CN110996806A

CN110996806A - Emergency auxiliary device of surgical operation system

Info

Publication number: CN110996806A
Application number: CN201880050662.6A
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: 2017-08-03
Filing date: 2018-07-30
Publication date: 2020-04-10
Anticipated expiration: 2038-07-30
Also published as: CN110996806B; JP2020529255A; BR112020001931A2; JP7230000B2

Abstract

A surgical system including a surgical instrument attachment assembly and a transmission assembly is disclosed. The surgical instrument attachment assembly includes a shaft and an end effector. The transmission assembly is configured to be operably attached to and detached from the surgical robot, wherein the surgical instrument attachment assembly is configured to be operably attached to and detached from the transmission assembly. The transmission assembly includes a drive system including a drive member movable in a first direction during a drive stroke and movable in a second direction during a return stroke. The transmission assembly further includes a manually operated emergency assistance device configured to selectively move the drive member in the first direction and the second direction when the transmission assembly is attached to the surgical robot.

Description

Emergency auxiliary device of surgical operation system

Background

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

Drawings

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

fig. 1 is a perspective view of a surgical instrument configured to be operably coupled with a robotic surgical system in accordance with at least one embodiment;

FIG. 2 is a front view of the surgical instrument of FIG. 1;

FIG. 3 is a partial perspective view of the surgical instrument of FIG. 1 shown in a disassembled state;

FIG. 4 is a perspective view of the interconnection between the shaft assembly and the transmission assembly of the surgical instrument of FIG. 1;

FIG. 5 is a perspective view of the interconnect of FIG. 4 in a disassembled state;

FIG. 6 is an exploded view of a shaft assembly of the surgical instrument of FIG. 1;

FIG. 7 is a partially exploded view of a transmission assembly of the surgical instrument of FIG. 1;

FIG. 8 is an exploded view of the interconnect of FIG. 4;

FIG. 9 is an elevational view of the end effector of the shaft assembly of the surgical instrument of FIG. 1 shown in an open, unclamped configuration;

FIG. 10 is an elevational view of the end effector of FIG. 9 shown in a closed, clamped configuration;

FIG. 11 is a plan view of the end effector of FIG. 9 shown in an articulated configuration;

FIG. 12 is a plan view of the end effector of FIG. 9 shown in an unarticulated configuration;

FIG. 13 is a cross-sectional elevation view of the transmission assembly and housing assembly of the surgical instrument of FIG. 1;

FIG. 13A is a partial perspective view of a slider assembly of the transport assembly of FIG. 13;

FIG. 13B is a partial perspective view of the slider assembly of FIG. 13A shown with some components removed;

FIG. 13C is a cross-sectional elevation view of the slider assembly of FIG. 13A, corresponding with the open configuration of the end effector shown in FIG. 9;

FIG. 13D is a cross-sectional elevation view of the slider assembly of FIG. 13A corresponding with the closed configuration of the end effector shown in FIG. 10;

FIG. 14 is a plan view of the housing assembly of FIG. 13 shown with some components removed;

FIG. 15 is a partial cross-sectional view of the surgical instrument of FIG. 1 corresponding with the closed, clamped configuration of the end effector shown in FIG. 10;

FIG. 16 is a partial cross-sectional view of the surgical instrument of FIG. 1 corresponding with the open, unclamped configuration of the end effector shown in FIG. 9;

FIG. 17 is a partial cross-sectional view of the housing assembly of FIG. 13 showing a portion of the closure system emergency assistance device;

FIG. 18 is a partial cross-sectional view of the housing assembly of FIG. 13 showing the closure system emergency assistance device of FIG. 17 in an actuated configuration;

FIG. 19 is a partial perspective view of the surgical instrument of FIG. 1 illustrating another closure system emergency assistance device;

FIG. 20 is a perspective view of the transmission assembly and housing assembly of FIG. 13 shown with some components removed;

FIG. 21 is a perspective view of the transmission assembly and housing assembly of FIG. 13 showing the closure system emergency assistance device of FIG. 19 in a released configuration;

fig. 22 is a perspective view of the transmission assembly and housing assembly of fig. 13 shown with some components removed;

fig. 23 is a perspective view of the transmission assembly and housing assembly of fig. 13 showing the closure system emergency assistance device of fig. 19 in the release configuration of fig. 21;

FIG. 24 is a cross-sectional end view of the slider assembly of FIG. 13A and the closure system emergency assist device of FIG. 19;

FIG. 25 is a cross-sectional end view of the slider assembly of FIG. 13A and the closure system emergency assist device of FIG. 19 in the release configuration of FIG. 21;

FIG. 26 is a perspective view, partially in section, of the surgical instrument of FIG. 1 shown in the open configuration of FIG. 9;

FIG. 27 is a plan view, partially in section, of the transfer assembly of FIG. 13 showing the slider assembly of FIG. 13A;

FIG. 28 is another partially cut-away plan view of the transfer assembly of FIG. 13 showing the slider assembly of FIG. 13A;

FIG. 29 is a plan view, partially in section, of the transmission assembly of FIG. 13 shown in an articulated configuration;

FIG. 30 is a partial plan view of the firing system in the housing assembly of FIG. 13;

FIG. 31 is a partial plan view of the firing system of FIG. 30 showing the firing system emergency assistance device operably engaged with the firing system;

FIG. 32 is a partial plan view of the firing system of FIG. 30 retracted by the emergency assistance device of the firing system of FIG. 31;

fig. 33 is a perspective view of a surgical instrument configured to operably couple with a robotic surgical system in accordance with at least one embodiment;

FIG. 34 is a perspective view illustrating the shaft assembly of the surgical instrument of FIG. 33 disassembled from the transmission assembly and the housing assembly of the surgical instrument of FIG. 33;

FIG. 35 is an exploded perspective view of the shaft assembly of FIG. 34;

FIG. 36 is an exploded perspective view of the spine of the shaft assembly of FIG. 34;

FIG. 37 is an exploded perspective view of the transport assembly of FIG. 34;

FIG. 38 is a perspective view of the interconnection between the shaft assembly of FIG. 34 and the transmission assembly;

fig. 39 is a perspective view of the interconnect of fig. 38 in a broken configuration;

FIG. 40 is a cross-sectional view of the interconnect of FIG. 38;

fig. 41 is a perspective view of the interconnect of fig. 38 in an open configuration, with some components removed;

FIG. 42 is a partial cross-sectional elevation view of the housing assembly of FIG. 34;

FIG. 43 is a partial cross-sectional elevation view of the transport assembly of FIG. 34 showing a slider assembly;

FIG. 44 is a partial cross-sectional elevation view of the transmission assembly of FIG. 34 shown in an articulated configuration;

FIG. 45 is a perspective view of the transmission assembly and housing assembly of FIG. 34 shown with some components removed;

FIG. 46 is a partial front view of the transmission assembly and housing assembly of FIG. 34;

FIG. 47 is an end sectional view of the transport assembly of FIG. 34 taken along line 47-47 of FIG. 46;

FIG. 47A is a partial cross-sectional view of the first slider of the slider assembly of FIG. 43 taken along line 47A-47A in FIG. 47, illustrating a closure system emergency assist device;

FIG. 47B is a partial cross-sectional view of the first slider of FIG. 47A taken along line 47A-47A in FIG. 47, shown in a closed or clamped configuration;

FIG. 47C is a partial cross-sectional view of the first slide of FIG. 47A taken along line 47A-47A of FIG. 47, illustrating the closure system emergency assist device in a released configuration;

FIG. 48 is a partial perspective view of the surgical instrument of FIG. 33 illustrating the end effector of the shaft assembly of FIG. 34 in a closed or clamped configuration;

FIG. 49 is a partial perspective view of the surgical instrument of FIG. 33, showing the end effector of FIG. 48 in an open or unclamped configuration and the closure system emergency assistance device of FIG. 47A in the release configuration of FIG. 47C;

FIG. 50 is a bottom view, partially in section, of the transfer assembly of FIG. 34;

FIG. 51 is a partial perspective view of the housing assembly of FIG. 34 showing some components of the firing system removed;

FIG. 52 is a partial perspective view of the housing assembly of FIG. 34 illustrating a firing system emergency assistance device;

FIG. 53 is a partial cross-sectional view of the housing assembly of FIG. 34 illustrating the firing system emergency assistance device of FIG. 52 in an actuated configuration;

FIG. 54 illustrates a portion of the firing system of FIG. 51 and the emergency assistance device of the firing system of FIG. 52;

FIG. 55 shows the firing system emergency assistance device of FIG. 52 in a released configuration;

FIG. 56 illustrates the firing system emergency assistance device of FIG. 52 in the actuated configuration of FIG. 53;

FIG. 57 is a partial bottom perspective view of the housing assembly of FIG. 34 illustrating the emergency assist door in a closed configuration;

FIG. 58 is a partial bottom perspective view of the housing assembly of FIG. 34 showing the emergency assist door of FIG. 57 in an open configuration;

FIG. 59 is a cross-sectional end view of the housing assembly of FIG. 34 showing the emergency assist door of FIG. 57 in the closed configuration of FIG. 57;

FIG. 60 is a cross-sectional end view of the housing assembly of FIG. 34 showing the emergency assist door of FIG. 57 in the open configuration of FIG. 58;

FIG. 61 is a partial bottom cross-sectional view of the housing assembly of FIG. 34 showing the emergency assist door of FIG. 57 in the closed configuration of FIG. 57;

FIG. 62 is a bottom plan view of the surgical instrument of FIG. 33, showing the end effector of FIG. 48 in an articulated configuration and the panic assist door of FIG. 57 in the open configuration of FIG. 58;

FIG. 63 is a bottom plan view of the surgical instrument of FIG. 33, illustrating the end effector of FIG. 48 articulated in the opposite direction and the panic assist door of FIG. 57 in the open configuration of FIG. 58;

FIG. 64 is a bottom plan view of the surgical instrument of FIG. 33 illustrating the articulation emergency assistance system actuated to move the end effector of FIG. 48 to an unarticulated configuration;

FIG. 65 is a partial perspective view of the surgical instrument of FIG. 33 with some components removed illustrating the articulation emergency assistance system of FIG. 64 in a disengaged configuration;

FIG. 65A is a partial perspective view of the surgical instrument of FIG. 33 with some components removed illustrating the articulation emergency assistance system of FIG. 64 in the disengaged configuration of FIG. 65;

FIG. 66 is a partial perspective view of the surgical instrument of FIG. 33 with some components removed illustrating the articulation emergency assistance system of FIG. 64 in an engaged configuration;

FIG. 67 is a perspective view of a surgical instrument assembly including a surgical instrument and a sterile adapter, wherein the surgical instrument is configured to be attached to and detached from the sterile adapter, and wherein the surgical instrument is shown in a pre-assembled state, in accordance with at least one embodiment;

FIG. 68 is a perspective view of a drive system of the surgical instrument of FIG. 67;

FIG. 69 is a cut-away perspective view of the surgical instrument assembly of FIG. 67;

FIG. 70 is a cut-away perspective view of the surgical instrument assembly of FIG. 67, with the surgical instrument shown in a partially attached state;

FIG. 71 is a cut-away perspective view of the surgical instrument assembly of FIG. 67, with the surgical instrument shown in a fully attached state;

FIG. 72 is a perspective view of a surgical instrument assembly including a surgical instrument and a sterile adapter, wherein the surgical instrument is configured to be attached to and detached from the sterile adapter, and wherein the surgical instrument is shown in a pre-assembled state, in accordance with at least one embodiment;

FIG. 73 is a cut-away perspective view of the surgical instrument assembly of FIG. 72;

FIG. 74 is a cut-away perspective view of the surgical instrument assembly of FIG. 72, with the surgical instrument shown in a partially attached state;

FIG. 75 is a cut-away perspective view of the surgical instrument assembly of FIG. 72, with the surgical instrument shown in a fully attached state;

FIG. 76 is a cut-away perspective view of the surgical instrument assembly of FIG. 72, with the surgical instrument shown in a partially separated state;

FIG. 77 is a cut-away perspective view of the surgical instrument assembly of FIG. 72, with the surgical instrument shown in a disassembled state; and

fig. 78 is a perspective view of the surgical robot.

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 incorporated herein by reference in its entirety:

U.S. patent application Ser. No. __________ entitled "METHOD FOR OPERATING A SURGICAL SYSTEM BAILOUT"; attorney docket number END8172 USNP/170111M;

-U.S. patent application serial No. ________ entitled "SURGICAL SYSTEM SHAFT INTERCONNECTION"; attorney docket number END8173 USNP/170114; and

U.S. patent application Ser. No. __________ entitled "SURGICAL SYSTEM COMPRISING AN ARTICULATION BAILOUT"; attorney docket number END8175 USNP/170113.

The applicant of the present application owns the following U.S. patent applications filed 2017 on 28/6 and each incorporated herein by reference in its entirety:

-U.S. patent application Ser. No. 15/635,693 entitled "SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT";

U.S. patent application Ser. No. 15/635,729 entitled "SURGICAL INSTRUMENT COMPLIMENTING AN ARTICULATION SYSTEM RATIO";

U.S. patent application Ser. No. 15/635,785 entitled "SURGICAL INSTRUMENT COMPLIMENTING AN ARTICULATION SYSTEM RATIO";

U.S. patent application Ser. No. 15/635,808 entitled "SURGICAL INSTRUMENT COMPLISING FIRING MEMBER SUPPORTS";

-U.S. patent application Ser. No. 15/635,837 entitled "SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM TO A FRAME";

U.S. patent application Ser. No. 15/635,941 entitled "SURGICAL INSTRUMENT COMPLIMENTING AN ARTICULATION SYSTEM BY A CLOSURE SYSTEM";

-U.S. patent application serial No. 15/636,029 entitled "minor incorporation a shift incorporation a usage garrangement";

-U.S. patent application Ser. No. 15/635,958 entitled "SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTIVATED COUPLERS";

U.S. patent application Ser. No. 15/635,981 entitled "SURGICAL STAPLING INSTRUMENTS COMPLEMENTING SHORTED STAPLECARTRIDGE NOSES";

U.S. patent application Ser. No. 15/636,009 entitled "SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE PROFILE";

-U.S. patent application serial No. 15/635,663 entitled "METHOD FOR organizing a SURGICAL INSTRUMENT";

U.S. patent application Ser. No. 15/635,530 entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH THAXIALLY SHORTED ARTICULATION JOINT CONFIGURATIONS";

U.S. patent application Ser. No. 15/635,549 entitled "SURGICAL INSTRUMENTS WITH OPEN AND CLOSURE JAWS AND AXIALLYMOVABLE FILING MEMBER THAT IS INITIALLY PARKED IN CLOSURE PROXIMITY TO THE JAWSPRIOR TO FILING";

U.S. patent application Ser. No. 15/635,559 entitled "SURGICAL INSTRUMENTS WITH JAWS CONSTRATIONATED TO PIVOT ABOUT ANAXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSURE PROXIMITY TOTHEE PIVOT AXIS";

-U.S. patent application serial No. 15/635,578 entitled "SURGICAL END EFFECTORS WITH IMPROVED JAW APERTUREARRANGEMENTS";

-U.S. patent application Ser. No. 15/635,594 entitled "SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVILWITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT AXIS";

-U.S. patent application Ser. No. 15/635,612 entitled "JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICALENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICALIN STRUCTURENT JAW";

U.S. patent application Ser. No. 15/635,621 entitled "SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES";

U.S. patent application Ser. No. 15/635,631 entitled "SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER";

-U.S. patent application serial No. 15/635,521 entitled "SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT";

-U.S. design patent application serial No. 29/609,083 entitled "SURGICAL INSTRUMENT SHAFT";

U.S. design patent application serial No. 29/609,087 entitled "SURGICAL FORMING ANVI";

-U.S. design patent application serial No. 29/609,093 entitled "SURGICAL FASTENER CARTRIDGE";

-U.S. design patent application serial No. 29/609,121 entitled "SURGICAL INSTRUMENT";

-U.S. design patent application serial No. 29/609,125 entitled "SURGICAL INSTRUMENT";

-U.S. design patent application serial No. 29/609,128 entitled "SURGICAL INSTRUMENT"; and

U.S. design patent application Ser. No. 29/609,129 entitled "DISPLAY SCREEN PORTION OF A SURGICAL INSTRUMENT HAVING AGRAPHICAL USER INTERFACE".

The applicant of the present application owns the following U.S. patent applications filed 2017 on 27/6 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/634,024 entitled "SURGICAL ANVIL MANUFACTURING METHODS";

-U.S. patent application serial No. 15/634,035 entitled "SURGICAL ANVIL ARRANGEMENTS";

-U.S. patent application serial No. 15/634,046 entitled "SURGICAL ANVIL ARRANGEMENTS";

-U.S. patent application serial No. 15/634,054 entitled "SURGICAL ANVIL ARRANGEMENTS";

-U.S. patent application serial No. 15/634,068 entitled "SURGICAL FIRING MEMBER ARRANGEMENTS";

-U.S. patent application serial No. 15/634,076 entitled "stable formation POCKET arget argements";

-U.S. patent application serial No. 15/634,090 entitled "stable formation POCKET arget argements";

-U.S. patent application serial No. 15/634,099 entitled "SURGICAL END EFFECTORS AND ANVILS"; and

U.S. patent application Ser. No. 15/634,117 entitled "ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS".

The applicants of the present application own the following U.S. patent applications filed on 21/12/2016 and 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 ASSEMBLED LINESTEREOF";

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

-U.S. patent application serial No. 15/386,221 entitled "LOCKOUT arragements FOR minor END efffectors";

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

-U.S. patent application serial No. 15/386,198 entitled "LOCKOUT arragements FOR minor END effects and minor TOOL associations";

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

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

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

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

-U.S. patent application serial No. 15/385,950 entitled "minor teeth WITH close STROKE mechanism details";

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

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

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

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

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

-U.S. patent application serial No. 15/385,955 entitled "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPARAMENTS";

U.S. patent application Ser. No. 15/385,948 entitled "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING 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 PREVENTINGFIRING SYSTEM ACTION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT";

-U.S. patent application serial No. 15/385,947 entitled "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES 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 DIFFERENTYLES OF STAPLES";

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

-U.S. patent application serial No. 15/385,901 entitled "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL compris ingwindows 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/ORSPENT CARTRIDGE LOCKOUT";

-U.S. patent application serial No. 15/385,905 entitled "fixing ASSEMBLY assembling a LOCKOUT";

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

-U.S. patent application serial No. 15/385,908 entitled "fixing ASSEMBLY assembling a FUSE";

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

-U.S. patent application serial No. 15/385,920 entitled "stable formation POCKET arget argements";

-U.S. patent application serial 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 OFSTAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT";

-U.S. patent application serial No. 15/385,893 entitled "bialterall ASYMMETRIC STAPLE formatting POCKET pair";

-U.S. patent application serial No. 15/385,929 entitled "close measure WITH CAM SURFACE area FOR SURFACE lines measure WITH SEPARATE AND DISTINCT close AND FIRING SYSTEMS";

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

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

-U.S. patent application serial No. 15/385,917 entitled "STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT clamingbudardhs";

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

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

-U.S. patent application serial No. 15/385,915 entitled "fixing 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 serial No. 15/385,924 entitled "SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS";

-U.S. patent application serial No. 15/385,912 entitled "minor appliances WITH JAWS THAT ARE able to pivot a bout AFIXED AXIS AND index SEPARATE AND DISTINCT close AND FIRING SYSTEMS";

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

-U.S. patent application serial No. 15/385,906 entitled "fixing MEMBER PIN CONFIGURATIONS";

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

-U.S. patent application serial No. 15/386,192 entitled "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPSETTING featurs";

-U.S. patent application serial No. 15/386,206 entitled "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER replacement patents";

-U.S. patent application Ser. No. 15/386,226 entitled "DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES BLIESOF 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 PORTION FOR DEPOSABLE LOADING UNIT FOR SURGICAL STAPLING INSTRUMENTS";

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

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

-U.S. patent application Ser. No. 15/385,890 entitled "SHAFT ASSEMBLY COMPRISING SEPARATELY ACTIVABLE ANDRETRACTABLE SYSTEMS";

-U.S. patent application Ser. No. 15/385,891 entitled "SHAFT ASSEMBLY COMPRISING A CLUTCH CONGURED TO ADAPT THEUTPUT 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 ANARTICULATE STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM";

-U.S. patent application serial No. 15/385,894 entitled "SHAFT association comprisinga locout";

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

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

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

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

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

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

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

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

U.S. patent application Ser. No. 15/385,928 entitled "PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN AMOYABLE 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 GFEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS";

-U.S. patent application serial No. 15/385,932 entitled "article subaltern minor END EFFECTOR WITH ASYMMETRIC SHAFTARRANGEMENT";

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

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

-U.S. patent application serial No. 15/385,935 entitled "LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FORLOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATEDCONFIGURATION"; and

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

the applicants of the present application have the following U.S. patent applications filed on 24/6/2016 and each of which is incorporated herein by reference in its entirety:

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

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

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

-U.S. patent application serial No. 15/191,788 entitled "STAPLE CARTRIDGE comprisingoverdriven stamps"; and

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

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

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

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

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

The applicants of the present application have the following patent applications filed on 1/4/2016 and each of which is incorporated herein by reference in its 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 serial No. 15/089,326 entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD";

-U.S. patent application serial No. 15/089,263 entitled "minor inertia based ASSEMBLY WITH robust mounting grid;

-U.S. patent application serial No. 15/089,262 entitled "rolling POWERED minor actuation WITH manual actuation lever SYSTEM";

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

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

-U.S. patent application serial 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 selection OF information 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 SPECT CARTRIDGELOCKOUT";

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

-U.S. patent application Ser. No. 15/089,335 entitled "SURGICAL STAPLING INSTRUMENTS COMPLEMENTING MULTIPLE LOCKOUTS";

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

-U.S. patent application serial No. 15/089,253 entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO applied annual ROWS OFSTAPLES 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 serial No. 15/089,336 entitled "STAPLE CARTRIDGES WITH atraumatc featurs";

-U.S. patent application serial No. 15/089,312 entitled "CIRCULAR STAPLING SYSTEM comprisingan available tisssuupport";

-U.S. patent application serial No. 15/089,309 entitled "CIRCULAR STAPLING SYSTEM comprisingrotary 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 has the following identified U.S. patent applications filed on 31/12/2015 and each incorporated herein by reference in its entirety:

-U.S. patent application serial No. 14/984,488 entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INPOWERED SURGICAL INSTRUMENTS";

-U.S. patent application serial No. 14/984,525 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS"; and

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

The applicant of the present application also owns the following identified U.S. patent applications filed in february 9 of 2016, 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 AXIALLYTRANSLATABLE END EFFECTOR";

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

-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 ELONGGATE SHAFT ASSEMBLY";

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

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

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

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

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

The applicant of the present application also owns the following identified U.S. patent applications filed on 12.2.2016, each of which is incorporated herein by reference in its entirety:

-U.S. patent application serial No. 15/043,254 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,259 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS";

-U.S. patent application serial No. 15/043,275 entitled "MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS"; and

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

The applicants of the present application have the following patent applications filed on 18/6/2015 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/742,925 entitled "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING GARRANGEMENMENTS", now U.S. patent application publication 2016/0367256;

U.S. patent application Ser. No. 14/742,941 entitled "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSINGFATURES", now U.S. patent application publication 2016/0367248;

U.S. patent application Ser. No. 14/742,914 entitled "Movable filing bed SUPPORT FOR easily organizing and organizing appliances 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 BEAMS 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 ARTICULATABLESSURGICAL INSTRUMENTS," now U.S. patent application publication 2016/0367245.

The applicants of the present application have the following patent applications filed 3/6/2015 and each incorporated herein by reference in its entirety:

U.S. patent application serial No. 14/640,746 entitled "POWERED minor instroment," 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 POWER REDSURGICAL INSTRUMENTS," now U.S. patent application publication 2016/02561185;

U.S. patent application Ser. No. 14/640,832 entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADAJUST CLOSURES FOR MULTIPLE TISSUE TYPE", now U.S. patent application publication 2016/0256154;

U.S. patent application Ser. No. 14/640,935 entitled "OVERAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TOMEASURE 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 INCREASING OF MOTORFOR POWER SURGICAL INSTRUMENTS", now U.S. patent application publication 2016/0256153;

-U.S. patent application Ser. No. 14/640,859 entitled "TIME DEPENDENT EVALTION OF SENSOR DATA TO DETERMINEMITABILITY, CREPE, AND VISCELATIC ELEMENTS OF MEASURES", now U.S. patent application publication 2016/0256187;

-U.S. patent application serial No. 14/640,817 entitled "INTERACTIVE FEEDBACKSYSTEM 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-INSERTION OF A STAPLE CARTRIDGEINTO A SURGICAL STAPLE/FASTENER," now U.S. patent application publication 2016/0256160;

-U.S. patent application serial No. 14/640,799 entitled "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON available shift short", 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 applicants of the present application have the following patent applications filed on day 27 of month 2 of 2015 and each of which is incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/633,576 entitled "SURGICAL INSTRUMENT SYSTEM COMPLISING AN INSPECTION STATION", now U.S. patent application publication 2016/0249919;

-U.S. patent application Ser. No. 14/633,546 entitled "SURGICAL APPATUS CONFIRED TO ASSESS WHETHER A PERFORMANCE PARAMETER OF THE SURGICAL APPATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND", now U.S. patent application publication 2016/0249915;

U.S. patent application Ser. No. 14/633,560 entitled "SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONEOR 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 RESOLUTION FOR RCHARGING A BATTERY", now U.S. patent application publication 2016/0249918;

U.S. patent application Ser. No. 14/633,555 entitled "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENTS NEEDS TOBE SERVICED," now U.S. patent application publication 2016/0249916;

U.S. patent application Ser. No. 14/633,542 entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249908;

U.S. patent application Ser. No. 14/633,548 entitled "POWER ADAPTER FOR A SURGICAL INSTRUMENT," now U.S. patent application publication 2016/0249909;

-U.S. patent application serial No. 14/633,526 entitled "adaptive minor insert 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 2016/0249927; and

-U.S. patent application serial No. 14/633,562 entitled "SURGICAL APPATUS CONFIGURED TO TRACK AN END-OF-LIFEPARAMETER", now U.S. patent application publication 2016/0249917;

the applicants of the present application own the following patent applications filed on 12/18/2014 and each incorporated herein by reference in its entirety:

U.S. patent application Ser. No. 14/574,478 entitled "SURGICAL INSTRUMENT SYSTEM COMPLEMENTS SYSTEM ENDEFECTOR AND MEANS FOR ADJUSE 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 COMPLEMENTING LOCKABLE SYSTEMS", now U.S. patent application publication 2016/0174969;

-U.S. patent application serial No. 14/575,139 entitled "DRIVE ARRANGEMENTS FOR article minor applications," now U.S. patent application publication 2016/0174978;

-U.S. patent application serial No. 14/575,148 entitled "LOCKING argemenets FOR detecting short SHAFT electromagnetic assembly END effects", 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 ANDMOVABLE 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 ARTICULATED END EFFECTORS AND DIDIMPROVED 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 COMPLEMENTING A FLEXIBLEMENTICULATION SYSTEM"; now U.S. patent application publication 2016/0174970; and

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

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

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

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

-U.S. patent application serial No. 13/782,338 entitled "thumb wheel SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS," now U.S. patent application publication 2014/0249557;

-U.S. patent application serial No. 13/782,499 entitled "ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL relayargement," now U.S. patent application publication 9,358,003;

-U.S. patent application Ser. No. 13/782,460 entitled "MULTIPLE PROCESS 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 THROUGHTROCAR", now U.S. patent application publication 9,468,438;

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

U.S. patent application Ser. No. 13/782,375 entitled "ROTARY POWER SURGICAL INSTRUMENTS WITH MULTIPLE DESGREES OFFREE DOM," 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 2013, month 3, day 14 and each 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 SURGICALINSTRUNT", 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 SURGICALINSTRUNT", now U.S. patent application publication 2014/0263564;

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

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

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

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

U.S. patent application Ser. No. 13/803,117 entitled "ARTICULATION CONTROL FOR ARTICULATED SURGICAL STRUTRUNTS", 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 STRUCTURAL", 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 3/7/2014 and incorporated herein by reference in their entirety:

U.S. patent application Ser. No. 14/200,111 entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. Pat. No. 9,629,629.

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

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

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

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

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

U.S. patent application Ser. No. 14/226,075 entitled "MODULAR POWER SURGICAL INSTRUMENT WITH DETACHABLE SHAFT SSBLIES", 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 SURGICALINSTRUMENTS", 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 A SAFETYPROSSOR", now U.S. patent application publication 2015/0272578;

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

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

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

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

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

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

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

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

-U.S. patent application serial 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 TISSUECOMPRESSION," 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 SENSOR WITH ONE SENSOR AFFECTING A SECOND SENSOR' SOUTPUT OR INTERPRETATION", now U.S. patent application publication 2016/0066909;

-U.S. patent application Ser. No. 14/479,110 entitled "polar 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 POWER MEDICAL DEVICE", now U.S. patent application publication 2016/0066916; and

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

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

U.S. patent application Ser. No. 14/248,590 entitled "MOTOR DRIVE SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVESHAFTS", 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 FIRINGDRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", now U.S. patent 9,649,110;

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

U.S. patent application Ser. No. 14/248,588 entitled "POWER 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 ALIGNMENTFEATURES 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 "POWER 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 SURGICALINSTRUNT", now U.S. patent application publication 2014/0305990; and

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

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

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

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

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

-U.S. provisional patent application serial No. 61/812,385 entitled "minor ACTUATION HANDLE WITH major ACTUATION motor and valve CONTROL"; and

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

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

The terms "comprise" (and any form of "comprising", such as "comprises" and "comprising)", "have" (and "have)", such as "have" and "have)", "contain" (and "contain)", and "contain" (and "contain" any form of "containing", such as "contain" and "contain", are open-ended verbs. Thus, a surgical system, device, or apparatus that "comprises," "has," "contains," or "contains" one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, 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 be further appreciated that for simplicity and clarity, spatial terms such as "vertical," "horizontal," "up," and "down" may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein may be used in a variety of surgical procedures and applications, including, for example, in conjunction with open 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, and the like. The working portion or end effector portion of the instrument may be inserted directly into a patient or may be inserted through an access device having a working channel through which the end effector and elongate shaft of the surgical instrument may be advanced.

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

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Staples removably stored in the cartridge body can then be deployed into tissue. The cartridge body includes staple cavities defined therein, wherein the staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of the longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of the staple cavities and staples are 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 the staples from the staple cartridge. The drive is retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and comprises an elastic member configured to grip the cartridge body and to retain the retainer to the cartridge body. The drive device is movable between its unfired position and its fired position by the sled. The slider is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled includes a plurality of ramp surfaces configured to slide under and lift the drive device toward the anvil and the staples are supported on the drive device.

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

A surgical instrument 1000 is shown in fig. 1-32. The surgical instrument 1000 comprises a surgical stapling instrument configured for use with a robotic surgical system. Various robotic SURGICAL systems are disclosed in U.S. patent 2012/0298719 entitled "SURGICAL station inserting INSTRUMENTS WITH robot station DEPLOYMENT arms", filed on 27.5.2011, which is now U.S. patent 9,072,535, the entire disclosure of which is incorporated herein by reference. Referring primarily to fig. 1 and 2, the surgical instrument 1000 includes a housing assembly 2000 configured to be attached to a robotic surgical system, and additionally includes a transmission assembly 3000 mounted to the housing assembly 2000. The surgical instrument 1000 also includes a shaft assembly 4000 that is attachable to the transmission assembly 3000. In use, the robotic surgical system may transmit rotational and/or linear inputs to the housing assembly 2000 and/or the transmission assembly 3000 to operate the shaft assembly 4000, as described in more detail below.

The shaft assembly 4000 includes, among other things, a shaft 4100 and an end effector 4200. The end effector 4200 includes a first jaw 4210 comprising, for example, a cartridge channel configured to receive a staple cartridge, such as the staple cartridge 4230. The end effector 4200 further includes a second jaw 4220 comprising an anvil configured to deform the staples of the staple cartridge. The second jaw 4220 is rotatable relative to the first jaw 4210 between an open, undamped position (fig. 9) and a closed, clamped position (fig. 10). The shaft assembly 4000 also includes a closure tube 4120 that is movable distally along the longitudinal axis LA of the shaft 4100 to close the second jaw 4220. As described in more detail below, the transmission assembly 3000 is operably coupled to a first linear input of the robotic surgical system that is configured to distally advance the closure tube 4120 and to close the second jaw 4220 to clamp the end effector 4200 to tissue of a patient. The transmission assembly 3000 is also operably coupled to a second linear input of the robotic surgical system that is configured to push the closure tube 4120 proximally and to open or unclamp the second jaw 4220. The first and second linear inputs of the robotic surgical system may be selectively actuated as needed to open and close the end effector 4200.

In various alternative embodiments, the first jaw 4210 can be rotatable relative to the second jaw 4220. In such embodiments, both jaw movement and staple firing movement occur on the same side of the end effector.

The shaft assembly 4000 also includes an articulation joint 4300 that rotationally connects the end effector 4200 to the shaft 4100. As described in more detail below, the transmission assembly 3000 is operably coupled to a third linear input of the robotic surgical system that is configured to articulate the end effector 4200 in a first direction, such as to the right (fig. 11), for example. Transmission assembly 3000 is operably coupled to a fourth linear input of the robotic surgical system configured to articulate end effector 4200 in a second direction, such as to the left, for example. In use, the third and fourth linear inputs of the robotic surgical system can be selectively actuated as needed to rotate the end effector 4200 between an unarticulated configuration (fig. 12) and an articulated configuration, or between two different articulated configurations, in order to properly position the end effector 4200 within the surgical site relative to the tissue of the patient.

Shaft assembly 4000 can also be rotated about longitudinal axis LA to position end effector 4200 within the surgical site relative to the tissue of the patient. As discussed in more detail below, the shaft assembly 4000 is rotationally supported by the housing 3100 of the transmission assembly 3000 and operably coupled with the end effector rotary drive system 2900 in the housing assembly 2000. The end effector rotational drive system 2900 includes a drive input accessible through an opening 2180 defined on the housing 2100 of the housing assembly 2000. When the surgical instrument 1000 is assembled to the robotic surgical system, the end effector rotational drive system 2900 is operably coupled to a first rotational input of the robotic surgical system. When the drive input of the end effector rotary drive system 2900 rotates in a first direction, the shaft assembly 4000 rotates in a first direction (such as clockwise) about the longitudinal axis LA. When the drive input of the end effector drive system 2900 rotates in a second or opposite direction, the shaft assembly 4000 rotates about the longitudinal axis LA in a second direction (such as counterclockwise). The end effector drive system 2900 can be selectively operated as many times in the first and second directions as needed to properly position the end effector 4200 relative to the target tissue.

The shaft assembly 4000 further comprises a staple firing system configured to eject staples from the staple cartridge 4230. The staple firing system of the shaft assembly 4000 is operably coupled with the staple firing drive system 2500 in the housing assembly 2000. The staple firing drive system 2500 includes a drive input that is accessible through an opening 2150 defined in the housing 2100 of the housing assembly 2000. When the surgical instrument 1000 is assembled to the robotic surgical system, the staple firing drive system 2500 is operably coupled to a second rotational input of the robotic surgical system. When the drive input of the staple firing drive system 2500 is rotated in a first direction, the firing bar of the staple firing system is advanced distally through, or at least partially through, the staple firing stroke. When the drive input to the staple firing drive system 2500 is rotated in a second or opposite direction, the firing bar is retracted proximally through a retraction stroke. In various circumstances, if desired, the at least partially fired or depleted staple cartridge 4230 can be replaced with an unspent staple cartridge and the staple firing system 2500 can be operated again to perform another staple firing stroke.

During various surgical procedures, end effector 4200 of surgical instrument 4000 is placed in a closed and unarticulated configuration and then inserted through a trocar into a surgical site within a patient's body. In various instances, the trocar includes a tube including a sharpened tip at a distal end thereof configured to be pushed through an incision in a patient and a sealing port at a proximal end thereof configured to sealingly receive the end effector 4200 and to seal against the shaft 4100 of the surgical instrument 1000. Once the end effector 4200 is positioned at the surgical site by the robotic surgical system, the shaft assembly 4000 may be rotated about its longitudinal axis LA to properly orient the end effector 4200. Once the articulation joint 4000 of the shaft assembly 4300 clears the distal end of the trocar, the end effector 4200 may be articulated. In many instances, the end effector 4200 is rotated about the longitudinal axis LA prior to the end effector 4200 being articulated about the articulation joint 4300; however, in some instances, it may be possible to articulate the end effector about the articulation joint 4300 prior to and/or while the end effector 4200 is rotated about the longitudinal axis LA.

In many instances, the end effector 4200 is in its closed configuration when rotated and/or articulated as described above; however, in some cases, the end effector 4200 may be in its open configuration when rotated and/or articulated as described above. The robotic surgical system and/or surgical instrument 1000 may include one or more latches configured to prevent end effector 4200 from articulating and/or rotating when end effector 4200 is in its closed configuration. Such latches may be, for example, mechanical and/or electronic latches. Further, such an arrangement can reduce the likelihood of the end effector 4200 twisting patient tissue after clamping the end effector 4200 to the patient. Alternatively, the robotic surgical system and/or surgical instrument 1000 may include one or more latches configured or programmed to prevent rotation and/or articulation of end effector 4200 unless end effector 4200 is in its closed configuration. In any event, the end effector 4200 is opened by the robotic surgical system before the target tissue is positioned between the

jaws

4210 and 4220 of the end effector 4200 and then closed after the tissue is properly positioned between the jaws. The robotic surgical system is then operated or may be controlled to be configured to operate the staple firing system of the surgical instrument 1000 to perform a staple firing stroke. Similar to the above, the robotic surgical system and/or surgical instrument 1000 may include one or more mechanical and/or electronic latches configured to prevent execution of a staple firing stroke unless the end effector 4200 is in its closed or properly closed configuration.

Once the staple firing stroke is complete, or at least partially complete, the robotic surgical system may use the staple firing system 2500 to retract the firing bar of the staple firing system. In various circumstances, the robotic surgical system and/or surgical instrument 1000 can include one or more latches configured to prevent the second jaw 4220 from being opened until the firing member is fully or at least fully retracted. That is, the surgical instrument 1000 may include one or more emergency assistance systems that may overcome such latches, as described in more detail below. Once the end effector 4200 has been released from the tissue, the robotic surgical system may be moved or controlled to move the end effector 4200 away from the tissue and again close and straighten the end effector 4200 before pulling the end effector 4200 back through the trocar. In various circumstances, the robotic surgical system may retract the end effector 4200 fully out of the trocar, but in some circumstances, the surgical instrument 1000 may need to be separated from the robotic surgical instrument and manually removed from the trocar.

In some cases, the robotic surgical system and surgical instrument 1000 may be used to perform open surgical procedures. In such procedures, a large incision is made in the patient's body to access the surgical site without the use of a trocar.

Additional details of the closure system, articulation system, rotation system, and staple firing system of the surgical instrument 1000 are provided below. However, in various circumstances, one or more of these systems may become dysfunctional during use. In addition, the robotic surgical system may become dysfunctional during use, which may prevent one or more systems of the surgical instrument 1000 from being operated or at least operating properly. As described in greater detail below, the surgical instrument 1000 includes a panic assist system configured to manually operate the surgical instrument 1000, at least to some extent, so as to allow a clinician to perform operations such as removing the surgical instrument 1000 from a surgical site. Such manually operated emergency assistance systems also facilitate manipulation of the surgical instrument 1000 when the surgical instrument 1000 is detached from the surgical robotic system.

As described above, the transmission assembly 3000 of the surgical instrument 1000 is configured to receive four linear inputs from the robotic surgical system. That is, other embodiments are contemplated in which the transmission assembly of the surgical instrument includes more or less than four linear inputs. Referring primarily to fig. 21-29, the transmission assembly 3000 includes a slider assembly 3700 configured to transmit the four linear motions provided by the robotic surgical system to the end effector closure and articulation system of the surgical instrument 1000. More specifically, the slider assembly 3700 includes a first slider 3710 and a second slider 3720 configured to receive first and second linear inputs, respectively, of a robotic surgical system to operate the closure system of the surgical instrument 1000. The slider assembly 3700 also includes a third slider 3730 and a fourth slider 3740 that are configured to receive a third linear input and a fourth linear input, respectively, of the robotic surgical system to operate the articulation system of the surgical instrument 1000.

Referring primarily to fig. 21-29, the first slider 3710 includes a first input socket or cup 3712 extending therefrom. The first input socket 3712 is configured to be pushed proximally by a first linear actuator of the robotic surgical system in order to push the first slider 3710 proximally. Notably, the first linear actuator is not attached to the first input socket 3712 in a manner that allows the first linear actuator to pull the first slider 3710 distally. Similarly, the second slider 3720 includes a second input socket or cup 3722 extending therefrom. The second input socket 3722 is configured to be pushed proximally by a second linear actuator of the robotic surgical system to push the second slider 3720 proximally. Notably, the second linear actuator is not attached to the second input socket 3722 in a manner that allows the second linear actuator to pull the second slider 3720 distally. Referring to fig. 27-29, the housing 3100 of the transmission assembly 3000 is configured to constrain the motion of the

sliders

3710 and 3720 to a longitudinal, or at least substantially longitudinal, path within the housing 3100.

In addition to the above, referring to fig. 21-25, first slider 3710 includes a first longitudinal rack 3716 defined thereon. Similarly, second slider 3720 includes a second longitudinal rack 3726 defined thereon. First longitudinal spline 3716 is parallel, or at least substantially parallel, to second longitudinal spline 3726. The first longitudinal rack 3716 is operably coupled to the second rack 3726 by the pinion 2896 such that when the first slider 3710 is pushed proximally by the robotic surgical system, the second slider 3720 is pushed distally by the first slider 3710. Correspondingly, as the second slider 3720 is pushed proximally by the robotic surgical system, the first slider 3710 is pushed distally by the second slider 3720. In either case, the pinion 2896 rotates about an axis defined by a shaft or pin 2890 extending therefrom. As discussed in more detail below, the pinion 2896 can be moved away from the

racks

3716 and 3726 to operably decouple the first slider 3710 and the second slider 3720 (fig. 25), thereby allowing the

sliders

3710 and 3720 to be operated independently of each other to manually assist in the closure system of the surgical instrument 1000.

In addition to the above, referring to fig. 13-13D, second slider 3720 includes a drive portion 3724 coupled to drive disk 3820. More specifically, referring primarily to fig. 13A and 13B, the drive portion 3724 of the second slider 3720 engages an annular groove 3824 defined on the drive disc 3820. As second slider 3720 is pushed proximally by the robotic surgical system, second slider 3720 pushes drive disk 3820 proximally. Similarly, as second slider 3720 is moved distally, second slider 3720 pushes drive disk 3820 distally. In addition, drive disk 3820 may rotate relative to second slider 3720. Thus, as the shaft assembly 4000 rotates about the longitudinal axis LA, the drive disk 3820 may rotate with the shaft assembly 4000 and relative to the second slider 3720. As will be described in greater detail below, the drive disk 3820 is part of a drive disk array 3800 configured to perform various functions of the surgical instrument 4000. It is noted that first slider 3710 does not directly engage any of the drive disks of drive disk array 3800. Instead, first slider 3710 is engaged with drive disk 3820 only via pinion 2896 and second slider 3720.

Referring to fig. 13C, the drive disc 3820 is mounted to the closure tube 3120 of the transmission assembly 3000. More specifically, the closure tube 3120 includes a hexagonal tube portion 3128 extending through a hexagonal hole defined on the drive plate 3820 that is mounted to the drive plate 3820 via a set screw. The closure tube 3120 is mounted to the drive disk 3820 such that the closure tube 3120 and the drive disk 3820 translate and rotate together. In use, the closure tube 3120 can be moved from a proximal position (fig. 13C) to a distal position (fig. 13D) during a closure stroke of closing the second jaw 4220 of the end effector 4200. Correspondingly, during an opening stroke that opens the second jaw 4220, the closure tube 3120 may be moved from a distal position (fig. 13D) to a proximal position (fig. 13C). The housing 3100 of the transmission assembly 3000 is configured to limit the closing and opening strokes of the closure tube 3120. More specifically, the transmission assembly housing 3100 includes a cavity 3116 defined therein that includes a distal end wall configured to limit a closing stroke and a proximal end wall configured to limit an opening stroke. A flange or stop 3126 extending from the closure tube 3120 is configured to engage the distal end wall and the proximal end wall during a closure stroke and an opening stroke, respectively.

In addition to the above, the closure tube 3120 of the transmission assembly 3000 does not directly engage the second jaw 4220. In contrast, referring primarily to FIG. 3, the closure tube 3120 is operably coupled with a closure tube 4120 that engages the shaft assembly 4000 of the second jaw 4220. The closure tube 3120 includes a distal end 3122 that is configured to mate with the proximal end 4122 of the closure tube 4120 such that the closure tube 3120 and the closure tube 4120 translate and rotate together. Referring primarily to fig. 6, the closure tube 4120 includes an elongate tube portion 4123 and, additionally, a distal tube portion 4128 rotatably connected to a distal end 4124 of the elongate tube portion 4123. More specifically, the distal tube segment 4128 is rotationally connected to the elongate tube segment 4123 by one or more couplings 4126 configured to allow the end effector 4200 to articulate relative to the shaft 4100. Referring primarily to fig. 9 and 10, the distal tube segment 4128 includes a cam 4129 defined thereon that is configured to engage a cam surface 4229 defined on the second jaw 4220 and to rotate the second jaw 4220 from an open, undamped position (fig. 9) to a closed, clamped position (fig. 10) as the closure tube 4120 is advanced distally. Referring to fig. 11 and 12, the distal tube segment 4125 includes one or more windows 4127 defined therein and the second jaw 4220 includes one or more protrusions 4227 extending into the windows 4127. When the closure tube 4120 is retracted proximally, the distal end walls of the windows 4127 engage the projections 4227 of the second jaw 4220 and rotate the second jaw 4220 from a closed, clamped position (fig. 10) to an open, unclamped position (fig. 9).

Referring again to fig. 21-29, the third slider 3730 of the slider assembly 3700 includes a third input socket or cup 3732 extending therefrom. The third input socket 3732 is configured to be pushed proximally by a third linear actuator of the robotic surgical system in order to push the third slider 3730 proximally. Notably, the third linear actuator is not attached to the third input socket 3732 in a manner that allows the third linear actuator to pull the third slider 3730 distally. Similarly, the fourth slider 3740 includes a fourth input socket or cup 3742 extending therefrom. The fourth input socket 3742 is configured to be pushed proximally by a fourth linear actuator of the robotic surgical system to push the fourth slider 3740 proximally. Notably, the fourth linear actuator is not attached to the fourth input socket 3742 in a manner that allows the fourth linear actuator to pull the fourth slider 3740 distally. Referring primarily to fig. 27-29, the housing 3100 of the transmission assembly 3000 is configured to constrain the motion of the

sliders

3730 and 3740 to a longitudinal, or at least substantially longitudinal, path within the housing 3100.

In addition to the above, referring primarily to fig. 13C, 13D, and 28, the drive disc array 3800 further includes drive discs 3830 and drive discs 3840. The third slider 3730 includes a drive portion 3734 that engages an annular groove 3834 defined on the drive disk 3830. As the third slider 3730 is pushed proximally by the robotic surgical system, the third slider 3730 pushes the drive disc 3830 proximally. In addition, drive disk 3830 may rotate relative to third slider 3730. Thus, as the shaft assembly 4000 rotates about the longitudinal axis LA, the drive disk 3830 may rotate with the shaft assembly 4000 and relative to the slider 3730. Similarly, fourth slider 3740 includes a drive portion 3744 that engages an annular groove 3844 defined on drive disk 3840. As the fourth slider 3740 is pushed proximally by the robotic surgical system, the fourth slider 3740 pushes the drive disk 3840 proximally. In addition, drive disk 3840 may rotate relative to fourth slider 3740. Thus, as shaft assembly 4000 rotates about longitudinal axis LA, drive disk 3840 may rotate with shaft assembly 4000 and relative to fourth slider 3740.

Referring primarily to fig. 11, 12 and 28, the first articulation drive 3410 is mounted to a drive disk 3830. The first articulation drive 3410 includes a proximal end 3414 (fig. 7) that is secured to the drive disk 3830 such that the first articulation drive 3410 and the drive disk 3830 translate and rotate together. As the drive disk 3830 is moved proximally by the third slider 3730, the first articulation drive 3410 is pulled proximally, as described above, to articulate the end effector 4200 in a first direction or to the right (fig. 11). That is, the first articulation drive 3410 is not directly engaged with the end effector 4200. In contrast, referring primarily to fig. 6 and 7, the first articulation drive 3410 of the transmission assembly 3000 is operably coupled with the first articulation drive 4410 of the shaft assembly 4000, wherein the first articulation drive 4410 is directly engaged with the end effector 4200. The first articulation drive 4410 comprises a proximal end 4412 operably engaged with the distal end 3412 of the first articulation drive 3410 and further comprises a distal end 4414 operably engaged with the first jaw 4210 of the end effector 4200.

Referring primarily to fig. 29, the second articulation drive 3420 is mounted to a drive disk 3840. Second articulation drive 3420 includes a proximal end 3424 (fig. 7) that is secured to drive disk 3840 such that second articulation drive 3420 and drive disk 3840 translate and rotate together. As drive disk 3840 is moved proximally by fourth slider 3740, second articulation drive 3420 is pulled proximally, as described above, to articulate end effector 4200 in a second direction, or leftward. That is, the second articulation drive 3420 is not directly engaged with the end effector 4200. In contrast, referring primarily to fig. 6 and 7, the second articulation drive 3420 of the transmission assembly 3000 is operably coupled with the second articulation drive 4420 of the shaft assembly 4000, wherein the second articulation drive 4420 is directly engaged with the end effector 4200. The second articulation drive 4420 comprises a proximal end 4422 operably engaged with the distal end 3422 of the second articulation drive 3420 and further comprises a distal end 4424 operably engaged with the first jaw 4210 of the end effector 4200.

In addition to the above, referring again to fig. 29, as the first articulation drives 3410 and 4410 articulate the end effector 4200 to the right, the second articulation drives 3420 and 4420 are back driven by the end effector 4200. In other words, as first articulation drives 3410 and 4410, third slider 3730, and drive disk 3830 are pushed proximally, second articulation drives 3420 and 4420, fourth slider 3740, and drive disk 3840 are pulled distally. Correspondingly, when the

second articulation drive

3420 and 4420 articulate the end effector 4200 to the left, the

first articulation drive

3410 and 4410 is back driven by the end effector 4200. In other words, as the second articulation drives 3420 and 4420, the fourth slider 3740 and the drive disk 3840 are pushed proximally, the first articulation drives 3410 and 4410, the third slider 3730 and the drive disk 3830 are pulled distally.

The surgical instrument 1000 further comprises an articulation lock configured to lock the end effector 4200 in place and to prevent the end effector 4200 from articulating relative to the shaft 4100. The articulation lock includes a proximal locking portion 3610 (fig. 7) on the transmission assembly 3000 and a distal locking portion 4610 (fig. 6) on the shaft assembly 4000. The proximal locking portion 3610 includes a proximal end 3614 mounted to the drive disk 3820, and additionally includes a distal end 3612. Distal lock portion 4610 includes a proximal end 4612 engaged with distal end 3612 of proximal lock portion 3610, and additionally includes a distal end 4614 configured to engage first jaw 4210 of end effector 4200. As a result of the above, the articulation lock may move with the closure system of the surgical instrument 1000. More specifically, when the second slider 3720 is pushed proximally to open the second jaw 4220 of the end effector 4200, as described above, the articulation lock moves away from the end effector 4200 such that the end effector 4200 may be articulated about the articulation joint 4300. Further, when the first slider 3710 is pushed proximally to close the second jaw 4220 of the end effector 4200, the articulation lock moves toward the end effector 4200 to lock the end effector 4200 in place regardless of whether the end effector 4200 is in the articulated or unarticulated position.

As described above, the articulation lock of the surgical instrument 1000 is automatically actuated by the closure system. Thus, the end effector 4200 of the surgical instrument 1000 must be articulated into position before the end effector 4200 is placed in its closed configuration, or alternatively, the end effector 4200 must be reopened so that the end effector 4200 can be articulated again. In such cases, the end effector 4200 is unable to articulate when clamped to the patient tissue. In various alternative embodiments, the articulation lock of the surgical instrument may be actuated alone and not automatically by any other system of the surgical instrument. In such embodiments, the end effector of the surgical instrument may articulate when in the closed configuration and, thus, may be able to access a smaller space within the surgical site.

As described above, the

sliders

3710, 3720, 3730, and 3740 of the slider assembly 3700 may be pushed distally by a linear actuator of the robotic surgical system. In some cases, the linear actuator includes, for example, a solenoid that produces a linear output. In various instances, the linear actuator may include, for example, any suitable linear motor. As described above, the linear actuators of the robotic surgical system are configured to push, but not pull,

sliders

3710, 3720, 3730, and 3740. In various other embodiments, the actuators of the robotic surgical system are configured to push and/or pull the

sliders

3710, 3720, 3730, and 3740. In such instances, the actuators operating the

sliders

3710 and 3720 can cooperate to control the closure system of the surgical instrument, and similarly, the actuators operating the

sliders

3730 and 3740 can cooperate to control the articulation system of the surgical instrument.

As described above, the shaft assembly 4000 of the surgical instrument 1000 is rotatable relative to the housing assembly 2000 about its longitudinal axis LA. Referring primarily to fig. 20-23, 28, and 29, the housing assembly 2000 includes a rotary drive system 2900 configured to rotate the shaft assembly 4000 about the longitudinal axis LA. The rotary drive system 2900 includes a rotatable drive input 2980 that is operably engageable with a rotary output of the robotic surgical system. The rotatable drive input 2980 extends into an opening 2180 (fig. 22) defined on the housing 2100 of the housing assembly 2000. The drive input 2980 includes a shaft that is rotatably supported by the housing 2100 and is rotatable in a first direction to rotate the shaft assembly 4000 in the first direction about the longitudinal axis LA and rotatable in a second direction to rotate the shaft assembly 4000 in the second direction about the longitudinal axis LA, as discussed in more detail below.

In addition to the above, the rotary drive system 2900 includes a gear train configured to transmit rotation of the drive input 2980 to the output shaft 2940. The gear train includes a pinion gear 2970 fixedly mounted to the drive input 2980 and rotates with the drive input 2980. The gear train also includes an idler gear 2960 in meshing engagement with the pinion gear 2970, and additionally includes an output gear 2950 in meshing engagement with the idler gear 2960. An output gear 2950 is fixedly mounted to the output shaft 2940 and rotates with the output shaft 2940. The idler 2960 is rotationally mounted to the housing 2100, and the output shaft 2940 is rotationally supported by the housing 2100 of the housing assembly 2000 and/or the housing 3100 of the transmission assembly 3000. As a result of the above, when the robotic surgical instrument rotates the drive input 2980, the gear train transmits the rotation of the drive input 2980 to the output shaft 2940.

The rotary drive system 2900 also includes an elongated spur gear 2930 fixedly mounted to the output shaft 2940 and rotates with the output shaft 2940. The elongated spur gear 2930 is in meshing engagement with the ring gear 2920 fixedly mounted to the closure tube 3120 of the transmission assembly 3000 such that rotation of the output shaft 2940 is transmitted to the closure tube 3120. As described above, the closure tube 3120 is operably engaged with the closure tube 4120 of the shaft assembly 4000 such that the

closure tubes

3120 and 4120 rotate together. The closure tube 4120 is keyed to and/or otherwise sufficiently coupled to the shaft 4100, the end effector 4200, and other components of the articulation joint 4300 such that when the closure tube 4120 is rotated by the rotary drive system 2900, the closure tube 4120 rotates the entire shaft assembly 4000 about the longitudinal axis LA.

As described above, the elongated spur gear 2930 is configured to transmit the motion of the rotary drive system 2900 to the closure tube 3120 via the ring gear 2920. The spur gear 2930 is elongated such that the spur gear 2930 remains operatively engaged or intermeshed with the ring gear 2920 throughout the closing stroke of the closure tube 3120. In other words, the elongated spur gear 2930 is operably engaged with the ring gear 2920 when the closure tube 3120 is in its open position (fig. 13C and 27-29), its closed position (fig. 13D), and all positions therebetween. Thus, the rotary drive system 2900 can be utilized to rotate the shaft assembly 4000 about the longitudinal axis LA when the second jaw 4220 is in its open position, its closed position, and all partially closed positions therebetween. Thus, in each case, the elongated spur gear 2930 is at least as long as the closing stroke of the closure tube 3120.

As described above, the shaft assembly 4000 of the surgical instrument 1000 is configured to staple and incise tissue captured between the staple cartridge 4230 positioned on the first jaw 4210 and the anvil of the second jaw 4220. Referring primarily to fig. 20 and 28, housing assembly 2000 includes a firing drive system 2500 configured to advance a firing drive 3500 distally through end effector 4200 to staple and incise tissue. The firing drive system 2500 includes a rotatable drive input 2550 that is operably engageable with a rotational output of the robotic surgical system. The rotatable drive input 2550 extends into an opening 2150 (fig. 22) defined on the housing 2100 of the housing assembly 2000. The drive input 2550 comprises a shaft that is rotatably supported by the housing 2100 and is rotatable in a first direction to distally advance the firing drive 3500 and is also rotatable in a second direction to proximally retract the firing drive 3500.

The firing drive system 2500 also includes a first bevel gear 2540 fixedly mounted to the drive input 2550 such that the first bevel gear 2540 rotates with the drive input 2550. The firing drive system 2500 also includes a second bevel gear 2530 in meshing engagement with the first bevel gear 2540 such that the second bevel gear 2530 is rotated by the first bevel gear 2540. Second bevel gear 2530 is fixedly mounted to transfer shaft 2520 such that transfer shaft 2520 rotates with second bevel gear 2530. At least one end of transmission shaft 2520 or transmission shaft 2520 is rotatably supported by housing 2100. Firing drive system 2500 also includes a pinion 2510 fixedly mounted to transmission shaft 2520 such that pinion 2510 rotates with transmission shaft 2520. The pinion 2510 meshes with a rack 3510 of a firing drive 3500 that is driven proximally and distally by a firing drive system 2500, as described in more detail below.

Referring primarily to FIG. 26, the rack 3510 of the firing drive 3500 is slidably positioned within a bore 2190 defined on the housing 2100 of the housing assembly 2000. The rack 3510 includes a first array of longitudinal teeth 3514 defined on a first side thereof and a second array of longitudinal teeth 3514 defined on a second side thereof. The pinion 2510 of the firing drive system 2500 as described above is in meshing engagement with the first longitudinal tooth array 3514. As described in more detail below, the second longitudinal tooth array 3514 may be selectively engaged by a firing drive emergency assistance system. When the drive input 2550 of the firing drive system 2500 is rotated in a first direction by the robotic surgical system, the rack 3510 advances distally. Correspondingly, when drive input 2550 is rotated in a second or opposite direction, rack 3510 is retracted proximally.

Referring primarily to FIG. 6, in addition to the above, the firing drive 3500 includes a firing link 4510 and a firing bar 4520. The rack 3510 of the firing drive 3500 includes a distal end 3512 that is operably engaged with a proximal end 4512 of the firing link 4510 such that the rack 3510 and the firing link 4510 translate together. Notably, when the shaft assembly 4000 is rotated relative to the housing assembly 2000 as described above, the interconnection between the rack 3510 and the firing link 4510 allows the firing link 4510 to rotate relative to the rack 3510. The firing link 4510 further includes a distal end 4514 that engages a proximal end 4524 of the firing bar 4520 such that the firing link 4510 and the firing bar 4520 translate together.

The firing bar 4520 includes a plurality of longitudinally extending parallel layers; however, embodiments are contemplated in which the firing bar 4520 is comprised of a solid piece of material. The firing bar 4520 further includes a cutting member 4530 at a distal end thereof. Cutting member 4530 comprises a sharp blade, but may also comprise any suitable device for cutting tissue. As the firing drive system 2500 advances the firing drive 3500 distally during a firing stroke, the cutting member 4530 incises tissue captured between the anvil of the second jaw 4220 and the staple cartridge 4230. Further, the cutting member 4530 distally urges a staple firing sled positioned within the staple cartridge 4230 during a firing stroke to eject the staples from the staple cartridge 4230. In various circumstances, when cutting member 4530 is retracted after a firing stroke, the staple firing sled can not be retracted with cutting member 4530. In alternative embodiments, the staple firing sled can be integrally formed with the cutting member 4530. In such embodiments, the staple firing sled is retracted with the cutting member 4530.

The firing member 4530 further comprises a first cam configured to engage the first jaw 4210 and a second cam configured to engage the second jaw 4220. The first and second cams cooperatively hold the second jaw 4220 in position relative to the staple cartridge 4230 during a firing stroke. In such instances, the firing drive 3500 can control the formed height of staples formed against the anvil of the second jaw 4220. In some embodiments, the first and second cams of the cutting member 4530 can be used to close the second jaw 4220 during a closure stroke and then retain the second jaw 4220 relative to the first jaw 4210 during a firing stroke. In either case, the second jaw 4220 cannot be reopened to its fully open position to release tissue from the end effector 4200 until the cutting member 4530 has been sufficiently retracted. In an alternative embodiment, cutting member 4530 does not include a first cam and a second cam. In such embodiments, the second jaw 4220 can be opened to release tissue from the end effector 4200 prior to retraction of the cutting member 4530.

In various circumstances, the robotic surgical system may not be able to retract the firing drive 3500 completely or at all. This may occur when the robotic surgical system is not functioning properly. This may also occur when the surgical instrument 1000 is operably separated from the robotic surgical system. In either case, turning now to fig. 30-32, the surgical instrument includes a firing system emergency assistance device 2700. The firing system emergency assistance device 2700 is housed in the housing assembly 2000, but may be located in any suitable location on the surgical instrument 1000. The firing system emergency assistance device 2700 includes a ratchet that includes a pawl 2710 and a handle 2720. The pawl 2710 is rotatably mounted to the handle 2720 about a pivot 2715, and the handle 2720 is rotatably mounted to the housing 2100 about the pivot 2725. The firing system emergency assistance device 2700 may be rotated from a disengaged or deactivated configuration (fig. 30) to an engaged or activated configuration (fig. 31) in which the pawl 2710 is operably engaged with the second longitudinal rack 3514 of the rack 3510, as described above. At this point, referring to fig. 32, the handle 2720 can be manually rotated or cranked by the clinician to retract the rack 3510, firing link 4510, and firing bar 4520. The one or more cranks of the handle 2720 can be sufficient to retract the cutting member 4530 out of engagement with the second jaw 4220, thereby enabling sufficient opening of the second jaw 4220.

In addition to the above, the robotic surgical instrument can be used to open the second jaw 4220 after the firing drive 3500 has been fully retracted or emergency assisted. If one or both of the first and second linear actuators of the robotic surgical system are not functioning properly, or if the surgical instrument 1000 has been operably decoupled from the robotic surgical system, the closure system may be emergency assisted in one or more ways as described below.

As described above, referring to fig. 20 to 22, the first slider 3710 and the second slider 3720 are coupled to each other by the pinion 2896. For example, in the event that the first linear actuator 3710 engaged with the first slider 3710 fails and/or the first slider 3710 becomes jammed, the closure system may become jammed or otherwise inoperable. When the first slider 3710 is stuck in its proximal or actuated position, the end effector 4200 can be locked in its closed configuration and not releasable from tissue. In such a case, referring to fig. 23, the pinion 2896 may be manually pulled out of engagement with the

racks

3716 and 3726 by an emergency assist pin 2890 extending from the housing 2100. Once pinion 2896 is disengaged from

racks

3716 and 3726,

sliders

3710 and 3720 are operably separated from each other and can move independently of each other. Thus, the second slider 3720 can be moved proximally to open the end effector 4200. In various circumstances, the robotic surgical system can move the second slider 3720 proximally, or alternatively, the second slider 3720 can be moved manually by the clinician. Once the contingency aid pin 2890 has been actuated, the second slider 3720 can also be manually moved distally by the clinician to re-close the end effector 4200 as desired. As a result of the above, this closure system emergency assistance device is operable in a first direction to open the end effector 4200 and operable in a second direction to close the end effector 4200.

In addition to the above, the surgical instrument 1000 also includes a spine that extends through the transmission assembly 3000 and the shaft assembly 4000. Referring to fig. 7, the spine includes a proximal portion 3112 on the transmission assembly 3100. Referring to fig. 6, the spine further includes a spine assembly on the shaft assembly 4000 that includes a connector portion 4112 operably engaged with the proximal portion 3112, an elongate portion 4114 engaged with the connector portion 4112, a cap portion 4116 attached to the elongate portion 4114, and distal articulation

joint mounts

4117 and 4118 attached to the elongate portion 4114. The first jaw 4210 of the end effector 4200 is rotationally connected to articulation

joint mounts

4117 and 4118 to form the articulation joint 2300. The

portions

3112, 4112, 4114, and 4116 of the ridges, the

seats

4117, and 4118, and the first jaw 4210 are attached to one another such that they rotate together as the shaft assembly 4000 rotates about the longitudinal axis LA, as described above. Further, the second jaw 4220 is attached to the first jaw 4210 such that the second jaw 4220 rotates with the first jaw 4210 about the longitudinal axis LA. In addition, the various components of the spine are attached to one another in a manner that allows the spine to translate proximally and/or distally, as described in more detail below.

The housing 3100 of the transmission assembly 3000 is fixedly mounted to the housing 2100 of the housing assembly 2000. In at least one instance, the housing 3100 is secured to the housing 2100. In certain other cases, the housing 3100 is integrally formed with the housing 2100. In either case, the housing 3100 does not rotate relative to the housing 2100, although it is contemplated that it could be

Referring now to fig. 14-18, the shaft assembly 1000 further includes another closure system emergency assist device, namely a closure system emergency assist device 2800, which is configured to open and/or close the end effector 4200. Unlike the closure system emergency assistance devices discussed above that move the

closure tubes

3120 and 4120 relative to the spine of the surgical instrument 1000, the closure system emergency assistance device 2800 moves the spine relative to the

closure tubes

3120 and 4120. In other words, the closure system emergency assistance device 2800 moves the cam surface 4229 of the second jaw 4220 toward and away from the cam 4129 of the closure tube 4120 to open and close the second jaw 4220. As a result of the above, the closure system emergency assist device 2800 is operable in a first direction to open the end effector 4200 and in a second direction to close the end effector 4200. The closed system emergency assistance devices may be used independently or in conjunction with each other.

The closure system emergency assistance device 2800 includes a rotatable actuator or thumbwheel 2860 rotatably mounted by the housing 2100. The closure system emergency assist device 2800 also includes a spur gear 2850 fixedly mounted to the actuator 2860 such that the spur gear 2850 rotates with the actuator 2860, and additionally includes a spur gear 2840 in meshing engagement with the spur gear 2850. The spur gear 2840 is fixedly mounted to a shaft 2830 of the closure system emergency assist device 2800, which is rotatably supported by the housing 2100 of the housing assembly 2000 and/or the housing 3100 of the transmission assembly 3000. The shaft 2830 includes a threaded distal end that is threadedly engaged with a drive nut 2820 slidably mounted within the housing 3100. When the shaft 2830 is rotated in a first direction by the actuator 2860, the drive nut 2820 translates distally. Correspondingly, when the shaft 2830 is rotated in a second direction by the actuator 2860, the drive nut 2820 translates proximally. The drive nut 2820 engages with a drive flange 2810 extending from a spine of the surgical instrument 1000 such that the spine translates with the drive nut 2820. That is, the drive nut 2820 and the drive flange 2810 are configured to allow relative rotational movement therebetween such that the ridges can rotate with the shaft assembly 4000, as described above.

As described above, the closure emergency assistance system 2800 is operable in a first direction to emergency assist the surgical instrument 1000 in a first state or configuration, and is operable in a second direction to emergency assist the surgical instrument 1000 in a second state or configuration. Further, the closure emergency assistance system 2800 is configured to manipulate the end effector 4200 between the open and closed configurations regardless of whether the robotic surgical system is working and/or properly operating the first and

second sliders

3710, 3720 of the slider assembly 3700. That is, the emergency assistance device of the slider assembly 3700 may be released prior to and/or during operation of the closing emergency assistance system 2800. In other words, the pinion 2896 may be disengaged from the slider assembly 3700 to relieve tissue clamping pressure within the end effector 4200, which may reduce the force required to be applied to the thumbwheel 2896 to operate the closure emergency assistance system 2800.

In various alternative embodiments, the closure emergency assistance system 2800, or a closure emergency assistance system similar to the closure emergency assistance system 2800, may be configured to move the closure system through its closure stroke and/or its opening stroke. For example, the closure emergency assistance system 2800 may be operable in a first direction to move the

closure tubes

3120 and 4120 distally and in a second direction to move the

closure tubes

3120 and 4120 proximally.

As described above, referring primarily to fig. 3 and 4, the shaft assembly 4000 is operably attached to and detachable from the transmission assembly 3000 of the surgical instrument 1000. Shaft assembly 4000 includes a proximal attachment portion 4900 operably engaged with distal attachment portion 3900 of transfer assembly 3000. Referring primarily to fig. 5, the interconnection between

connective portions

3900 and 4900 is formed by translating connective portion 4900 into engagement with connective portion 3900, or vice versa. In at least one instance, the shaft assembly 4000 is moved laterally or orthogonally relative to the longitudinal axis LA of the surgical instrument 1000 to effect coupling and decoupling of the shaft assembly 4000 from the transmission assembly 3000.

When the shaft assembly 4000 is assembled to the transmission assembly 3000, the respective components of the spine, the closure system, the articulation lock system, and the firing systems of the transmission assembly 3000 and the shaft assembly 4000 are operably engaged simultaneously. For example, referring to fig. 8, the distal end 3112 of the spine 3110 is engaged with the proximal end 4112 of the spring 4110, the distal end 3122 of the closure tube 3120 is engaged with the proximal end 4122 of the closure tube 4120, the distal end 3512 of the rack 3510 is engaged with the proximal end 4512 of the firing member 4510, the distal end 3612 of the articulation lock 3610 is engaged with the proximal end 4612 of the articulation lock 4610, and the distal ends 3412 and 3422 of the articulation drives 3410 and 3420 are engaged with the proximal ends 4412 and 4422 of the articulation drives 4410 and 4420, respectively.

In addition to the above, referring again to fig. 4 and 5, the shaft assembly 4000 includes a shaft lock 4124 configured to engage the shaft lock 3124 on the transmission assembly 3000 and to lock the shaft assembly 4000 to the transmission assembly 3000 such that the

connection portions

3900 and 4900 of the transmission assembly 3000 and the shaft assembly 4000, respectively, remain engaged with one another until the shaft lock 4124 is disengaged from the shaft lock 3124. The shaft lock 4124 may be translated distally away from the shaft lock 3124 to unlock the shaft assembly 4000 from the transmission assembly 3000. At this point, the shaft assembly 4000 may be translated laterally away from and separated from the transfer assembly 3000. In various circumstances, the shaft assembly 4000 can be replaced with other shaft assemblies, and the surgical instrument 1000 can be reused. In addition, the staple cartridge 4300 may be replaced with another staple cartridge in the end effector 4200. Accordingly, the surgical instrument 1000 includes several modular layers.

A surgical instrument 5000 is shown in fig. 33-66. The surgical instrument 5000 is similar in many respects to the surgical instrument 1000, most of which will not be discussed herein for the sake of brevity. Referring primarily to fig. 33 and 34, the surgical instrument 5000 includes a housing assembly 6000, a transmission assembly 7000 mounted to the housing assembly 6000, and a shaft assembly 8000 releasably attached to the transmission assembly 7000. The housing assembly 6000 is similar in many respects to the housing assembly 2000. For example, the housing assembly 6000 includes a housing 6100, a drive system 2900 configured to rotate the shaft assembly 8000 about its plurality of longitudinal axes LA, and a firing drive system 6500, which will be discussed in greater detail below. Transmission assembly 7000 is similar in many respects to transmission assembly 3000. For example, transmission assembly 7000 includes a housing 7100, a slider assembly 7700, and a distal connecting portion 7900, which are discussed in more detail below. Shaft assembly 8000 is similar in many respects to shaft assembly 4000. For example, the shaft assembly 8000 includes a shaft 4100, an end effector 4200, an articulation joint 4300, and a proximal connection portion 8900, which will be discussed in greater detail below.

In addition to the above, referring to fig. 35-41, the proximal attachment portion 8900 of the shaft assembly 8000 is rotatably coupled to the distal attachment portion 7900 of the transmission assembly 7000. More specifically, shaft assembly 8000 is rotated relative to transfer assembly 7000 in order to couple shaft assembly 8000 to transfer assembly 7000. Referring primarily to FIG. 41, the transmission assembly 7000 includes a spine portion 7110 that engages a spine portion 8110 of the shaft assembly 8000. Unlike the spine of the surgical instrument 1000, the spine of the surgical instrument 5000 is not capable of translating proximally and distally, but it may do so in alternative embodiments. Referring to fig. 43, the proximal end of the spine section 7110 includes a flange 7111 extending therefrom that is closely received in a lateral slot 7101 defined on the transmission assembly housing 7100 that prevents the spine from moving proximally and distally relative to the transmission assembly housing 7100. That is, the flange 7111 and the lateral slot 7101 are configured to allow rotational movement between the spine portion 7110 and the transmission assembly housing 7100 such that the shaft assembly 8000 may rotate relative to the transmission assembly 7000.

In addition to the above, referring again to fig. 41, the spine section 7110 is comprised of two lateral sections 7112 coupled together by a connector 7114 (fig. 37). Such an arrangement may facilitate assembly of the components of transmission assembly 7000; however, embodiments are contemplated in which the spine portion 7110 is comprised of a solid sheet of material. Similarly, the spine portion 8110 is comprised of two lateral portions 8112 coupled together. Likewise, such an arrangement may facilitate assembly of the components of the shaft assembly 8000, similarly, but contemplates embodiments in which the spine portion 8110 is comprised of a solid sheet of material. Each lateral spine portion 7112 includes a distal end including at least one hook connection 7111 extending therefrom, and each lateral spine portion 8112 further includes a distal end including at least one hook connection 8111 extending therefrom. When the shaft assembly 8000 is rotationally assembled to the transmission assembly 7000, the hook connection 8111 engages the hook connection 7111. In such cases, the spine portion 8110 is locked to the spine portion 7110 with little, if any, relative longitudinal movement therebetween.

In addition to the above, referring again to fig. 41, each lateral section 7112 includes at least one stop 7113 extending therefrom. Similarly, each lateral portion 8112 includes at least one stop 8113 extending therefrom. The

stops

7113 and 8113 may cooperate to limit rotational movement between the spine portion 8110 and the spine portion 7110 of the shaft assembly 8000 as the spine portion 8110 rotates relative to the spine portion 7110 of the transmission assembly 7000. Referring primarily to fig. 39 and 40, the shaft assembly 8000 includes a shaft lock 8124 configured to engage the shaft lock 7124 of the transmission assembly 7100 and to hold the

spine portions

7110 and 8110 together. After the shaft assembly 8000 has been rotationally coupled to the transmission assembly 7000, the shaft lock 8124 can be slid proximally along the longitudinal axis LA to engage the shaft lock 7124. The shaft lock 8124 includes a flexible locking member 8923 configured to be inserted into a locking window 7123 defined on the shaft lock 7124. In various instances, locking member 8923 may engage a flange defined on shaft lock 7124 in a snap-fit and/or press-fit manner to couple

shaft locks

7124 and 8124 together. In some cases, the shaft lock 8124 may need to be at least partially rotated relative to the shaft lock 7124 to lock the

shaft locks

7124 and 8124 together. In any event, once engaged, the

shaft locks

7124 and 8124 may prevent the

ridge portions

7110 and 8100 from accidentally separating. To disengage the

spine portions

7110 and 8110, the clinician may press the button portion 8920 of the locking member 8923 to disengage the locking member 8923 from the shaft lock 7124. Referring primarily to FIG. 40, each locking member 8923 includes an end 8925 fixedly mounted to axle lock 8124 such that locking member 8923 flexes or cantilevers inward when button portion 8920 is depressed. At this point, shaft assembly 8000 may be rotationally decoupled from transfer assembly 7000. When button portion 8920 is released, locking member 8923 may resiliently return to its undeflected position.

In addition to the above, the

shaft locks

7124 and 8124 are configured to hold the interconnections within the closure system, articulation lock system, and firing system of the surgical instrument 5000 together when the shaft lock 8124 is engaged with the shaft lock 7124. Referring primarily to fig. 41, each such system includes a portion within the transmission assembly 7000 and a portion within the shaft assembly 8000 that are operably engaged at an interface between the distal connection portion 7900 and the proximal connection portion 8900 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000, as described in greater detail below.

The articulation system of the surgical instrument 5000 is similar in many respects to the articulation system of the surgical instrument 1000. Referring primarily to fig. 35 and 37, transmission assembly 7000 includes first and second articulation drives 7410 and 7420, which are similar to first and second articulation drives 3410 and 3420, respectively. Similarly, the shaft assembly 8000 includes a first articulation drive 8410 and a second articulation drive 8420 that are similar to the first articulation drive 4410 and the second articulation drive 4420, respectively. It is noteworthy that first articulation drive 7410 includes a distal end 7412 that is rotationally coupled to a proximal end 8412 of articulation drive 8410 when shaft assembly 8000 is rotationally coupled to transmission assembly 7000. Similarly, second articulation drive 7420 includes a distal end 7422 that is rotationally coupled to a proximal end 8422 of articulation drive 8420 when shaft assembly 8000 is rotationally coupled to transmission assembly 7000.

The articulation locking system of the surgical instrument 5000 is similar in many respects to the articulation locking system of the surgical instrument 1000. Referring again to fig. 35 and 37, the transmission assembly 7000 includes a proximal lock portion 7610 similar to the proximal lock portion 3610. Similarly, shaft assembly 8000 includes a distal lock portion 8610 similar to distal lock portion 4610. It is noteworthy that proximal lock portion 7610 includes a distal end 7612 that is rotationally coupled to a proximal end 8612 of distal lock portion 8610 when shaft assembly 8000 is rotationally coupled to transmission assembly 7000.

The closure system of the surgical instrument 5000 is similar in many respects to the closure system of the surgical instrument 1000. Referring to fig. 35, 37 and 39, the transmission assembly 7000 includes a closure tube 7120 which is similar in many respects to the closure tube 3120. Similarly, the shaft assembly 8000 includes a closure tube 8120 that is similar in many respects to the closure tube 4120. It is noteworthy that the closure tube 7120 includes a distal end 7122 that is rotationally coupled to a proximal end 8122 of the closure tube 8120 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. Referring primarily to fig. 39, the distal end 7122 of the closure tube 7120 includes one or more bayonet or twist-lock type slots 7121 defined thereon. The proximal end 8122 of the closure tube 8120 includes one or more bayonet projections that are configured to translate into the slot 7121 and then rotate to secure itself in the slot 7121 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. The distal end 7122 includes two bayonet slots 7121 positioned on opposite sides thereof and the proximal end 8122 includes two corresponding bayonet projections positioned on opposite sides thereof, although the

ends

7122 and 8122 of the

closure tubes

7120 and 8120 may include any suitable number of bayonet slots 7121 and projections.

Similar to the above, the firing system 7500 of the surgical instrument 5000 is similar in many respects to the firing system 3500 of the surgical instrument 1000. Referring to fig. 35, 37, and 39, the transmission assembly 7000 includes a firing link 7510 that is similar in many respects to the rack 3510. Similarly, the shaft assembly 8000 includes a firing member 8510 that is similar in many respects to the firing member 4510. It is noteworthy that the firing link 7510 includes a distal end 7512 that is rotationally coupled to a proximal end 8512 of the firing member 8510 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. Referring primarily to fig. 39, the distal end 7512 of the firing rod 7510 includes one or more bayonet or twist-lock type slots 7511 defined thereon. The proximal end 8512 of the firing member 8510 includes one or more bayonet projections 8511 that are configured to translate into the slot 7511 and then rotate to secure itself in the slot 7511 when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000. The distal end 7512 of the firing link 7510 includes two bayonet slots 7511 positioned on opposite sides thereof, and the proximal end 8512 of the firing member 8510 includes two corresponding bayonet projections 8511 positioned on opposite sides thereof. That is, the

ends

7512 and 8512 of the firing link 7510 and firing member 8510 can include any suitable number of bayonet slots 7511 and protrusions 8511.

As described above, referring again to fig. 41, when the shaft assembly 8000 is rotationally coupled to the transmission assembly 7000, the interconnections within the closure system, articulation lock system, and firing system are operably engaged at the interface between the distal connecting portion 7900 and the proximal connecting portion 8900. In various circumstances, each of these systems is in an original state when shaft assembly 8000 is assembled to transmission assembly 7000, which may allow shaft assembly 8000 to be easily assembled to transmission assembly 7000. For example, embodiments are contemplated in which the original state of the closure system, articulation lockout system, and/or firing system occurs at the beginning or end of the system stroke. In at least one such instance, the original state of the closure system of the surgical instrument 5000 is at the beginning of the closure stroke when the end effector 4200 is in its fully open position. Similarly, in at least one such instance, the firing system of the surgical instrument 5000 is in its as-received state at the beginning of the firing stroke or at an unfired position.

As described above, designing the systems of the surgical instrument 5000 such that their coupling and/or decoupling at the beginning or end of their system stroke may have certain disadvantages. For example, the interconnection between the

closure tubes

7120 and 8120 may not be laterally constrained at the beginning of the closure system stroke, and thus, if the original state of coupling and decoupling of the

closure tubes

7120 and 8120 is at the beginning of the closure stroke, the

closure tubes

7120 and 8120 may tend to decouple as the closure system is loaded at the beginning of its closure stroke. Further, if the original state of the

closure tubes

7120 and 7120 being coupled or decoupled is at the end of the closure stroke, the

closure tubes

8120 and 8120 may be susceptible to decoupling at the end of the closure stroke where the load in the closure system may be at a peak level. Similarly, the interconnection between the firing link 7510 and the firing member 8510 may not be laterally constrained at the beginning of the firing system stroke, and thus, if the original state of coupling and decoupling of the firing link 7510 and the firing member 8510 is at the beginning of the firing stroke, the firing link 7510 and the firing member 8510 may tend to decouple as the firing system is loaded at the beginning of its firing stroke. In addition, the firing link 7510 and firing member 8510 may be susceptible to separation at certain points within the firing stroke where the firing system experiences high or peak loads. As described in greater detail below, designing the various systems of the surgical instrument 5000 such that their coupling or decoupling home state is not at the beginning or end of their system stroke, or is not aligned with their peak load point, may reduce accidental decoupling of their systems.

As described above, the original state for coupling and decoupling the

closure tubes

7120 and 8120 of the surgical instrument 5000 is intermediate the beginning and end of the closure stroke. After the closure tube 8120 is operably coupled to the closure tube 7120, the closure system may be retracted proximally to its unactuated or open position to align the

closure tubes

7120 and 8120 with the beginning of the closure stroke. At this point, the interconnection between the

closure tubes

7120 and 8120 is constrained from deflecting laterally by the spine of the surgical instrument 5000. During the closing stroke, the interconnection between the

closure tubes

7120 and 8120 will pass through the closure system's original state; however, the original state may be selected such that it matches the low load state of the closed system. To separate the

closure tubes

7120 and 8120, the closure system returns to its original state.

As described above, the articulation locking system and the closure system of the surgical instrument 5000 are operably coupled such that they move in tandem. Thus, the original state of the articulation locking system of the surgical instrument 5000 is between the beginning and the end of its articulation locking stroke. In at least one instance, the articulation lock portion 8610 is operably coupled to and decoupled from the articulation lock 7610 when the closure tube 8120 is operably coupled to and decoupled from the closure tube 7120 at a location at the beginning or end of the non-articulation lock and closure stroke. That is, embodiments are contemplated in which the articulation locking system and the closure system of the surgical instrument operate independently, and in at least one such embodiment, may have different and/or independent home positions.

As described above, the original state for coupling and decoupling the firing link 7510 to and from the firing member 8510 of the surgical instrument 5000 is intermediate the beginning and end of the firing stroke. After the firing member 8510 has been operably coupled to the firing link 7510, the firing system can be retracted proximally to its unactuated or unfired position to match the firing link 7510 and firing member 8510 to the beginning of the firing stroke. At this point, the interconnection between the firing link 7510 and the firing member 8510 is constrained from lateral deflection by the ridges of the surgical instrument 5000. The interconnection between the firing link 7510 and the firing member 8510 will pass through the firing system's original state during the firing stroke; however, the original state may be selected such that it matches the low load state of the firing system. To disengage the firing link 7510 from the firing member 8510, the firing system returns to its original state.

Similar to the above, the home state of the articulation system of the surgical instrument 5000 may be selected to prevent inadvertent disengagement of the articulation drives 7410, 7420, 8410, and 8420. In certain instances, the articulation system may be configured to couple and decouple the articulation drives 7410, 7420, 8410, and 8420 when the end effector 4200 is in its unarticulated configuration. In other instances, the articulation system may be configured to couple and decouple the articulation drives 7410, 7420, 8410, and 8420 as the end effector 4200 is partially articulated between its unarticulated and fully articulated configurations. In this case, the articulation drives 7410, 7420, 8410, and 8420 couple and decouple when the end effector is not in the unarticulated or fully articulated position. Similar to the above, as the end effector 4200 is articulated, the end effector 4200 may sweep its home position.

Alternatively, the home position of the closure system, articulation lockout system, and/or firing system is not within the operating stroke of these systems. In this case, the coupling and decoupling point of one or more of these systems is outside its operating region. For example, the home state of the closure system may be located proximal to the beginning of the closure stroke. In this instance, the closure tube 8120 is coupled to the closure tube 7120 in the as-closed system state and then advanced distally to the unactuated or open position of the closure system. In addition to or in lieu of the above, the firing member 8510 can be coupled to the firing link 7510 in the original state of the firing system and then advanced distally to the unfired position of the firing system. In each case, the components of these systems are flexible enough to accommodate such out-of-range assembly and disassembly positions. In at least one instance, there is sufficient tilt in the system to accommodate such assembly and disassembly positions. In some cases, the system can stretch sufficiently to accommodate such assembly and disassembly positions.

In various instances, in addition to the above, the robotic surgical system can be configured to move the system of the surgical instrument 5000 from its home position to its start-of-travel position, unactuated position, or intermediate position (as the case may be) once the shaft assembly 8000 has been operably attached to the transmission assembly 7000. In at least one instance, the robotic surgical system and/or surgical instrument 5000 includes readiness buttons and/or controls that instruct a controller of the robotic surgical system to move the closure system to its open position, move the articulation system to its non-articulated position, move the articulation lock system to its unlocked position, and move the firing system to its non-fired position. Similarly, the robotic surgical system can be configured to move the system of the surgical instrument 5000 to its home position such that the shaft assembly 8000 can be detached from the transport assembly 7000. In at least one instance, the robotic surgical system and/or surgical instrument 5000 includes a master button and/or control that instructs a controller of the robotic surgical system to move the closure system, articulation lock system, and firing system to their home positions.

The robotic surgical system and/or surgical instrument 5000 can include a control system configured to detect the assembly and/or disassembly of the shaft assembly 8000 and the transmission assembly 7000. In at least one instance, the control system includes a microprocessor, and the transmission assembly housing 7100 includes one or more sensors in signal communication with the microprocessor that are configured to detect when the shaft assembly 8000 is not assembled to the transmission assembly 7000, is partially assembled to the transmission assembly 7000, and/or is fully assembled to the transmission assembly 7000. The control system is programmed to interpret this sensed information in accordance with an algorithm to determine whether shaft assembly 8000 is being assembled to transfer assembly 7000 or whether shaft assembly 8000 is being disassembled from transfer assembly 7000. For example, if the sensors detect a partially assembled state of the shaft assembly 8000 after detecting an unassembled state of the shaft assembly 8000, the control system may interpret that the shaft assembly 8000 is being assembled to the transfer assembly 7000. Similarly, if the sensor detects a partially assembled state of shaft assembly 8000 after detecting a fully assembled state of shaft assembly 8000, the control system may interpret that shaft assembly 8000 is being disassembled from transfer assembly 7000.

In addition to the above, when the control system detects that shaft assembly 8000 is being assembled to transfer assembly 7000, the control system may automatically position the closure, articulation lock and/or firing systems of transfer assembly 7000 in their original states to facilitate assembly of shaft assembly 8000 to transfer assembly 7000. Once the control system detects that the shaft assembly 8000 has been fully assembled to the transmission assembly 7000, the control system can automatically set the closure system to its unactuated state, the articulation system to its unarticulated state, the articulation lock system to its unlocked state, and/or the firing system to its unfired state.

In addition to the above, when the control system detects that shaft assembly 8000 is being removed from transfer assembly 7000, the control system may automatically position the closure, articulation lock and/or firing system of transfer assembly 7000 in its original state to facilitate removal of shaft assembly 8000 from transfer assembly 7000. As described above, embodiments are contemplated in which the control system does not automatically change the state of one or more of the closure, articulation lock, and firing system. In at least one such embodiment, the control system can include one or more switches or inputs, wherein automatic control features of the closure system, articulation lockout system, and/or firing system can be selectively activated, deactivated, and/or reactivated.

In various instances, referring to fig. 39, transmission assembly 7000 and/or shaft assembly 8000 includes one or more sensors configured to detect rotation of shaft assembly 8000 relative to transmission assembly 7000 to determine whether shaft assembly 8000 is being assembled to or disassembled from transmission assembly 7000. In some instances, the transmission assembly 7000 and/or the shaft assembly 8000 include one or more sensors configured to detect depression of the button portion 8920 and/or actuation of the locking member 8923 to determine whether the shaft assembly 8000 is being assembled to or disassembled from the transmission assembly 7000. For example, in at least one instance, the control system can be configured to evaluate more than one state of the surgical instrument 5000, such as the rotation of the shaft assembly 8000 relative to the transmission assembly 7000 and the depression of the button portion 8920, to determine whether the shaft assembly 8000 is being assembled to or disassembled from the transmission assembly 7000. This arrangement can reduce, among other things, the likelihood of inaccurate evaluation of the surgical instrument 5000.

As described herein, problems may arise if the movable components of shaft assembly 8000 will not mate with corresponding movable components of transfer assembly 7000 when shaft assembly 8000 is assembled to transfer assembly 7000. In some cases, the movable components of transfer assembly 7000 and shaft assembly 8000 have sufficient float or tilt therein, which allows such components to self-match or self-adjust during assembly of the shaft assembly to transfer assembly 7000. In other instances, one or more systems of the surgical instrument 5000 may be manually manipulated to match the movable components of the transmission assembly 7000 and the shaft assembly 8000. As described herein, housing assembly 6000 and/or transmission assembly 7000 include one or more emergency assistance systems that can be manually manipulated to match the movable components of surgical instrument 5000.

As described above, the transmission assembly 7000 includes the slider assembly 7700 configured to receive linear inputs from the robotic surgical instrument to operate the closure and articulation systems of the surgical instrument 5000. The slider assembly 7700 is similar in many respects to the slider assembly 3700. For example, referring to fig. 42-50, the slider assembly 7700 includes a first slider 7710, a second slider 3720, a third slider 3730, and a fourth slider 3740. Similar to the slider assembly 3700, referring to fig. 43, the second slider 3720 of the slider assembly 7700 engages with the drive disk 3820 of the drive disk array 3800 and is movable proximally to open the end effector 4200. However, unlike the first slider 3710 of the slider assembly 3700, the first slider 7710 of the slider assembly 7700 is also directly engaged with the drive disk 3820 as shown in fig. 44. Thus, the first slider 7710 and the second slider 3720 of the slider assembly 7700 move in the same direction. To pull the first slider 7710 and the second slider 3720 distally to close the end effector 4200, one of the first linear actuator and the second linear actuator is attached to the first slider 7710 and the second slider 3720 so that the robotic surgical system can apply a pulling force thereto. In at least one instance, the first linear actuator of the robotic surgical system is attached to the first input socket 7712 of the first slider 7710 such that the first linear actuator can pull the first slider 7710 proximally.

In addition to the above, a second drive socket 3722 is fixedly mounted to the second slider 3720, a third drive socket 3732 is fixedly mounted to the third slider 3730, and a fourth drive socket 3742 is fixedly mounted to the fourth slider 3740. However, referring to fig. 46-47C, the first drive device socket 7712 is rotatably mounted to the first slider 7710 of the slider assembly 7700. The first drive means socket 7712 includes an arm or link 7714 which is rotatably mounted to the first slider 7710 about a post 7716 which extends through an elongate aperture 7718 defined in the end of the arm 7714. This arrangement includes a two-bar linkage, but any suitable arrangement can be used. As described in further detail below, the first slider 7710 can be manually manipulated to assist the closure drive of the surgical instrument 5000.

In addition to being rotatably mounted to the first slider 7710, the first drive socket 7712 is also selectively pinned or pinned to the transmission assembly housing 7100 by an emergency assist pin 7790. The transmission assembly housing 7100 includes a pin mount 7414 extending therefrom that includes a pin hole extending therethrough that aligns with a pin hole defined in the arm 7714 of the first drive device socket 7712 when the emergency assist pin 7790 is engaged with the first drive device socket 7712 and the housing 7100. The emergency assist pin 7790 includes a pin 7794 that extends through pin holes defined in the pin mount 7414 and the first drive device socket 7712 and prevents relative translation between the first drive device socket 7712 and the transmission assembly housing 7100. However, this arrangement allows for relative rotation between the first drive socket 7712 and the transmission assembly housing 7100. For example, referring to fig. 47A, as the first slider 7710 is pushed proximally, the first driver socket 7712 rotates to a distal rotational position. Further, referring to fig. 47B, as the first slider 7710 is pushed distally, the first driver socket 7712 rotates to a proximal rotational position.

In addition to the above, referring to fig. 48, the engagement between the first drive socket 7712 and the transmission assembly housing 7100 can at least partially resist or constrain the movement of the first slider 7710 and the closure system. Thus, the bailout assist pin 7790 is capable of maintaining clamping pressure within the end effector 4200 when the end effector 4200 is in its closed position. When the emergency assist pin 7790 is pulled or extracted from the first drive device socket 7712 by the clinician, the first drive device socket 7712 is no longer coupled to the transmission assembly housing 3100 as shown in fig. 47C. In such a case, the first slider 7710 may respond, or may be moved by the clinician, to release at least some of the clamping pressure within the end effector 4200, as shown in fig. 49.

As noted above, the slider assembly 7700 is also configured to operate the articulation system of the surgical instrument 5000. Referring to fig. 43, the third slider 3730 is engaged with a drive disk 3830 that is engaged with the first articulation drive 7410 such that, as the third slider 3730 is moved proximally, the third slider 3730 drives the drive disk 3830 and the first articulation drive 7410 proximally to articulate the end effector 4200 in its first direction (i.e., to the right). Referring to fig. 44, fourth slider 3740 is engaged with a drive disk 3840 that is engaged with second articulation drive 7420 such that, as fourth slider 3740 is moved proximally, fourth slider 3740 drives drive disk 3840 and second articulation drive 7420 proximally to articulate end effector 4200 in its second direction (i.e., to the left).

51-65A, the surgical instrument 5000 further comprises an articulation system limp assist device 6800 that is configured to return the end effector 4200 to its unarticulated position. As described in greater detail below, the articulation system emergency assistance device 6800 is operable in a first direction to move the end effector 4200 from the right articulated position (fig. 62) to its unarticulated position (fig. 64), and is further operable in a second direction to move the end effector 4200 from the left articulated position (fig. 63) to its unarticulated position (fig. 64). In various circumstances, the articulation system emergency assistance device 6800 can be used to change the articulation position of the end effector 4200 as desired. In any event, referring primarily to fig. 57 and 58, an articulation system emergency assistance device 6800 is positioned in housing 6100 of housing assembly 6000 and is accessible by opening an emergency assistance door 6090 that is rotatably mounted to housing 6100 about a hinge 6020. The housing assembly 6000 includes at least one lock or latch configured to releasably retain the emergency auxiliary door 6090 in its closed position (fig. 57), but to releasably allow the emergency auxiliary door 6090 to rotate to its open position (fig. 58).

Referring primarily to fig. 65A, an articulation system emergency assist device 6800 includes a handle or crank 6810 that is rotatably mounted to a housing 6100, and also includes a spur gear 6820 fixedly mounted to the handle 6810. Thus, the shank 6810 and the spur gear 6820 may rotate together. The articulation system emergency assistance device 6800 further includes a spur gear 6830 fixedly mounted to the proximal end of a rotatable shaft 6840 that is rotatably supported within the housing 6100. As described in more detail below, the spur gear 6820 can be engaged with the spur gear 6830 such that rotational motion can be transmitted from the shank 6810 to the shaft 6840. The articulation system emergency assist device 6800 further includes a bevel gear 6850 fixedly mounted to the distal end of the shaft 6840, and additionally includes a bevel gear 6860 in meshing engagement with the bevel gear 6850. Bevel gear 6860 is fixedly mounted to a transfer shaft 6870 that is rotatably supported in housing 6100 and extends orthogonally, or at least substantially orthogonally, to shaft 6840. The articulation system emergency assistance device 6800 also includes a pinion gear 6880 fixedly mounted to the transfer shaft 6870, which thus rotates with the bevel gear 6860 and the transfer shaft 6870.

In addition to the above, referring again to fig. 65A, the third slider 3730 of the slider assembly 7700 includes a rack 7730 extending proximally therefrom. Similarly, the fourth slider 3740 of the slider assembly 7700 includes a rack 7740 extending proximally therefrom. Each

rack

7730,7740 includes an inwardly facing longitudinal rack in meshing engagement with a pinion 6880 of the articulation system emergency assistance device 6800. Thus, as the third slider 3730 moves proximally, the third slider 3730 drives the fourth slider 3740 distally to articulate the end effector 4200 to the right. Similarly, as the fourth slider 3740 moves proximally, the fourth slider 3740 drives the third slider 3730 distally to articulate the end effector 4200 leftward. Further, when the pinion 6880 is rotated in a first direction, the articulation system emergency assistance device 6800 drives the third slider 3730 proximally and the fourth slider 3740 distally to articulate the end effector 4200 in its first direction (i.e., to the right), as shown in fig. 66, and accordingly, when the pinion 6880 is rotated in a second or opposite direction, the articulation system emergency assistance device 6800 drives the third slider 3730 distally and the fourth slider 3740 proximally to articulate the end effector 4200 in its second direction (i.e., to the left).

As a result of the above, the articulation system emergency assistance device 6800 can be actuated in a first direction to assist the articulation system in one direction and in a second direction to assist the articulation system in the other direction. In each case, the handle 6810 rotates in the clockwise and counterclockwise directions to drive the articulation system emergency assistance device 6800 in its first and second directions. Such a two-way emergency assistance system may be applicable to any of the emergency assistance systems disclosed herein and/or any other suitable emergency assistance system for a surgical instrument.

As described above, the spur gear 6820 of the articulation system emergency assistance device 6800 may be engaged with the spur gear 6830. More specifically, the spur gear 6820 remains out of operative engagement with the spur gear 6830 when the emergency assist door 6090 is in its closed position, as shown in fig. 61, and then is in operative engagement with the spur gear 6830 when the emergency assist door 6090 is open, as shown in fig. 58 and 62-64. Referring primarily to fig. 58, the emergency assist door 6090 includes a mount 6010 extending therefrom that is configured to move the spur gear 6820 and the shank 6810 distally out of operable engagement with the spur gear 6830 and/or to maintain the spur gear 6820 out of operable engagement with the spur gear 6830 when the emergency assist door 6090 is in its closed position (fig. 61). In this case, mount 6010 is positioned intermediate spur gear 6820 and the side wall of housing 6100. Referring again to fig. 58, when the emergency assist door 6090 is opened, the pedestal 6010 is no longer positioned between the spur gear 6820 and the side wall of the housing 6100. In this instance, the clinician can grasp the handle 6810 and slide the handle 6810 distally to operably engage the spur gear 6820 with the spur gear 6830. In some embodiments, the articulation system emergency assistance device 6800 comprises a biasing member, such as a spring, for example, configured to bias the handle 6810 distally when the emergency assistance door 6090 is open and to automatically couple the spur gear 6820 with the spur gear 6830.

Once the spur gear 6820 of the articulation system emergency assistance device 6800 is operably coupled with the spur gear 6830, the handle 6810 can be rotated in a first direction to articulate the end effector 4200 in its first direction (i.e., to the right) and rotated in a second direction to articulate the end effector 4200 in its second direction (i.e., to the left), as described above. In various circumstances, for example, the articulation system emergency assistance device 6800 is configured such that a quarter turn or turn of the handle 6810 is capable of articulating the end effector 4200 from its unarticulated position to its fully right articulated position. Similarly, in this instance, a quarter turn or turn of the stem 6810 in the opposite direction can articulate the end effector 4200 from its unarticulated position to its fully left articulated position. In other embodiments, the handle 6810 can rotate less than a quarter turn or more than a quarter turn to fully articulate the end effector 4200 from its unarticulated position to, for example, its fully right articulated position or fully left articulated position. In at least one embodiment, the handle 6810 rotates more than one full turn to fully articulate the end effector 4200 from its unarticulated position to, for example, its fully right articulated position or fully left articulated position. In certain embodiments, the stem 6810 can comprise a bidirectional ratchet, for example, configured such that the end effector 4200 can be fully articulated without having to rotate the stem 6810 through a wide range of positions.

In various circumstances, in addition to the above, if a clinician attempts to articulate the end effector 4200 to its unarticulated position using the articulation system panic assist device 6800, the end effector 4200 may not be visible while the end effector is using the articulation system panic assist device 6800. In at least one such instance, the end effector 4200 can still be positioned, for example, within a patient. Thus, without more information, the clinician may not know the direction of rotation of the handle 6810 and/or the degree of rotation of the handle 6810 in order to properly position the end effector 4200. Referring primarily to fig. 58, the surgical instrument 5000 further includes an indicator 6890 configured to communicate sufficient information to the clinician to, for example, return the end effector 4200 to its unarticulated position. Referring now to fig. 65A, the indicator 6890 is fixedly mounted to the transfer shaft 6870 and is rotatable with the transfer shaft 6870 when the transfer shaft 6870 is rotated by the

racks

7730 and 7740 extending proximally from the third slider 3730 and the fourth slider 3740, respectively, and/or when the transfer shaft 6870 is rotated by the articulation system emergency assistance device 6800. 62-64, the housing 6100 of the housing assembly 6000 further includes indices R, C and L defined thereon, and the indicator 6890 points to the C or center index when the end effector 4200 is in its unarticulated position (FIG. 64). When the end effector 4200 is in its full right articulation position (fig. 62), the indicator 6890 points to the R-mark. Similarly, when the end effector 4200 is in its full left articulation position, the indicator 6890 points to the L-mark. Alternatively, any other suitable arrangement and/or calibration may be used. In at least one instance, the indicator comprises, for example, an electronic indicator.

In various instances, the housing assembly 6000 may also include detents that may at least inhibit movement of the articulation system emergency assistance device 4200 when the end effector 4200 has reached its unarticulated or centered position. In some cases, the detents can be configured to allow the end effector 4200 to pass through its unarticulated position to the opposite side, and can provide some form of feedback to the clinician. In various instances, the feedback may be tactile and/or audible, for example. In some cases, the housing assembly 6000 may include hard stops that may prevent the end effector 4200 from being manually articulated beyond its unarticulated position.

Referring to fig. 51-56, a housing assembly 6000 of the surgical instrument 5000 includes a firing drive system 6500 configured to advance and retract a firing drive 7500. The firing drive system 6500 includes a rotatable drive input 6590 that is configured to operably engage a rotary output of the robotic surgical instrument. The firing drive input 6590 is rotatably supported by the housing 6100 and is accessible through an opening 2150 defined in the housing 6100. The firing drive system 6500 also includes a bevel gear 6580 fixedly mounted to the firing drive input 6590 such that the bevel gear 6580 rotates with the firing drive input 6590, and additionally includes a bevel gear 6570 in meshing engagement with the bevel gear 6580 such that the bevel gear 6570 is rotated by the bevel gear 6580.

In addition to the above, the firing drive system 6500 also includes a transfer shaft 6560 and a spur gear 6550. Bevel gear 6570 is fixedly mounted to transfer shaft 6560 such that transfer shaft 6560 is rotated by bevel gear 6570. Transfer shaft 6560 is rotatably supported by housing 6100 and spur gear 6550 is fixedly mounted to transfer shaft 6560 such that spur gear 6550 rotates with transfer shaft 6560. The firing drive system 6500 also includes a spur gear 6540, a translatable shaft 6530, and a bevel gear 6520. The spur gear 6540 and the bevel gear 6520 are fixedly mounted to the translatable shaft 6530 and rotate with the translatable shaft 6530. Referring to FIG. 54, the translatable shaft 6530 may be positioned in a drive position in which the spur gear 6540 is in meshing engagement with the spur gear 6550, and the bevel gear 6520 is also in meshing engagement with a bevel gear 6510 that is threadably engaged with a threaded portion of the firing link 7510 of the firing system 7500. In such positions of the translatable shaft 6530, rotation of the firing drive input 6590 may be transmitted to the firing link 7510. In use, the firing link 7510 translates distally to perform a firing stroke when the bevel gear 6510 is rotated in a first direction by the robotic surgical system and translates proximally to perform a retraction stroke when the bevel gear 6510 is rotated in a second or opposite direction by the robotic surgical system.

In addition to the above, referring to fig. 55, translatable shaft 6530 is slidably supported by housing 6100 between its drive position discussed above and an emergency assist position as described below. As the translatable shaft 6530 moves from its drive position to its emergency assist position, the bevel gear 6520 is lifted out of engagement with the bevel gear 6510. In other words, the bevel gear 6520 is not operably engaged with the bevel gear 6510 when the shaft 6530 is in its emergency assist position. The shaft 6530 includes a panic assist knob 6790 fixedly mounted thereto that is configured to be manually lifted by a clinician to operably disengage the bevel gear 6520 from the bevel gear 6510 and to decouple the robotic surgical system from the firing drive 7500. In this case, rotation of the firing drive input 6590 cannot be transmitted to the bevel gear 6510, and thus, the firing link 7510 cannot be translated by the robotic surgical system through the firing drive system 6500. To re-couple the robotic surgical system using the firing drive system 7500, the translatable shaft 6530 can be returned to its drive position (fig. 54) to operably re-engage the bevel gear 6520 with the bevel gear 6510.

In addition to the above, the surgical instrument 5000 also includes a firing system emergency assistance device 6700. The firing system emergency assistance device 6700 includes a drive gear 6510 in meshing engagement with a bevel gear 6710, and additionally includes a handle 6730 that includes an internal ratchet pawl 6720. The internal ratchet pawl 6720 is positioned within a window or opening defined in the handle 6730 and is rotatably mounted to the handle 6730 about a pin. Notably, the drive gear 6710 and the handle 6730 can rotate about a common pin and/or axis of rotation. When the handle 6730 is rotated from its position shown in fig. 55 to its position shown in fig. 56, the ratchet pawl 6720 engages the inner array of teeth defined on the drive gear 6710 and, at this time, the handle 6730 can be used to rotate the drive gear 6710. In such instances, rotation of the drive gear 6710 is transmitted to the bevel gear 6510 which translates or retracts the firing link 7510 of the firing drive 7500 proximally.

It is noted that, in addition to the above, the inner array of teeth defined on the drive gear 6710 driven by the ratchet pawl 6720 do not engage the bevel gear 6510; instead, an outer array of teeth defined on the drive gear 6710 is in meshing engagement with a bevel gear 6710 that is different than the inner array of teeth engaged by the ratchet pawl 6720. When the handle 6730 is rotated from its position shown in fig. 56 to its position shown in fig. 55, the ratchet pawl 6720 slides over the teeth of the drive gear 6710 without back driving or at least substantially back driving the drive gear 6710. Once the handle 6730 has been reset, or at least substantially reset, to the position shown in FIG. 55, the handle 6730 can be rotated again to further retract the firing link 7510. This process can be repeated as many times as necessary until the firing links 7510 have been retracted sufficiently to allow the end effector 4200 to be reopened.

In many instances, in addition to the above, the surgical instrument 5000 has been operably decoupled from the robotic surgical instrument when the firing system emergency assistance device 6700 is used to retract the firing drive 7500. In such instances, when the firing drive 7500 is no longer operably coupled with the robotic surgical system, it is not necessary to pull the emergency assistance knob 6790 to retract the firing drive 7500. That is, if desired, the emergency assist knob 6790 may be pulled to operably decouple the firing drive input 6590 from the firing drive 7500. In other instances, the surgical instrument 5000 remains operably coupled to the robotic surgical system when the firing system emergency assistance device 6700 is used to retract the firing drive 7500. In such instances, it may be difficult for the firing system emergency assistance device 6700 to overcome inertia and/or resistance within the rotary drive of the robotic surgical system, and thus, pulling the emergency assistance knob 6790 to operably decouple the firing drive 7500 from the firing drive input 6590 may be helpful.

The robotic surgical system may be used with various types of surgical instruments that are attachable to a common robotic output interface. The user may detach the surgical instrument attachment from the robotic output interface and then attach a different surgical instrument to the robotic output interface in its place. The first surgical instrument attachment and the second surgical instrument attachment may perform the same function or different functions. In either case, it can be advantageous to provide a sterile barrier between the surgical instrument attachment and the robotic output interface to limit contamination of the reusable robotic output interface. In various instances, the surgical instrument attachment is configured to be attached to and detached from the sterile adapter when the sterile adapter is attached to the robotic output interface. The sterile adapter provides a sterile barrier between the surgical instrument attachment and the robotic output interface while also allowing the robotic output interface to operably couple with the surgical instrument attachment, thereby enabling the robotic output interface to actuate a drive system of the surgical instrument attachment.

In current designs, an intermediate attachment portion between the surgical instrument attachment and the common robotic output interface requires an idler power train interface to couple the output of the robotic output interface with the input of the surgical instrument attachment. In such designs, the output of the robotic output interface drives not only the input of the surgical instrument attachment, but also the idler driveline interface of the intermediate attachment portion. This presents a challenge to the clinician when attempting to remove the surgical instrument attachment from the adapter when the drive system of the surgical instrument attachment is stuck and/or in an overloaded condition, for example. When the surgical instrument attachment is stuck, the clinician is not only faced with the task of matching the primary means of attaching the intermediate attachment portion and the surgical instrument attachment, the clinician must also resist the pressure applied to the idler gear powertrain interface by the drive system of the surgical instrument attachment. Thus, providing a sterile adapter that does not require a drive interface between the surgical instrument attachment, the sterile adapter, and the robotic output interface may provide previously unavailable advantages.

Referring now to fig. 67-71, a surgical instrument assembly 10000 includes a surgical instrument attachment 10100 and a sterile adaptor 10200. The sterile adapter 10200 is configured to be attachable to and detachable from the robotic output interface. The surgical instrument attachment 10100 is configured to be attachable to and detachable from the sterile adapter 10200 such that one or more drive devices of the surgical instrument attachment 10100 can be directly actuated by one or more corresponding drive outputs of the robotic output interface. The surgical instrument attachment 10100 includes an attachment interface portion 10110 (fig. 69) configured to be received by the sterile adapter 10200 and a body portion 10150 that includes various components 10170 (fig. 69) of one or more drive devices of the surgical instrument attachment 10100. The attachment interface portion 10110 and the main body portion 10150 of the surgical instrument attachment 10100 share a common shroud or housing 10101.

Referring now to fig. 68, the surgical instrument attachment 10100 includes one or more linearly actuatable drive devices. Each linear actuated drive includes a slider 10160, an actuating arm 10161 extending from the slider 10160, and a shaft 10162. Each slide 10160 is slidably mounted to a shaft 10162. Each linearly actuated drive device further comprises a spring 10164 configured to bias the slider 10160 in a proximal direction. Each slide 10160 includes a drive mounting portion 10163, and each linearly actuated drive further includes a linear drive output 10165 attached to its respective drive mounting portion 10163. When the slide 10160 is actuated and translated relative to the shaft 10162, the linear drive output 10165 translates relative to the shaft 10162 to affect various functions of the surgical instrument attachment 10100. The sliders 10160 can be actuated independently and/or simultaneously. Each actuator arm 10161 is configured to translate within a longitudinal bore 10103 defined on the housing 10101 when the actuator arm 10161 is actuated by the robotic output interface.

In addition to the above, the surgical instrument attachment 10100 further includes one or more

rotary drive devices

10180,10190. The rotary drive 10180 comprises a drive input 10181 configured to be coupleable with a drive output of the robot output interface, a flexible drive member 10182, and a drive shaft 10183 coupled to the drive input 10181 by the flexible drive member 10182. The drive shaft 10183 includes a rotary drive output 10184 mounted thereto and configured to affect the function of the surgical instrument attachment 10100. The rotary drive 10190 comprises a drive input 10191 configured to be coupleable with a drive output of the robot output interface, a flexible drive member 10192, and a drive shaft 10193 coupled to the drive input 10191 by the flexible drive member 10192. The drive shaft 10193 is concentric with the drive shaft 10183 and includes a rotational drive output configured to affect the function of the surgical instrument attachment 10100.

A hole or cavity 10211 is provided on the sterile adapter 10200 to allow the actuator arm 10161 to be coupled to a corresponding drive output of the robotic output interface. The sterile adapter 10200 comprises two side portions 10210, wherein each side portion 10210 comprises two cavities 10211 providing a total of four channels (one channel per actuation arm 10161). Thus, the actuation arm 10161 of the slider 10160 may be coupled to four corresponding drive outputs of the robotic interface and may move longitudinally within the corresponding cavity 10211. Embodiments are contemplated that include more or less than four sliders 10160, and in such embodiments, the sterile adapter 10200 can include any suitable number of cavities 10211 to accommodate the sliders 10160. The sterile adapter 10200 further includes an alignment aperture 10213 defined on the mating face 10201 of the sterile adapter 10200. The alignment holes 10213 are configured to receive the alignment protrusions 10113 of the attachment interface portion 10110. The alignment protrusion 10113 extends distally from the mating face 10102 of the housing 10101 of the surgical instrument attachment 10100 and is the primary support structure for the attachment of the surgical instrument attachment 10100 and the sterile adapter 10200.

To attach the surgical instrument attachment 10100 to the sterile adapter 10200 and thus couple the actuation arm 10161 to the drive output of the robotic output interface, the alignment protrusions 10113 align with the holes 10213 and push or pull the surgical instrument attachment 10100 distally to bring the mating face 10102 of the surgical instrument attachment 10100 into proximity with the mating face 10201 of the sterile adapter 10200. Upon approach of the

mating face

10102,10201, the protrusion 10220 of the sterile adapter 10200 is received within the aperture 10106 defined on the housing 10101 and is configured to engage a corresponding latching mechanism of the attachment interface portion 10110. Each latching mechanism includes a (first) lever 10120 pivotally mounted to the spine 10114 of the surgical instrument attachment 10100 by a pin 10112 and a (second) spring 10115 configured to bias the lever 10120 into a locked configuration (fig. 69 and 71). A stop pin 10117 is also provided for each lever 10120 in the sterile adaptor 11200 to prevent the lever 10120 from rotating beyond its locked configuration. Each spring 10115 is based on a ridge 10114 and is mounted to the lever 10120 via a protrusion 10122 defined on the lever 10120. The projection 10220 of the sterile adapter 10200 is configured to engage the lever 10120 such that when the sterile adapter 10200 and the surgical instrument attachment 10100 are fully attached to each other, the projection 10220 is configured to retain the lever 10120 in its locked configuration and to retain the surgical instrument attachment 10100 on the sterile adapter 10200.

In addition to the above, each lever 10120 includes an engagement surface 10121 that a corresponding engagement surface 10221 defined on the projection 10220 engages the engagement surface 10121 when the mating surfaces 10201,10102 are approximated to connect the surgical instrument attachment 10100 to the sterile adaptor 10200. During an initial stage of approach, the projection 10220 overcomes the spring biasing force applied to the lever 10120 by the spring 10115 and rotates the lever 10120 about the pin 10112 toward the unlocked configuration (fig. 70). Once

mating face

10201,10102 is fully accessed, or once engagement surface 10121 is distal of engagement surface 10221, spring 10115 causes lever 10120 to spring back to its locked configuration (fig. 71). In its locked configuration, each tab 10220 includes a proximal flange that hooks onto lever 10120 and releasably holds it in place.

To detach the surgical instrument attachment 10100 from the sterile adapter 10200, a user may press the proximal portion 10123 of the lever 10120 inwardly or toward each other within the opening 10105 defined on the housing 10101. The lever 10120 is pressed against the spring force applied to the lever 10120 by the spring 10115, so that the surgical instrument attachment 10100 can be pulled out of the sterile adapter 10200. In such instances, the lever 10120 is rotated away from the stop pin 10117 and into a position in which the engagement surfaces 10121,10221 are at least substantially parallel to one another to allow the projection 10220 to disengage from the latching mechanism or lever 10120 and to allow the projection 10220 to retract back through the aperture 10106. The surgical instrument attachment 10100 can then be removed away from the sterile adapter 10200, and since the sterile adapter 10200 is not directly engaged with the linearly actuatable arm 10161, the removal of the surgical instrument attachment 10100 does not involve overcoming the residual force applied to the linearly actuatable arm 10161 by the drive output of the robotic output interface. Once projection 10220 is disengaged from lever 10120, lever 10120 can be released and biased back to its locked configuration by spring 10115.

Referring now to fig. 72-77, the surgical instrument assembly 11000 includes a surgical instrument attachment 11100 and a sterile adapter 11200. Similar to sterile adapter 10200, sterile adapter 11200 is configured to be attachable to and detachable from the robotic output interface. The surgical instrument attachment 11100 is configured to be attachable to and detachable from the sterile adapter 11200 such that one or more drive devices of the surgical instrument attachment 11100 can be directly actuated by one or more corresponding drive outputs of the robotic output interface. The surgical instrument attachment 11100 includes an attachment interface portion 11110 (fig. 73) configured to be received within the sterile adaptor 11200 and a body portion 11150 that includes various components 11170 (fig. 73) of one or more drive devices of the surgical instrument attachment 11100. The attachment interface portion 11110 and the body portion 11150 of the surgical instrument attachment 11100 share a common shroud or housing 11101, but the attachment interface portion 11110 and the body portion 11150 may comprise separate housings.

The surgical instrument attachment 11100 includes the same linearly actuatable drive arrangement described above. Each actuation arm 10161 is configured to translate within a longitudinal bore 11103 defined in the housing 11101 when the actuation arm 10161 is actuated by the robotic output interface. A hole or cavity 11211 is provided on sterile adapter 11200 to allow actuator arm 10161 to couple to a corresponding drive output of the robotic output interface. Sterile adapter 11200 comprises two side portions 11210, wherein each side portion 11210 comprises two cavities 11211 providing a total of four channels (one for each actuator arm 10161). Thus, the actuation arm 10161 may be coupled to four corresponding drive outputs of the robotic interface and may move longitudinally within the corresponding cavity 11211. Embodiments are contemplated that include more or less than four sliders 10160, and in such embodiments, the sterile adapter 11200 can include any suitable number of cavities 11211 to accommodate the sliders 10160. Sterile adapter 11200 also includes an alignment aperture 11213 defined on mating face 11201 of sterile adapter 11200. The alignment holes 11213 are configured to receive the alignment protrusions 11113 of the attachment interface portion 11110 and extend distally from the mating face 11102 of the housing 11101 of the surgical instrument attachment 11100. The alignment protrusion 11113 is the primary support structure for the attachment of the surgical instrument attachment 11100 and the sterile adapter 11200.

To attach the surgical instrument attachment 11100 to the sterile adapter 11200 and thus couple the actuation arm 10161 to the drive output of the robotic output interface, the alignment protrusion 11113 is aligned with the hole 11213 and the surgical instrument attachment 11100 is pushed or pulled distally to approximate the mating face 11102 of the surgical instrument attachment 11100 with the mating face 11201 of the sterile adapter 11200. As the

mating face

11102,11201 is approached, the protrusions 11220 of the sterile adapter 11200 are received within the apertures 11105 defined on the housing 11101 and engage corresponding latching mechanisms of the attachment interface portion 11110. Although only one latch mechanism is shown, more than one latch mechanism is contemplated. Each latching mechanism includes a lever 11120 pivotally mounted to a spine 11114 of the surgical instrument attachment 11100 by a pin 11112, a cam 11130 nested within the lever 11120 and pivotally mounted to the spine 11114 by a pin 11117, and a spring 11115 based on the spine 11114 and configured to bias the lever 11120 and the cam 11130 into a locked configuration (fig. 73 and 75). The protrusion 11220 is configured to engage the lever 11120 and the cam 11130 such that when the sterile adaptor 11200 and the surgical instrument attachment 11100 are fully attached to one another, the protrusion 11220 is configured to retain the lever 11120 in its locked configuration to retain the surgical instrument attachment 11100 on the sterile adaptor 11200.

In addition to the above, the cam 11130 includes an unlocking surface 11131 that is engaged by an engagement surface 11221 defined on the protrusion 11220 when the

mating surface

11201,11102 is approximated to connect the surgical instrument attachment 11100 to the sterile adapter 11200. During the initial stage of approach, see fig. 73, the protrusion 11220 overcomes the spring biasing force applied to the lever 11120 by the spring 11115. When the engagement surface 11221 engages the unlocking surface 11131, the cam 11130 rotates about the pin 11117, see fig. 74. As cam 11130 rotates about pin 11117, lobe 11135 of cam 11130 pushes engagement surface 11125 of lever 11120 to rotate lever 11120 toward its unlocked configuration (fig. 74). Once the

mating surface

11201,11102 is fully accessed, or once the unlocking surface 11223 of the protrusion 11220 clears or is proximal to the engagement surface 11131 of the cam 11130, the spring 11115 causes the lever 11120 to spring back to its locked configuration (fig. 75). In its locked configuration, see fig. 75, each projection 11220 includes a proximal flange that hooks onto and releasably retains the lever 11120. More specifically, the locking surface 11223 of the protrusion 11220 is configured to be retained on the snail portion 11133 of the cam 11130, thereby preventing rotation of the cam by engagement of the retaining surface 11126 of the lever 11120 with the lobe 11135 (fig. 75).

Referring now to fig. 76, a user may squeeze the proximal portion 11123 of the lever 11120 within the opening 11105 defined on the housing 11101 to compress the spring 11115 and separate the surgical instrument attachment 11100 from the sterile adapter 11200. Compressing lever 11120 and overcoming the spring force applied to lever 11120 by spring 11115, thereby allowing lobe 11135 of cam 11130 to clear retaining surface 11126 of lever 11120. Once lobe 11135 may be rotated past retaining surface 11126, surgical instrument attachment 11100 may be pulled proximally from sterile adapter 11200 to a partially detached state. When the surgical instrument attachment 11100 is pulled out of the sterile adapter 11200, the locking surface 11223 of the protrusion 11220 pulls the snail portion 11133 of the cam 11130, thereby rotating the cam 11130 to the unlocked position. Once the engagement surface 11221 of the protrusion 11220 clears the snail portion 11133 of the cam 11130, see fig. 77, the spring 11115 biases the lever 11120 and the cam 11130 back to their locked configuration. At this point, the projection 11220 and the latch mechanism 11120 are then disengaged to allow the projection 11220 to retract through the aperture 11105. The surgical instrument attachment 11100 can then be removed in a proximal direction away from the sterile adaptor 11200, and since the sterile adaptor 11200 is not directly engaged with the linearly actuatable arm 10161 of the surgical instrument attachment 11100, the removal of the surgical instrument attachment 11100 does not involve overcoming the residual force applied to the linearly actuatable arm 10161 by the drive output of the robotic output interface. In other words, the means for attaching the surgical instrument attachment 11100 to the sterile adaptor 11200 is independent of the means for engaging the drive output with the linearly actuatable arm 10161.

As described above, the surgical instruments disclosed herein are operably attached to, for example, a robotic surgical system, such as the robotic surgical system 9000 shown in fig. 78. In various instances, the robotic surgical system 9000 comprises one or more arms configured to manipulate one or more surgical instruments disclosed herein. Various robotic SURGICAL systems are disclosed in U.S. patent 2012/0298719 entitled "SURGICAL INSTRUMENTS WITH robot stations" filed on 27.5.2011, which is now U.S. patent 9,072,535, the entire disclosure of which is incorporated herein by reference. Further, the surgical instruments disclosed herein may be adapted to be operably attached to a handle of a handheld surgical system.

Examples

Embodiment 1-a method for emergency assistance of a robotic surgical attachment attached to a surgical robot, the method comprising the steps of: disengaging a drive output of the surgical robot from an actuator of the robotic surgical attachment; detaching the robotic surgical attachment from the surgical robot; and actuating the closure emergency assistance device of the robotic surgical attachment in a first direction to open the jaws of the end effector of the robotic surgical attachment and actuating in a second direction to close the jaws of the end effector.

Embodiment 2-the method of embodiment 1, wherein the disengaging step includes pulling a pin to decouple the drive output from the actuator.

Example 3-the method of examples 1 or 2, wherein the disengaging step can be performed before or after the separating step.

Example 4-the method of examples 1, 2, or 3, further comprising the step of actuating a firing emergency assistance device to retract a firing member of the robotic surgical attachment.

Example 5-the method of examples 1, 2,3, or 4, further comprising the step of actuating an additional contingency aid to selectively open and close jaws of an end effector of the robotic surgical attachment.

Embodiment 6-the method of embodiment 5, wherein the step of actuating the additional emergency assistance device can be performed before or after the step of disengaging.

Example 7-the method of examples 5 or 6, wherein the additional bailout assist device is configured to translate a spine member of the robotic surgical attachment relative to a closure tube of the robotic surgical attachment, and wherein the closure bailout assist device is configured to translate the closure tube relative to the spine member.

Example 8-the method of examples 1, 2,3, 4,5, 6, or 7, wherein the end effector is configured to articulate relative to an axis of the robotic surgical attachment, and wherein the method further comprises the step of actuating the articulation emergency assistance device to non-articulate the end effector of the robotic surgical attachment.

Example 9-a method for emergency assistance with a surgical instrument assembly attached to a control interface, the method comprising the steps of: actuating a firing emergency assistance device to retract a firing member of a surgical instrument assembly; actuating the first closure contingency aid to release tissue within the end effector of the surgical instrument assembly; actuating a second closure contingency aid to release tissue within an end effector of a surgical instrument assembly; actuating the first or second closure contingency device to clamp the end effector; removing the surgical instrument assembly from the patient through the trocar; and detaching the surgical instrument assembly from the control interface.

Example 10-the method of example 9, wherein the first closure emergency assistance device is configured to translate a spine member of the surgical instrument assembly relative to a closure tube of the surgical instrument assembly.

Embodiment 11-the method of embodiment 10, wherein the second closure emergency assistance device is configured to translate the closure tube relative to the spine member.

Example 12-a method for emergency assistance with a surgical instrument assembly attached to a control interface, the method comprising the steps of: actuating an operating system of the surgical instrument assembly through an operating stroke; actuating a manually driven emergency assistance system to at least partially retract an operating system; and actuating the manually driven emergency assistance system to at least partially propel the operating system through the operating stroke.

Example 13-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a firing system, a closure system, a shaft, and an end effector comprising a first jaw, a second jaw, a clamped configuration, and an undamped configuration, wherein the closure system is configured to be actuated by the surgical robot to selectively place the end effector in the clamped configuration and the undamped configuration when the surgical instrument assembly is operably attached to the surgical robot. The surgical instrument assembly also includes a manually actuatable emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped configuration and the undamped configuration when the surgical instrument assembly is decoupled from the surgical robot.

Example 14-the surgical instrument assembly of example 13, wherein the shaft comprises a spine, wherein the closure system comprises a closure tube, wherein the closure tube is configured to be actuated in a first direction to place the end effector in the clamped configuration and a second direction to place the end effector in the undamped configuration, and wherein the first direction is opposite the second direction.

Example 15-the surgical instrument assembly of example 14, wherein the manually-actuatable emergency assistance device is configured to actuate the spine in a first direction to place the end effector in the undamped configuration and to actuate the spine in a second direction to place the end effector in the clamped configuration.

Example 16-the surgical instrument assembly of examples 14 or 15, wherein the manually actuatable emergency assistance device comprises a rotational drive input, a drive screw configured to be actuated by the rotational drive input, and an actuator portion coupled to the drive screw and the spine.

Example 17-the surgical instrument assembly of examples 13, 14, 15, or 16, wherein the closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of the surgical robot, and wherein the linearly actuatable drive portion is further configured to be manually actuated when the surgical instrument assembly is decoupled from the surgical robot.

Example 18-the surgical instrument assembly of examples 13, 14, 15, 16, or 17, further comprising an articulation system configured to articulate the end effector relative to the shaft, wherein the articulation system comprises an actuator configured to be manually actuated when the surgical instrument assembly is decoupled from the surgical robot.

Example 19-the surgical instrument assembly of examples 13, 14, 15, 16, 17, or 18, wherein the firing system comprises a firing member configured to move through a firing stroke, and wherein the firing system further comprises a firing system emergency assistance device configured to retract the firing member.

Example 20-the surgical instrument assembly of examples 13, 14, 15, 16, 17, 18, or 19, wherein the manually-actuated emergency assistance device comprises a first manually-actuated emergency assistance device, and wherein the surgical instrument assembly further comprises a second manually-actuatable emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped and undamped configurations when the surgical instrument assembly is attached to the surgical robot.

Example 21-the surgical instrument assembly of examples 13, 14, 15, 16, 17, 18, 19, or 20, further comprising means for operably disengaging the powered actuator of the surgical robot from the linear actuator of the closure system such that a manually actuatable emergency assistance device can be used without interference from the powered actuator of the surgical robot.

Example 22-the surgical instrument assembly of examples 13, 14, 15, 16, 17, 18, 19,20, or 21, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 23-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a firing system, a closure system, a shaft, and an end effector comprising a first jaw, a second jaw, a clamped configuration, and an undamped configuration, wherein the closure system is configured to be actuated by the surgical robot to place the end effector in the clamped configuration and the undamped configuration when the surgical instrument assembly is attached to the surgical robot. The surgical instrument assembly further comprises a first emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped and undamped configurations when the surgical instrument assembly is detached from the surgical robot; and a second contingency aid configured to actuate the closure system to manually place the end effector in the clamped and undamped configurations when the surgical instrument assembly is attached to or detached from the surgical robot.

Example 24-the surgical instrument assembly of example 23, wherein the shaft comprises a spine, wherein the closure system comprises a closure tube, wherein the closure tube is configured to be actuated in a first direction to place the end effector in the clamped configuration and a second direction to place the end effector in the undamped configuration, and wherein the first direction is opposite the second direction.

Example 25-the surgical instrument assembly of example 24, wherein the first emergency assistance device is configured to actuate the spine in a first direction to place the end effector in the undamped configuration and to actuate the spine in a second direction to place the end effector in the clamped configuration.

Example 26-the surgical instrument assembly of examples 24 or 25, wherein the first emergency assistance device comprises a rotational drive input, a drive screw configured to be actuated by the rotational drive input, and an actuator portion coupled to the drive screw and the spine.

Example 27-the surgical instrument assembly of examples 24, 25, or 26, wherein the closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of the surgical robot to actuate the closure tube, and wherein the linearly actuatable drive portion comprises a second contingency aid.

Example 28-the surgical instrument assembly of examples 23, 24, 25, 26, or 27, wherein the firing system comprises a firing member configured to move through a firing stroke, and wherein the firing system further comprises a firing system emergency assistance device configured to retract the firing member.

Example 29-the surgical instrument assembly of examples 23, 24, 25, 26, 27, or 28, further comprising means for operably disengaging the powered actuator of the surgical robot from the linear actuator of the closure system such that the first emergency assistance device can be used without interference from the powered actuator of the surgical robot.

Example 30-the surgical instrument assembly of examples 23, 24, 25, 26, 27, 28, or 29, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 31-a surgical system, the housing system comprising a surgical instrument attachment assembly comprising a shaft and an end effector. The surgical system also includes a transmission assembly configured to be operably attached to and detachable from the surgical robot, wherein the surgical instrument attachment assembly is configured to be operably attached to and detachable from the transmission assembly. The transmission assembly includes a drive system including a drive member movable in a first direction during a drive stroke and movable in a second direction during a return stroke, and a manually operated emergency assistance device configured to selectively move the drive member in the first and second directions when the transmission assembly is attached to the surgical robot.

Example 32-the surgical system of example 31, wherein the manually operated emergency assistance device is configured to actuate a component of the transmission assembly that is not otherwise actuated during the drive stroke and the return stroke of the drive member.

Example 33-the surgical system of examples 31 or 32, wherein the drive system comprises a closure drive system configured to clamp and unclamp the end effector.

Example 34-the surgical system of examples 31, 32, or 33, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 35-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises an articulation system, a shaft, an end effector configured to be articulated relative to the shaft by the articulation system, and an articulation contingency aid. The articulation emergency assistance device includes an emergency assistance engagement structure configured to prevent the articulation emergency assistance device from operably engaging the articulation system until the articulation emergency assistance device is activated; a position indicating device for displaying an articulation position of the end effector during use of the articulation emergency assistance device; and a manually actuatable member configured to manually actuate the articulation system.

Example 36-the surgical instrument assembly of example 35, wherein the manually actuatable member comprises a ratchet mechanism.

Example 37-the surgical instrument assembly of examples 35 or 36, wherein the articulation system comprises a dual articulation linkage and a dual articulation drive, and wherein the position indicating device is keyed to the dual articulation drive.

Example 38-the surgical instrument assembly of examples 35, 36, or 37, wherein the emergency assist engagement structure comprises a seat, wherein the manually actuatable member is retained in a position in which the articulation emergency assist device is operably disengaged from the articulation system until the seat is moved away from the manually actuatable member.

Example 39-the surgical instrument assembly of example 38, wherein the articulation emergency assistance device further comprises an activation structure, and wherein the abutment is positioned on the activation structure such that the abutment allows the articulation emergency assistance device to engage the articulation system when the activation structure is activated.

Example 40-the surgical instrument assembly of example 39, wherein the activation structure comprises an access door configured to allow access to the articulation emergency assist device when open and prevent access to the articulation emergency assist device when closed.

Example 41-the surgical instrument assembly of examples 35, 36, 37, 38, 39, or 40, wherein the position indication device comprises an indicator dial and a antagonistic double rack gear configured to rotate the indicator dial when the articulation system articulates the end effector.

Example 42-the surgical instrument assembly of example 41, wherein the position indication device further comprises a drive shaft and a pinion, wherein the pinion and the indication dial are coupled to the drive shaft, and wherein the double rack gear is configured to move in opposite directions when the end effector articulates and rotates the pinion.

Example 43-the surgical instrument assembly of examples 35, 36, 37, 38, 39, 40, 41, or 42, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 44-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a closure system configured to be actuated by a first linear actuator of the surgical robot, an articulation system configured to be actuated by a second linear actuator of the surgical robot, a shaft, an end effector configured to be closed by the closure system and articulated relative to the shaft by the articulation system, and an articulation contingency aid. The articulation emergency assistance device includes a manually operated actuation member configured to drive the articulation system and an articulation position member operably coupled to the articulation system and configured to indicate an articulation position of the end effector during use of the articulation emergency assistance device.

Example 45-the surgical instrument assembly of example 44, wherein the manually operated actuation member comprises a manually actuatable ratchet mechanism.

Example 46-the surgical instrument assembly of examples 44 or 45, wherein the articulation system comprises an articulation link and an articulation drive, and wherein the articulation position member is operably coupled to the articulation drive.

Example 47-the surgical instrument assembly of examples 44, 45, or 46, further comprising a bailout assist engagement structure configured to prevent the articulation bailout assist device from operably engaging the articulation system until the articulation bailout assist device is activated, wherein the bailout assist engagement structure comprises a seat, wherein the manually operated actuation member is retained in a position in which the articulation bailout assist device is operably disengaged from the articulation system until the seat is moved away from the manually operated actuation member.

Example 48-the surgical instrument assembly of example 47, wherein the articulation emergency assistance device further comprises an activation member, and wherein the abutment is positioned on the activation member such that the abutment allows the articulation emergency assistance device to engage the articulation system when the activation member is activated.

Example 49-the surgical instrument assembly of example 48, wherein the activation member comprises an access door configured to allow access to the articulation emergency assistance device when open and prevent access to the articulation emergency assistance device when closed.

Example 50-the surgical instrument assembly of examples 44, 45, 46, 47, 48, or 49, wherein the articulation emergency assistance device further comprises an articulation dial and an antagonistic double rack gear configured to rotate the articulation dial when the articulation system articulates the end effector.

Example 51-the surgical instrument assembly of example 50, wherein the articulation emergency assistance device further comprises a drive shaft and a pinion, wherein the pinion and the articulation position member are coupled to the drive shaft, and wherein the double rack gear is configured to move in opposite directions when the end effector articulates and rotates the pinion.

Example 52-the surgical instrument assembly of examples 44, 45, 46, 47, 48, 49, 50, or 51, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 53-the surgical instrument assembly of examples 44, 45, 46, 47, 48, 49, 50, 51, or 52, wherein the articulation system comprises an articulation drive, and wherein the surgical instrument assembly further comprises a means for indicating a midpoint position of the articulation drive.

Example 54-a surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises a drive system configured to be actuated in a first direction and a second direction opposite the first direction, wherein the drive system is configured to perform an instrument function; a shaft; an end effector and a drive system emergency assist device. The drive system emergency assistance device comprises a position indicating device for indicating a position of the drive system and an actuating member configured to actuate the drive system in a first direction and a second direction, wherein the direction of operating the drive system emergency assistance device is based on the position of the drive system indicated by the position indicating device.

Example 55-the surgical instrument assembly of example 54, wherein the drive system comprises an articulation drive system configured to articulate the end effector relative to the shaft.

Example 56-the surgical instrument assembly of examples 54 or 55, wherein the end effector is articulatable between an unarticulated position and a plurality of articulated positions, and wherein the surgical instrument assembly further comprises a pawl configured to indicate the unarticulated position of the end effector.

Example 57-the surgical instrument assembly of examples 54, 55, or 56, wherein the actuation member comprises a manually actuatable ratchet mechanism.

Example 58-the surgical instrument assembly of examples 54, 55, 56, or 57, wherein the drive system emergency assistance device further comprises an activation structure configured to prevent the actuation member from being configured to actuate the drive system until the activation structure is disengaged from the actuation member.

Example 59-the surgical instrument assembly of examples 54, 55, 56, 57, or 58, wherein the actuation member is configured to be manually actuated.

Example 60-the surgical instrument assembly of examples 54, 55, 56, 57, 58, or 59, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 61-a surgical instrument assembly comprising a proximal shaft assembly having a proximal drive member and a distal shaft assembly attachable to and detachable from the proximal shaft assembly, wherein the distal shaft assembly comprises a distal drive member configured to be coupled to and detachable from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member to actuate a function of the surgical instrument assembly. The drive stroke includes a stroke start position, a stroke end position distal to the stroke start position, and a home position. The surgical instrument assembly further comprises an end effector, wherein the proximal drive member and the distal drive member are configured to be coupled and decoupled from each other when the proximal drive member and the distal drive member are in a home position, and wherein the home position is not at a stroke start position or a stroke end position.

Example 62-the surgical instrument assembly of example 61, wherein the home position is proximal to the stroke start position.

Example 63-the surgical instrument assembly of example 61, wherein the home position is distal of the stroke start position and proximal of the stroke end position.

Example 64-the surgical instrument assembly of examples 61, 62, or 63, wherein the drive stroke further comprises at least one spaced drive stroke position corresponding to at least one particular event of a function of the surgical instrument assembly, wherein the at least one spaced drive stroke position is distal of the stroke start position and proximal of the stroke end position, and wherein the home position is not at the at least one spaced drive stroke position.

Example 65-the surgical instrument assembly of examples 61, 62, 63, or 64, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the stroke start position by the control system after the proximal shaft assembly and the distal shaft assembly are attached.

Example 66-the surgical instrument assembly of examples 61, 62, 63, 64, or 65, wherein the proximal drive member and the distal drive member are automatically moved to the home position when the distal shaft assembly is decoupled from the proximal shaft assembly.

Example 67-the surgical instrument assembly of examples 61, 62, 63, 64, 65, or 66, wherein the proximal drive member is a first proximal drive member and the distal drive member is a first distal drive member, wherein the proximal shaft assembly further comprises a second proximal drive member and the distal shaft assembly further comprises a second distal drive member, and wherein the second proximal drive member and the second distal drive member are configured to be coupled and decoupled when the second proximal drive member and the second distal drive member are in the second, home position.

Example 68-the surgical instrument assembly of example 67, wherein the home position comprises a first home position, and wherein the second home position is aligned with the first home position.

Example 69-the surgical instrument assembly of example 67, wherein the home position comprises a first home position, and wherein the second home position is not aligned with the first home position.

Example 70-the surgical instrument assembly of examples 61, 62, 63, 64, 65, 66, 67, 68, or 69, wherein the proximal and distal shaft assemblies employ a twisting motion to attach and detach the proximal and distal shaft assemblies.

Example 71-the surgical instrument assembly of examples 61, 62, 63, 64, 65, 66, 67, 68, 69, or 70, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 72-a surgical instrument assembly comprising an end effector, a proximal shaft assembly having a proximal drive member, and a distal shaft assembly attachable to and detachable from the proximal shaft assembly, wherein the distal shaft assembly comprises a distal drive member configured to be coupled to and detachable from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member to articulate the end effector. The drive stroke includes a first articulation position at which the end effector is fully articulated in a first direction; a second articulation position in which the end effector is fully articulated in a second direction opposite the first direction; a non-articulation position in which the end effector is not articulated, and wherein the non-articulation position is between the first articulation position and the second articulation position; and home position. The proximal drive member and the distal drive member are configured to be coupled and decoupled from each other when the proximal drive member and the distal drive member are in a home position, and wherein the home position is not at the first articulation position, the second articulation position, or the non-articulation position.

Example 73-the surgical instrument assembly of example 72, wherein the home position is between the first articulation position and the non-articulation position or between the second articulation position and the non-articulation position.

Example 74-the surgical instrument assembly of examples 72 or 73, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the unarticulated position by the control system after the proximal shaft assembly and the distal shaft assembly are attached.

Example 75-the surgical instrument assembly of examples 72, 73, or 74, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the home position by the control system when the distal shaft assembly is decoupled from the proximal shaft assembly.

Example 76-the surgical instrument assembly of examples 72, 73, 74, or 75, wherein the proximal shaft assembly and the distal shaft assembly employ a twisting motion to attach and detach the proximal shaft assembly and the distal shaft assembly.

Example 77-the surgical instrument assembly of examples 72, 73, 74, 75, or 76, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Example 78-a surgical instrument assembly comprising a proximal shaft assembly comprising a proximal drive member and a distal shaft assembly attachable to and detachable from the proximal shaft assembly, wherein the distal shaft assembly comprises a distal drive member configured to be coupled to and detachable from the proximal drive member, wherein the distal drive member is configured to be actuated through a drive stroke by the proximal drive member to actuate a function of the surgical instrument assembly. The drive stroke includes a stroke start position; an end-of-stroke position distal to the start-of-stroke position; at least one spaced drive stroke position corresponding to at least one particular event of a function of the surgical instrument assembly, wherein the at least one spaced drive stroke position is distal of the stroke start position and proximal of the stroke end position; and a parking position. The proximal and distal drive members are configured to be coupled and decoupled from each other when the proximal and distal drive members are in a parked position, and wherein the parked position is not at the start of stroke position, the end of stroke position, or the at least one spaced-apart drive stroke position.

Example 79-the surgical instrument assembly of example 78, wherein the park position is proximal of the stroke start position.

Example 80-the surgical instrument assembly of example 78, wherein the park position is distal of the stroke start position and proximal of the stroke end position.

Example 81-the surgical instrument assembly of examples 78, 79, or 80, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the stroke start position by the control system after the proximal shaft assembly and the distal shaft assembly are attached.

Example 82-the surgical instrument assembly of examples 78, 79, 80, or 81, further comprising a control system, wherein the proximal drive member and the distal drive member are automatically moved to the park position by the control system when the distal shaft assembly is decoupled from the proximal shaft assembly.

Example 83-the surgical instrument assembly of examples 78, 79, 80, 81, or 82, wherein the proximal drive member is a first proximal drive member, the distal drive member is a first distal drive member, and the park position is a first park position, wherein the proximal shaft assembly further comprises a second proximal drive member and the distal shaft assembly further comprises a second distal drive member, and wherein the second proximal drive member and the second distal drive member are configured to be coupled and decoupled when the second proximal drive member and the second distal drive member are in the second park position.

Example 84-the surgical instrument assembly of examples 78, 79, 80, 81, 82, or 83, wherein the proximal and distal shaft assemblies employ a twisting motion to attach and detach the proximal and distal shaft assemblies.

Example 85-the surgical instrument assembly of examples 78, 79, 80, 81, 82, 83, or 84, further comprising a staple cartridge comprising a plurality of staples removably stored therein.

Many of the surgical instrument systems described herein are actuated by an electric motor; the surgical instrument systems described herein may be actuated in any suitable manner. Further, as noted above, the motors disclosed herein may comprise a portion or portions of a robotic control system. For example, U.S. patent application serial No. 13/118,241 (now U.S. patent 9,072,535), entitled "SURGICAL INSTRUMENTS WITH robotic SURGICAL INSTRUMENTS," discloses several examples of robotic SURGICAL instrument systems in more detail.

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

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

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

-us patent 7,000,818 entitled "SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS" published on 21.2.2006;

-U.S. patent 7,422,139 entitled "MOTOR-driving warming and warming insulation WITH TACTILE POSITION FEEDBACK fed", published 9.9.2008;

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

-U.S. patent 7,670,334 entitled "SURGICAL INSTRUMENT HAVATING ANARTICULATING END EFFECTOR" published on 3, 2.2010;

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

-us patent 8,393,514 entitled "SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE" published on 12.3.3.2013;

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

-U.S. patent application serial No. 12/031,573 entitled "SURGICAL CUTTING AND FASTENING INSTRUMENTS HAVARING RF ELECTRORDES" filed on 14.2.2008;

-U.S. patent application serial No. 12/031,873 entitled "END efffectors FOR a SURGICAL CUTTING and applying in insurment" filed on 15.2.2008 (now U.S. patent 7,980,443);

-U.S. patent application serial No. 12/235,782 entitled "MOTOR-driver basic CUTTING insert", now U.S. patent 8,210,411;

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

-U.S. patent application serial No. 12/647,100 entitled "MOTOR-drive minor cutlingument WITH ELECTRIC ACTUATOR direct CONTROL assignment" filed 24.12.2009; now us patent 8,220,688;

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

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

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

-U.S. patent application serial No. 13/524,049 entitled "articulatale surgicial instrumentco publication A FIRING DRIVE" filed on 6, 15/2012; now us patent 9,101,358;

-U.S. patent application serial No. 13/800,025 entitled "STAPLE CARTRIDGE TISSUE thicknownstess sensorstem" filed on 3,13, 2013, now U.S. patent 9,345,481;

-U.S. patent application serial No. 13/800,067 entitled "STAPLE CARTRIDGE TISSUE thicknownstess sensorstem" filed on 3,13, 2013, 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 31.1.2006; and

U.S. patent application publication 2010/0264194 entitled "SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR" filed on 22.4.2010, now U.S. Pat. No. 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, the particular features, structures, or characteristics shown or described in connection with one embodiment may be combined, in whole or in part, with the features, structures, or characteristics of one or more other embodiments, without limitation. In addition, where materials for certain components are disclosed, other materials may also be used. Further, according to various embodiments, a single component may be replaced with multiple components, and multiple components may also be replaced with a single component, to perform a given function or functions. The foregoing detailed description and the following claims are intended to cover all such modifications and variations.

The device disclosed herein may be designed to be disposed of after a single use, or it may be designed to be used multiple times. In either case, however, the device may be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces of the device, and subsequent reassembly of the device. Specifically, the repair facility and/or surgical team may remove the device and, after cleaning and/or replacing certain components of the device, may reassemble the device 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 processed prior to surgery, first, new or used instruments may be obtained and cleaned as needed, then, the instruments may be sterilized.

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

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

Claims

1. A surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises:

a firing system;

a closure system;

a shaft;

an end effector, the end effector comprising:

a first jaw;

a second jaw;

a clamped configuration; and

an unclamped configuration, wherein the closure system is configured to be actuated by the surgical robot to selectively place the end effector in the clamped and unclamped configurations when the surgical instrument assembly is operably attached to the surgical robot; and

a manually actuatable emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped configuration and the undamped configuration when the surgical instrument assembly is decoupled from the surgical robot.

2. The surgical instrument assembly of claim 1, wherein said shaft comprises a spine, wherein said closure system comprises a closure tube, wherein said closure tube is configured to be actuated in a first direction to place said end effector in said clamped configuration and a second direction to place said end effector in said undamped configuration, and wherein said first direction is opposite said second direction.

3. The surgical instrument assembly of claim 2, wherein said manually actuatable contingency aid is configured to actuate said spine in said first direction to place said end effector in said unclamped configuration and to actuate said spine in said second direction to place said end effector in said clamped configuration.

4. The surgical instrument assembly of claim 3, wherein said manually actuatable emergency assistance device comprises:

a rotational drive input;

a drive screw configured to be actuatable by the rotational drive input; and

an actuator portion coupled to the drive screw and the spine.

5. The surgical instrument assembly of claim 1, wherein said closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of said surgical robot, and wherein said linearly actuatable drive portion is further configured to be manually actuated when said surgical instrument assembly is decoupled from said surgical robot.

6. The surgical instrument assembly of claim 1, further comprising an articulation system configured to articulate said end effector relative to said shaft, wherein said articulation system comprises an actuator configured to be manually actuated when said surgical instrument assembly is decoupled from said surgical robot.

7. The surgical instrument assembly of claim 1, wherein said firing system comprises a firing member movable through a firing stroke, and wherein said firing system further comprises a firing system emergency assistance device configured to retract said firing member.

8. The surgical instrument assembly of claim 1, wherein said manually-actuated bailout assist device comprises a first manually-actuated bailout assist device, and wherein said surgical instrument assembly further comprises a second manually-actuatable bailout assist device configured to actuate said closure system to manually place said end effector in said clamped configuration and said undamped configuration when said surgical instrument assembly is attached to said surgical robot.

9. The surgical instrument assembly of claim 1, further comprising means for operably disengaging a powered actuator of said surgical robot from a linear actuator of said closure system such that said manually actuatable emergency assistance device can be used without interference from said powered actuator of said surgical robot.

10. The surgical instrument assembly of claim 1, further comprising a staple cartridge having a plurality of staples removably stored therein.

11. A surgical instrument assembly configured to be attached to and detached from a surgical robot, wherein the surgical instrument assembly comprises:

a firing system;

a closure system;

a shaft;

an end effector, the end effector comprising:

a first jaw;

a second jaw;

a clamped configuration; and

an undamped configuration, wherein the closure system is configured to be actuated by the surgical robot to place the end effector in the clamped and undamped configurations when the surgical instrument assembly is attached to the surgical robot; and

a first emergency assistance device configured to actuate the closure system to manually place the end effector in the clamped configuration and the undamped configuration when the surgical instrument assembly is decoupled from the surgical robot; and

a second contingency aid configured to actuate the closure system to manually place the end effector in the clamped and undamped configurations when the surgical instrument assembly is attached to or detached from the surgical robot.

12. The surgical instrument assembly of claim 11, wherein said shaft comprises a spine, wherein said closure system comprises a closure tube, wherein said closure tube is configured to be actuated in a first direction to place said end effector in said clamped configuration and a second direction to place said end effector in said undamped configuration, and wherein said first direction is opposite said second direction.

13. The surgical instrument assembly of claim 12, wherein said first emergency assistance device is configured to actuate said spine in said first direction to place said end effector in said undamped configuration and to actuate said spine in said second direction to place said end effector in said clamped configuration.

14. The surgical instrument assembly of claim 13, wherein said first emergency assistance device comprises:

a rotational drive input;

a drive screw configured to be actuatable by the rotational drive input; and

an actuator portion coupled to the drive screw and the spine.

15. The surgical instrument assembly of claim 12, wherein said closure system comprises a linearly actuatable drive portion configured to be actuated by a drive output of said surgical robot to actuate said closure tube, and wherein said linearly actuatable drive portion comprises said second contingency aid.

16. The surgical instrument assembly of claim 11, wherein said firing system comprises a firing member movable through a firing stroke, and wherein said firing system further comprises a firing system emergency assistance device configured to retract said firing member.

17. The surgical instrument assembly of claim 11, further comprising means for operably disengaging a powered actuator of said surgical robot from a linear actuator of said closure system such that said first emergency assistance device can be used without interference from said powered actuator of said surgical robot.

18. The surgical instrument assembly of claim 11, further comprising a staple cartridge having a plurality of staples removably stored therein.

19. A surgical system, comprising:

a surgical instrument attachment assembly, the surgical instrument attachment assembly comprising:

a shaft; and

an end effector; and

a transmission assembly configured to be operably attached to and detached from a surgical robot, wherein the surgical instrument attachment assembly is configured to be operably attached to and detached from the transmission assembly, and wherein transmission assembly comprises:

a drive system including a drive member movable in a first direction during a drive stroke and movable in a second direction during a return stroke; and

a manually operated emergency assistance device configured to selectively move the drive member in the first and second directions when the transmission assembly is attached to the surgical robot.

20. The surgical system of claim 19, wherein the manually operated emergency assistance device is configured to actuate a component of the transmission assembly that is not otherwise actuated during the drive stroke and the return stroke of the drive member.

21. The surgical system of claim 19, wherein the drive system comprises a closure drive system configured to clamp and unclamp the end effector.

22. The surgical system of claim 19, further comprising a staple cartridge having a plurality of staples removably stored therein.