shaft to the handle.

Embodiment 145-the surgical instrument of embodiments 137, 138, 139, 140, 141, 142, 143, or 144, wherein the articulation lock is located entirely within the distal non-circular housing portion.

Embodiment 146-the surgical instrument of embodiments 137, 138, 139, 140, 141, 142, 143, or 144, wherein the articulation lock comprises a fixed portion mounted to the frame and a locking portion that is movable within the distal non-circular housing portion.

Embodiment 147-the surgical instrument of embodiment 146, wherein the articulation lock comprises a fixed portion mounted to the frame and a locking portion movable within the distal non-circular housing portion.

Example 148-a surgical instrument capable of being inserted through a trocar. The surgical instrument includes a handle and a shaft extending from the handle. The shaft includes a frame, a proximal portion attachable to the handle, a distal portion including an end effector, and an articulation joint about which the end effector is rotatable. The shaft also includes an articulation actuator operably coupled to the end effector, wherein the articulation actuator is movable to rotate the end effector in a first direction and a second direction. The shaft also includes an outer housing that is slidable relative to the frame. The outer housing includes a distal housing portion adjacent the articulation joint, wherein the distal housing portion includes a non-circular perimeter having a width. The outer housing further includes a longitudinal housing portion extending between the proximal portion and the distal housing portion. The longitudinal housing portion includes a substantially circular perimeter having a diameter, wherein the diameter is less than the width. The distal housing portion and the longitudinal housing portion are sized and configured to be insertable through the trocar into a surgical site. The shaft also includes an articulation lock configured to engage the articulation actuator and prevent the rotation of the end effector, wherein the articulation lock is positioned within the distal housing portion.

Embodiment 149-the surgical instrument of embodiment 148, wherein the end effector comprises a staple cartridge comprising staples removably stored therein.

Embodiment 150-the surgical instrument of embodiment 148 or 149, wherein the staple cartridge is replaceable.

Example 151-the surgical instrument of examples 148, 149, or 150, wherein the end effector is replaceable.

Embodiment 152-the surgical instrument of embodiments 148, 149, 150, or 151, wherein the articulation lock is entirely within the distal housing portion.

Embodiment 153-the surgical instrument of embodiments 148, 149, 150, or 151, wherein the articulation lock comprises a fixed portion mounted to the frame and a locking portion movable within the distal housing portion.

Embodiment 154-the surgical instrument of embodiment 153, wherein the fixation portion is located in the longitudinal housing portion.

Example 155-a surgical instrument comprising a handle, a detachable shaft extending from the handle. The detachable shaft includes a frame, a proximal latch attachable to the handle, a distal portion including an end effector, and an articulation joint about which the end effector is rotatable. The detachable shaft also includes an articulation actuator configured to articulate the end effector in a first direction and a second direction. The detachable shaft also includes an outer tube translatable relative to the frame. The outer tube includes a distal tube portion adjacent the articulation joint, wherein the distal tube portion includes a non-circular perimeter having a width. The outer tube further comprises a longitudinal tube portion. The longitudinal tube portion includes a substantially circular perimeter having a diameter, wherein the diameter is less than the width. The distal tube portion and the longitudinal tube portion are sized and configured to be insertable through the trocar into a surgical site. The detachable shaft also includes an articulation lock configured to engage the articulation actuator and prevent the rotation of the end effector, wherein the articulation lock is positioned within the distal tube segment.

Embodiment 156-a housing stapling instrument system comprises a handle, a nozzle, and an elongate shaft. The elongate shaft includes a proximal end; a distal end; a proximal region comprising a first diameter; a central region comprising a second diameter, wherein the central region defines a longitudinal axis; a distal region including a third diameter. The first diameter is different from the second diameter, and the distal region is laterally offset relative to the longitudinal axis. The surgical stapling instrument system further includes an end effector comprising a first jaw. The first jaw includes an elongate channel and a staple cartridge including a plurality of staples, wherein the staple cartridge is operably supported in the elongate channel. The end effector also includes a second jaw, wherein the second jaw is movable relative to the first jaw. The surgical stapling instrument system further comprises an articulation joint rotatably connecting the end effector to the elongate shaft; a firing member configured to move within the end effector; and a firing system configured to apply a firing motion to the firing member.

Embodiment 157-the surgical stapling instrument system of embodiment 156, wherein the first diameter is greater than the second diameter.

Embodiment 158-the surgical stapling instrument system of embodiment 156 or 157, wherein the first diameter is less than the third diameter.

Embodiment 159-the surgical stapling instrument system of embodiment 156, 157 or 158, wherein the third diameter is less than the first diameter and greater than the second diameter.

Embodiment 160-the surgical stapling instrument system of embodiments 156, 157, 158, or 159, wherein the second jaw comprises an anvil configured to deform the staples.

Embodiment 161-the surgical stapling instrument system of embodiments 156, 157, 158, 159, or 160, wherein the distal region of the elongate shaft comprises at least one flat side.

Example 162-the surgical stapling instrument system of examples 156, 157, 158, 159, 160, or 161, wherein the distal region is not entirely cylindrical.

Embodiment 163-a surgical stapling instrument comprising an elongate shaft. The elongate shaft includes a proximal end, a distal end, and a first width at the proximal end, wherein the first width of the elongate shaft transitions to a second width at a center of the elongate shaft, and wherein the second width of the elongate shaft transitions to a third width at the distal end of the elongate shaft. The distal end of the elongate shaft is not cylindrical, wherein the distal end includes an enlargement extending laterally relative to the second width, and wherein the first width, the second width, and the third width are different. The surgical stapling instrument further includes an end effector configured to be attached to the distal end of the elongate shaft. The end effector includes a first jaw and a second jaw, and wherein the first jaw is movable relative to the second jaw. The surgical stapling instrument further includes an articulation assembly configured to apply an articulation motion to the end effector; a firing member; and a firing system configured to apply a firing motion to the firing member.

Embodiment 164-the surgical stapling instrument of embodiment 163, wherein the first width is greater than the second width.

Embodiment 165-the surgical stapling instrument of embodiment 163 or 164, wherein the second width is less than the third width.

Embodiment 166-the surgical stapling instrument of embodiments 163, 164, or 165, wherein the third width is less than the first width and greater than the second width.

Embodiment 167-the surgical stapling instrument of embodiments 163, 164, 165, or 166, wherein the distal end of the elongate shaft is configured to fit through a 12mm cannula passageway.

Embodiment 168-the surgical stapling instrument of embodiments 163, 164, 165, 166, or 167, wherein the center of the elongate shaft comprises a width of less than 10 mm.

Example 169-a surgical fastening instrument comprising an elongate shaft. The elongate shaft includes a proximal end; a distal end; a proximal region comprising a first circumference; a central region comprising a second circumference, wherein the central region defines a central longitudinal axis; and a distal region including a third circumference. The first perimeter is different from the second perimeter, and the third perimeter is offset relative to the second perimeter. The surgical fastening instrument also includes an end effector configured to be attached to the distal end of the elongate shaft. The end effector includes a fastener cartridge jaw and an anvil. The surgical fastening instrument further comprises an articulation system configured to apply an articulation motion to the end effector, wherein the firing member is configured to travel through the end effector; and a firing system configured to apply firing and retraction motions to the firing member.

Embodiment 170-the surgical fastening instrument of embodiment 169, wherein the first circumference is greater than the second circumference.

Embodiment 171-the surgical fastening instrument of embodiments 169 or 170, wherein the second perimeter is less than the third perimeter.

Embodiment 172-the surgical fastening instrument of embodiments 169, 170, or 171, wherein the third perimeter is less than the first perimeter and greater than the second perimeter.

Embodiment 173-the surgical fastening instrument of embodiments 169, 170, 171, or 172, wherein the proximal region comprises a stepped-down configuration.

Embodiment 174-the surgical fastening instrument of embodiments 169, 170, 171, 172, or 173, wherein the distal region of the elongate shaft comprises at least one flat side.

Embodiment 175-the surgical fastening instrument of embodiments 169, 170, 171, 172, 173, or 174, wherein the central region comprises a stepped-up region at the distal end.

Example 176-a surgical instrument comprising a housing and a shaft extending from the housing, the housing comprising an outer tube portion. The outer tube portion includes a proximal tube portion, wherein the proximal tube portion defines a longitudinal axis; and an elongated intermediate tube portion extending distally from the proximal tube portion, wherein the intermediate tube portion is centered along the longitudinal axis. The outer tube portion further comprises a distal tube portion extending distally from the intermediate tube portion, wherein the distal tube portion is laterally offset relative to the longitudinal axis, and wherein the distal tube portion comprises an enlargement extending to one side of the longitudinal axis. The outer tube portion also includes a tapered constriction defined between the intermediate tube portion and the distal tube portion.

Embodiment 177-the surgical instrument of embodiment 176, further comprising an end effector and an articulation joint rotatably connecting the end effector to the distal tube portion.

Embodiment 178-the surgical instrument of embodiment 177, wherein the end effector comprises a staple cartridge comprising staples removably stored therein.

Embodiment 179-a surgical instrument comprising a housing comprising an electric motor. The surgical instrument further comprises a shaft extending from the housing, wherein the shaft comprises a frame; an end effector. The end effector includes a first jaw; a second jaw, wherein the first jaw is rotatable relative to the second jaw; a staple cartridge comprising staples removably stored therein; and an anvil configured to deform the staples. The surgical instrument also includes a closure system configured to move the first jaw toward the second jaw during a closure stroke; an articulation joint rotatably connecting the end effector to the shaft; an articulation system configured to articulate the end effector relative to the shaft; and a firing system operably engaged with the electric motor. The firing system is configured to eject the staples from the staple cartridge during a staple firing stroke. The surgical instrument further includes a first rotatable member configured to selectively transfer motion from the firing system to the articulation system; and a second rotatable member rotatably mounted to the frame, wherein the second rotatable member is operably engaged with the articulation system. The closure system is configured to engage the second rotatable member during the closure stroke to lock the articulation system in place and prevent articulation of the end effector.

Embodiment 180-the surgical instrument of embodiment 179, wherein the closure system comprises a closure tube surrounding the frame. The closure system also includes a wedge configured to engage and lock the second rotatable member in place during the closing stroke.

Embodiment 181-the surgical instrument of embodiment 179 or 180 wherein the first rotatable member is rotatably mounted within the frame.

Embodiment 182-the surgical instrument of embodiments 179, 180, or 181 wherein the second rotatable member comprises a gear that intermeshes with a rack defined on the articulation system.

Embodiment 183-the surgical instrument of embodiment 179, 180, 181, or 182, wherein the first jaw comprises the staple cartridge and the second jaw comprises the anvil.

Embodiment 184-the surgical instrument of embodiments 179, 180, 181, or 182, wherein the first jaw comprises the anvil and the second jaw comprises the staple cartridge.

Embodiment 185-the surgical instrument of embodiment 179, 180, 181, 182, 183, or 184 wherein the housing comprises a handle.

Embodiment 186-the surgical instrument of embodiment 179, 180, 181, 182, 183, 184, or 185, wherein the housing is configured to be attached to a robotic surgical system.

Embodiment 187-the surgical instrument of embodiments 179, 180, 181, 182, 183, 184, 185, or 186, wherein the first rotatable member is configured to operably disengage the articulation system from the firing system during the closing stroke.

Embodiment 188-the surgical instrument of embodiments 179, 180, 181, 182, 183, 184, 185, 186, or 187, wherein the articulation system is operably decoupled from the firing system during the staple firing stroke.

Embodiment 189-the surgical instrument of embodiments 179, 180, 181, 182, 183, 184, 185, 186, 187, or 188, wherein the closure system is retractable after the closure stroke to open the first jaw and unlock the articulation system.

Embodiment 190-the surgical instrument of embodiment 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, or 189, wherein the second rotatable member is rotatable about a post extending from the frame. The post includes a first brake arm and a second brake arm, wherein the closure system is configured to engage the first brake arm and the second brake arm during the closure stroke and prevent rotation of the second rotatable member.

Embodiment 191-the surgical instrument of embodiment 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, or 190, wherein the second rotatable member comprises an array of annular teeth, and wherein the closure system is configured to engage the array of annular teeth and prevent the rotation of the second rotatable member during the closure stroke.

Example 192-a surgical instrument comprising a housing comprising a rotatable input; a shaft extending from the housing, wherein the shaft comprises a frame; an end effector. The end effector includes a first jaw and a second jaw, and wherein the first jaw is rotatable relative to the second jaw. The surgical instrument further comprises a closure system configured to close the first jaw during a closure stroke; an articulation joint rotatably connecting the end effector to the shaft; an articulation system configured to articulate the end effector relative to the shaft; and a firing system operably engaged with the rotatable input. The firing system is configured to move through the end effector during a firing stroke. The surgical instrument further includes a first rotatable member configured to selectively synchronize the firing system and the articulation system; and a second rotatable member rotatably mounted to the frame. The second rotatable member is operably engaged with the articulation system, wherein the closure system is configured to engage the second rotatable member during the closure stroke to lock the articulation system in place and prevent the articulation of the end effector.

Embodiment 193-the surgical instrument of embodiment 192 further comprising a staple cartridge comprising staples removably stored therein.

Embodiment 194-a surgical instrument comprising a housing comprising a rotatable input; a shaft extending from the housing, wherein the shaft comprises a frame; an end effector. The end effector includes a first jaw and a second jaw, and wherein the first jaw is rotatable relative to the second jaw. The surgical instrument further comprises a closure system configured to close the first jaw during a closure stroke; an articulation joint rotatably connecting the end effector to the shaft; an articulation system configured to articulate the end effector relative to the shaft; and a firing system operably engaged with the rotatable input. The firing system is configured to move through the end effector during a firing stroke. The surgical instrument further includes a first rotatable member configured to selectively synchronize the motion of the firing system and the motion of the articulation system; and a second rotatable member operably engaged with the articulation system. The closure system is configured to stop the rotation of the second rotatable member during the closure stroke to lock the articulation system in place and prevent the articulation of the end effector.

The surgical instrument of embodiment 195-194, further comprising a staple cartridge comprising staples removably stored therein.

Embodiment 196-a staple cartridge assembly comprising a proximal end; a distal end; a cartridge body including a blunt nose at the distal end; a plurality of staple cavities defined within the cartridge body, wherein the plurality of staple cavities extend longitudinally from the proximal end to the distal end; a plurality of staples removably stored within the plurality of staple cavities; a driver configured to support at least one of the plurality of staples; and a sled movable toward the distal end during a firing stroke. The slider includes a first ramp and a second ramp, wherein the first ramp is laterally offset from the second ramp. The first ramp and the second ramp are configured to lift the driver, wherein the blunt nose of the cartridge body includes a first recess formed within the distal end configured to receive the first ramp of the sled after the firing stroke is completed; and a second recess formed in the distal end configured to receive the second ramp of the sled after the firing stroke is completed.

The cartridge assembly of embodiment 197-196, wherein the first ramp and the second ramp are exposed at the distal end when the firing stroke is completed.

Embodiment 198-the staple cartridge assembly of embodiment 196 or 197, wherein the driver comprises a first driver portion configured to support a first staple; a second driver portion configured to support a second staple; and a third driver portion configured to support a third staple.

Embodiment 199-the staple cartridge assembly of embodiment 198, wherein the driver further comprises a central base member connecting the first driver portion, the second driver portion, and the third driver portion.

Embodiment 200-the staple cartridge assembly of embodiment 199, wherein the first driver portion comprises a first forward support column having a proximal end and the second driver portion comprises a second forward support column having a distal end. The central base member extends longitudinally between the proximal end of the first forward support column and the distal end of the second forward support column.

Embodiment 201-the staple cartridge assembly of embodiment 196, 197, 198, 199, or 200, wherein the central base member comprises a rearwardly angled wall configured to be engageable by the sled.

Embodiment 202-the staple cartridge assembly of embodiments 196, 197, 198, 199, 200, or 201, wherein the sled is configured to drive the driver toward an anvil positioned opposite the staple cartridge assembly.

Example 203-a staple cartridge assembly comprising a proximal end; a distal end; a cartridge body including a shortened nose at the distal end; and a row of staples removably stored in the cartridge body. The row of staples extends longitudinally from the proximal end to the distal end. The staple line includes a distal-most staple and a proximal-most staple. The staple cartridge assembly also includes drivers, wherein each of the drivers is configured to support at least one of the staples; and a slider movable toward the distal end. The sled includes a ramp configured to lift the drivers and the staples toward an anvil positioned opposite the cartridge assembly during a firing stroke. The slider also includes a base, wherein a length of the shortened nose extends from the distal-most staple to the distal end, and wherein the length of the shortened nose is shorter than the base of the slider.

Embodiment 204-the staple cartridge assembly of embodiment 203, further comprising the anvil, wherein the anvil comprises a protective tip on the distal end.

Embodiment 205-the staple cartridge assembly of embodiment 203 or 304, further comprising the anvil, wherein the distal end of the shortened nose extends beyond the distal end of the anvil.

Embodiment 206-the staple cartridge assembly of embodiments 203, 204, or 205, wherein the ramp of the sled is exposed at the distal end when the firing stroke is completed.

Example 207-an end effector for a surgical stapling instrument. The end effector includes a staple cartridge assembly. The cartridge assembly includes a proximal end; a distal end; a cartridge body including a shortened nose at the distal end; staples removably stored in the cartridge body; a driver configured to support at least one of the staples; and a slider movable toward the distal end. The sled includes a ramp configured to lift the driver and at least one staple. The slider also includes a base, wherein the shortened nose of the cartridge body is shorter than the base of the slider. The end effector further includes an anvil. The anvil includes a staple forming surface including a plurality of staple forming pockets. The anvil further includes a blunt distal nose extending downward toward the cartridge assembly.

Embodiment 208-the end effector of embodiment 207, wherein the blunt distal nose is removably attached to the anvil.

Embodiment 209-the end effector of embodiment 207 or 208, wherein the anvil further comprises a frame comprising an attachment feature configured to facilitate attachment of the blunt distal nose to the frame.

Embodiment 210-the end effector of embodiments 207, 208, or 209, wherein the anvil comprises a distal end, and wherein the distal end of the staple cartridge assembly extends beyond the distal end of the anvil.

Embodiment 211-a staple cartridge assembly comprising a cartridge body; a proximal end; a distal end; a slot configured to receive a cutting member; and a first row of staples removably stored in the cartridge body, wherein the first row of staples extends along a first side of the slot between the proximal end and the distal end. The cartridge assembly also includes a second row of staples removably stored in the cartridge body, wherein the second row of staples extends between the proximal end and the distal end along the first row of staples on the first side of the slot. The cartridge assembly also includes a third row of staples removably stored in the cartridge body, wherein the third row of staples extends between the proximal end and the distal end along the second row of staples on the first side of the slot. The cartridge assembly also includes a driver configured to support a first staple in the first staple row, a second staple in the second staple row, and a third staple in the third staple row, wherein the second staple is closer to the proximal end than the first staple and the third staple.

Embodiment 212-the end effector of embodiment 211, wherein the first staple, the second staple, and the third staple form a reverse arrow configuration.

Embodiment 213-the cartridge assembly of embodiments 211 or 212, further comprising a sled configured to lift the driver toward an anvil positioned opposite the cartridge assembly.

Embodiment 214-the staple cartridge assembly of embodiments 211, 212, or 213, further comprising an anvil, wherein the anvil comprises a distal end.

Embodiment 215-the staple cartridge assembly of embodiment 214, wherein the distal end of the staple cartridge extends distally relative to the distal end of the anvil.

Embodiment 216-a staple cartridge system comprising an end effector configured to an undamped configuration and a clamped configuration. The end effector includes an anvil jaw and a cartridge jaw. The cartridge jaw is configured to receive a staple cartridge. The cartridge jaw includes a cartridge support datum. The staple cartridge system further comprises a first staple cartridge. The first staple cartridge includes a first deck configured to support tissue of a patient; a first staple cavity defined in the first deck; first staples removably stored in the first staple cavities; a first proximal end. The first proximal end is aligned with a datum of the cartridge jaw when the first staple cartridge is positioned in the cartridge jaw. The first staple cartridge further comprises a first distal end, wherein a first cartridge length is defined between the first proximal end and the first distal end. The staple cartridge system further comprises a second staple cartridge. The first staple cartridge includes a second deck configured to support tissue of a patient; a second staple cavity defined in the second deck; second staples removably stored in the second staple cavities; and a second proximal end. The second proximal end is aligned with the datum of the cartridge jaw when the second staple cartridge is positioned in the cartridge jaw. The second staple cartridge also includes a second distal end, wherein a second cartridge length is defined between the second proximal end and the second distal end, wherein the anvil is supported by a first position on the first staple cartridge when the end effector is in the clamped configuration and the first staple cartridge is in the cartridge jaw. The anvil is supported by a second position on the second staple cartridge when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaw. The first position is a first orthogonal distance from the cartridge support datum when the first cartridge is in the cartridge jaw and the second position is a second orthogonal distance from the cartridge support datum when the second cartridge is in the cartridge jaw. The first orthogonal distance is different from the second orthogonal distance. The anvil jaw deflects differently in response to whether the first staple cartridge or the second staple cartridge is positioned in the cartridge jaw.

Embodiment 217-the staple cartridge system of embodiment 216, wherein the second cartridge length is different than the first cartridge length.

Embodiment 218-the staple cartridge system of embodiment 216 or 217, wherein the second cartridge length is shorter than the first cartridge length.

Embodiment 219-the staple cartridge system of embodiments 216, 217, or 218, wherein the second orthogonal distance is shorter than the first orthogonal distance.

Embodiment 220-the staple cartridge system of embodiment 216, 217, or 218, wherein the second orthogonal distance is higher than the first orthogonal distance.

Embodiment 221-the staple cartridge system of embodiment 216, 217, 219, or 220, wherein the second cartridge length is longer than the first cartridge length.

Embodiment 222-the staple cartridge system of embodiment 216, 217, 218, or 221, wherein the second orthogonal distance is shorter than the first orthogonal distance.

Embodiment 223-the staple cartridge system of embodiment 216, 217, 218, or 221, wherein the second orthogonal distance is higher than the first orthogonal distance.

Embodiment 224-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, or 223, wherein the second position is closer to the second distal end than the first position is to the first distal end.

Embodiment 225-the staple cartridge system of embodiment 216, 217, 218, 219, 220, 221, 222, or 223, wherein the second position is positioned farther from the second distal end than the first position.

Example 226-the staple cartridge system of examples 216, 217, 218, 219, 220, 221, 222, 223, 224, or 225, wherein the anvil jaw comprises a distal anvil head. The first cartridge length is set such that the distal anvil tip extends beyond the first distal end, wherein the second cartridge length is set such that the distal anvil tip does not extend beyond the first distal end.

Embodiment 227-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, or 226, wherein the anvil jaw experiences a first deflection when the end effector is in the clamped configuration and the first staple cartridge is in the cartridge jaw. The anvil jaw undergoes a second deflection when the end effector is in the clamped configuration and the second staple cartridge is positioned in the cartridge jaw. The second deflection is greater than the first deflection.

Embodiment 228-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, or 227, wherein each first staple comprises an undeformed height within a first undeformed height range, wherein each second staple comprises an undeformed height within a second undeformed height range, and wherein the second undeformed height range comprises a height greater than the heights in the first undeformed height range.

Embodiment 229-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, or 227, wherein each first staple comprises an undeformed height within a first undeformed height range, wherein each second staple comprises an undeformed height within a second undeformed height range, and wherein the second undeformed height range comprises a shorter height than the heights in the first undeformed height range.

Embodiment 230-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, or 229, wherein each first staple comprises an undeformed height within a first undeformed height range, wherein each second staple comprises an undeformed height within a second undeformed height range, and wherein the second undeformed height range is different from, but partially overlaps, the first undeformed height range.

Embodiment 231-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, or 230, wherein the anvil jaw comprises a distal anvil tip, wherein the first cartridge length is set such that the distal anvil tip extends beyond the first distal end, and wherein the second cartridge length is set such that the distal anvil tip is shorter than the second distal end.

Example 232-the staple cartridge system of examples 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, or 231, wherein the anvil jaw is rotatable relative to the cartridge jaw.

Example 233-the staple cartridge system of examples 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, or 231, wherein the cartridge jaw is rotatable relative to the anvil jaw.

Example 234-the staple cartridge system of examples 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, or 233, wherein the first distal end comprises a first cartridge nose and the second distal end comprises a second cartridge nose. The second cartridge nose is blunter than the first cartridge nose.

Embodiment 235-the staple cartridge system of embodiments 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, or 234, wherein the first distal end comprises a first cartridge nose and the second distal end comprises a second cartridge nose. The second cartridge nose is shorter than the first cartridge nose.

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

U.S. patent 5,403,312 entitled "ELECTROSURGICAL HEMOSTATIC DEVICE" issued 4/1995;

U.S. patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" published on month 21 of 2006;

U.S. patent 7,422,139 entitled "MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK" published 9/2008;

U.S. patent 7,464,849 entitled "ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS" issued on 12/16/2008;

U.S. patent 7,670,334 entitled "SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR" issued on month 3 and 2 of 2010;

U.S. patent 7,753,245 entitled "SURGICAL STAPLING INSTRUMENTS" issued on the year 7, month 13 of 2010;

U.S. patent 8,393,514 entitled "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE" published on 3.3.12 of 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 INSTRUMENT HAVING RF ELECTRODES," filed on month 2 and 14 of 2008;

U.S. patent application Ser. No. 12/031,873, entitled "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", filed on 2/15/2008 (now U.S. Pat. No. 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 "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM," now U.S. Pat. No. 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 12/24/2009; now us patent 8,220,688;

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

U.S. patent application Ser. No. 13/036,647, entitled "SURGICAL STAPLING INSTRUMENT", filed on 28/2/2011, now U.S. Pat. No. 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 Ser. No. 13/800,025, now U.S. Pat. No. 9,345,481, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on day 13 of 3.2013;

U.S. patent application Ser. No. 13/800,067, entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed on day 13 of 3.3, now U.S. patent application publication 2014/0263552;

U.S. patent application publication 2007/0175955 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM" filed on 1 month 31 2006; and

U.S. patent application publication 2010/0264194, entitled "SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR", filed on 4/22/2010, now U.S. patent 8,308,040.

While various devices have been described herein in connection with certain embodiments, many modifications and variations to these embodiments may be implemented. The particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or characteristic shown or described in connection with one embodiment may be combined, in whole or in part, with features, structures, or characteristics of one or more other embodiments without limitation. In addition, where materials for certain components are disclosed, other materials may be used. Furthermore, 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 above detailed description and the following claims are intended to cover all such modifications and variations.

The devices disclosed herein may be designed to be disposed of after a single use, or they may be designed for multiple uses. In either case, however, the device may be reconditioned for reuse after at least one use. Repair may include any combination of steps including, but not limited to, disassembly of the device, subsequent cleaning or replacement of specific components of the device, and subsequent reassembly of the device. In particular, the repair facility and/or surgical team may disassemble the device, and after cleaning and/or replacing particular components of the device, the device may be reassembled for subsequent use. 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 prosthetic devices are within the scope of the present application.

The devices disclosed herein may be treated prior to surgery. First, new or used instruments are available 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 radiation field, such as gamma radiation, X-rays, and/or energetic electrons, that may penetrate the container. The radiation may kill bacteria on the instrument and in the container. The sterilized instrument may then be stored in the sterile container. The sealed container may keep the instrument sterile until the container is opened in the medical facility. The device may also be sterilized using any other technique known in the art including, but not limited to, beta radiation, gamma radiation, ethylene oxide, plasma peroxide, and/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. Accordingly, 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

1. A surgical instrument, comprising:

a shaft, the shaft comprising:

a proximal end;

a distal end;

a longitudinal axis extending between the proximal end and the distal end; and

an outer housing, the housing comprising a shaft radius defined relative to the longitudinal axis;

an end effector comprising an end effector frame rotatably coupled to the shaft about an articulation pivot, wherein the articulation pivot defines a fixed articulation axis, and wherein the fixed articulation axis is positioned laterally offset relative to the longitudinal axis; and

an articulation driver coupled to the end effector frame at an attachment position, wherein the articulation driver is proximally movable to rotate the end effector in a first direction, wherein the articulation driver is distally movable to rotate the end effector in a second direction opposite the first direction, wherein a lateral moment arm is defined between the attachment position and the fixed articulation axis, wherein the lateral moment arm increases to a maximum length upon full rotation of the end effector in the second direction, and decreases to a minimum length upon full rotation of the end effector in the first direction, wherein the lateral moment arm is orthogonal to the longitudinal axis, and wherein a ratio of the axial radius to the lateral moment arm is less than 1.4;

Wherein the end effector is rotatable in the first direction through a first range and rotatable in the second direction through a second range, and wherein the first range and the second range are unequal.

2. The surgical instrument of claim 1, wherein the ratio is less than 1.3.

3. The surgical instrument of claim 1, wherein the ratio is less than 1.2.

4. The surgical instrument of claim 1, wherein the ratio is less than 1.1.

5. The surgical instrument of claim 1, further comprising a staple cartridge comprising staples removably stored therein.

6. The surgical instrument of claim 5, wherein the staple cartridge is replaceable.

7. The surgical instrument of claim 1, wherein the outer housing defines an interior aperture, and wherein the shaft radius is defined by the interior aperture.

8. The surgical instrument of claim 7, wherein the shaft comprises a shaft frame extending through the internal aperture, and wherein the end effector frame is rotatably coupled to the shaft frame.

9. The surgical instrument of claim 1, wherein the shaft comprises a first longitudinal portion and a second longitudinal portion, wherein the shaft radius of the outer housing comprises a first shaft radius in the first longitudinal portion and a second shaft radius in the second longitudinal portion, and wherein the first shaft radius is different from the second shaft radius.