CN111491573B - 包括闭合和击发锁定机构的外科器械 - Google Patents
包括闭合和击发锁定机构的外科器械 Download PDFInfo
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Abstract
本发明公开了一种外科器械组件，所述外科器械组件包括端部执行器、轴组件、闭合驱动系统以及击发驱动系统。所述外科器械组件还包括双锁，所述双锁被构造成能够接合闭合构件和击发构件，以在闭合构件处于远侧闭合行程位置之前防止击发构件被从近侧击发行程位置朝远侧推进。所述双锁还被构造成能够在击发构件在击发行程之后返回到近侧击发行程位置之前防止闭合构件从远侧闭合行程位置回缩。
Description
背景技术
本发明涉及外科器械，并且在各种布置结构中，涉及被设计成缝合和切割组织的外科缝合和切割器械及与其一起使用的钉仓。
附图说明
本文所述的实施方案的各种特征连同其优点可结合如下附图根据以下描述来加以理解：
图1为根据本公开的一个方面的机器人控制器的一种形式的示例的透视图；
图2为根据本公开的一个方面的可操作地支撑多个外科工具的机器人外科系统的机器人外科臂车/操纵器的一种形式的示例的透视图；
图3为根据本公开的一个方面的图2中描绘的机器人外科臂车/操纵器的侧视图；
图4为根据本公开的一个方面的外科工具实施方案的后透视图；
图5为图4的外科工具的远侧部分处于关节运动位置的透视图，其中其砧座处于打开位置；
图6为图4和图5的外科工具的远侧部分的分解组件透视图；
图7为图4至图6的外科工具的细长轴组件的一部分的剖面透视图；
图8为图4至图7的外科工具的外科端部执行器和关节运动接头的一部分的后透视图；
图9为图4至图8的外科工具的外科端部执行器和细长轴组件的部分的剖面顶视图；
图10为图4至图9的外科工具的关节运动系统和外科端部执行器的部分的顶视图，其中该外科端部执行器处于关节运动构型；
图11为图4至图10的外科工具的关节运动系统和外科端部执行器的部分的另一个顶视图，其中该外科端部执行器处于非关节运动构型；
图12为图4至图11的外科工具的关节运动系统和外科端部执行器的部分的另一个顶视图，其中该外科端部执行器处于非关节运动构型；
图13为图4至图12的外科工具的关节运动系统和外科端部执行器的部分的另一个顶视图，其中该外科端部执行器已向左进行关节运动；
图14为图4至图13的外科工具的关节运动系统和外科端部执行器的部分的另一个顶视图，其中该外科端部执行器已向右进行关节运动；
图15为图4至图14的外科工具的关节运动系统和外科端部执行器的部分的另一个顶视图，其中该外科端部执行器已向左进行关节运动；
图16为图4至图15的外科工具的细长轴组件的一部分的透视图，其中其近侧联接器部分处于其相应的中立联接位置；
图17为图16的细长轴组件的一部分的剖面侧视图；
图18为图4至图15的外科工具的近侧端部部分的透视图；
图19为图18的外科工具的近侧部分的剖面侧视图；
图20为图16和图17的细长轴组件的近侧端部的侧正视图，以及以横截面和锁定位置示出的间隔锁实施方案；
图21为沿图20中的线21-21截取的图20的细长轴组件和间隔锁的剖面端视图；
图22为包括手持外科系统的外科工具和控制器接口的一部分的分解侧组件视图；
图23为图22的外科工具和手持外科系统的分解透视组件视图；
图24为附接到图22和图23的手持外科系统的外科工具的近侧部分的剖面图；
图25为图24的外科工具和手持外科系统的一部分的另一个剖面图；
图26为图20的细长轴组件和间隔锁的近侧端部的侧正视图，其中间隔锁以横截面和解锁位置示出；
图27为沿图26中的线27-27截取的图26的细长轴组件和间隔锁的剖面端视图；
图28为根据本公开的一个方面的图4至图15的外科工具的一部分和包括机器人控制的系统的工具保持器部分的第二控制器接口的分解透视组件视图；；
图29为附接到图28的工具保持器部分的图28的外科工具的一部分的剖面图；
图30为包括无菌适配器、控制组件和轴组件的外科器械组件的透视图；
图31为图30的外科器械组件的底部透视图；
图32为图30的外科器械组件的无菌适配器的底部平面图，其中无菌适配器包括多个驱动输入件；
图33为图30的外科器械组件的局部分解图；
图34为图30的外科器械组件的无菌适配器和控制组件的透视图；
图35为图30的外科器械组件的控制组件的局部剖面图；
图36为图30的外科器械组件的控制组件和无菌适配器的剖面图；
图37为图30的外科器械组件的控制组件的透视图，其中为了说明的目的移除了各种部件；
图38为图30的外科器械组件的轴组件和控制组件的各种部件的透视图；
图39为图30的外科器械组件的轴组件和控制组件的关节运动驱动部件的详细视图；
图40为图30的外科器械组件的控制组件和无菌适配器的局部分解图；
图41为图30的外科器械组件的轴组件的一部分的局部剖面透视图；
图42为图30的外科器械组件的控制组件的关节运动驱动器的详细视图；
图43为图30的外科器械组件的轴组件的透视图；
图44为示出图30的外科器械组件的轴组件和控制组件的关节运动驱动系统的各种部件的局部透视图，其中为了说明的目的移除了一些部件；
图45为图30的外科器械组件的局部平面图，突出显示了图30的外科器械组件内的各种部件；
图46为图30的外科器械组件的局部平面图，突出显示了图30的外科器械组件内的各种部件；
图47为以非关节运动构型示出的图30的外科器械组件的轴组件平面图；
图48为以第一关节运动构型示出的图30的外科器械组件的轴组件平面图；
图49为以第二非关节运动构型示出的图30的外科器械组件的轴组件平面图；
图50为示出图30的外科器械组件的局部透视图，其中为了说明的目的移除了一些部件；
图51为图30的外科器械组件的轴组件和控制组件的关节运动驱动部件的详细视图；
图52为示出图30的外科器械组件的局部透视图，其中为了说明的目的移除了一些部件；
图53为图30的外科器械组件的闭合驱动系统的底部的平面图；
图54为图53的闭合驱动系统的底部的透视图；
图55为以完全非夹持构型示出的图53的闭合驱动系统的螺旋凸轮齿轮和闭合主体销的局部剖面图；
图56为以部分夹持构型示出的图55的闭合驱动系统的螺旋凸轮齿轮和闭合主体销的局部剖面图；
图57为以完全夹持构型示出的图55的闭合驱动系统的螺旋凸轮齿轮和闭合主体销的局部剖面图；
图58为以图55的完全非夹持构型示出的图53的闭合驱动系统的正视图；
图59为以图57的完全夹持构型示出的图53的闭合驱动系统的正视图；
图60为以锁定状态示出的图30的外科器械组件的击发驱动锁定系统的透视图；
图61为以解锁状态示出的图60的击发驱动锁定系统的透视图；
图62为以锁定状态示出的图60的击发驱动锁定系统的顶视图；
图63为以解锁状态示出的图60的击发驱动锁定系统的顶视图；
图64为图30的外科器械组件的控制组件、图60的击发驱动锁、以及击发驱动系统的局部剖面图；
图65为图30的外科器械组件的轴组件的闭合和击发锁定系统的局部透视图；
图66为图65的双闭合和击发锁定系统的分解图；
图67为以轴组件的击发杆被锁定的构型示出的图65的双闭合和击发锁定系统的局部剖面图；
图68为以图67的击发杆被解锁的构型示出的图65的双闭合和击发锁定系统的局部剖面图；
图69为以图67的击发杆被解锁并部分推进并且轴组件的闭合管被锁定的构型示出的图65的双闭合和击发锁定系统的局部剖面图；
图70为图30的外科器械组件的控制组件和无菌适配器的透视图，其中控制组件包括手动操作的闭合驱动致动器；
图71为示出图30的外科器械组件的击发应急件的透视图，其中为了说明的目的移除了一些部件；
图72为图53的闭合驱动系统的透视图，其中闭合驱动系统包括闭合驱动应急件；
图73为图53的闭合驱动系统的正视图，其中闭合驱动应急件被示出为处于部分应急构型；
图74为图53的闭合驱动系统的正视图，其中闭合驱动应急件被示出为处于完全应急构型；
图75为示出图30的外科器械组件的局部正视图，其中为了说明的目的移除了一些部件；
图76为沿图75的线76-76截取的图30的外科器械组件的剖面图；
图77为图30的外科器械组件的剖面图，其中图72的闭合驱动应急件被示出为处于完全应急构型；
图78为包括两个不同的驱动输入布置结构和螺旋凸轮齿轮的闭合驱动系统的平面图；
图79为图78的闭合驱动系统的透视图；
图80为包括两个不同的驱动输入布置结构和螺旋凸轮齿轮的闭合驱动系统的平面图；
图81为图80的闭合驱动系统的透视图；
图82为表示利用相异驱动输入布置结构的基于凸轮齿轮输出件的闭合驱动系统的曲线图；
图83为表示凸轮齿轮输出件的角度与图82的相异驱动输入布置结构的角度差之间的关系的曲线图；
图84为利用图30的外科器械组件的闭合驱动系统的各种部件的闭合驱动系统的透视图；
图85为图84的闭合驱动系统的透视图；以及
图86为图84的闭合驱动系统的底部的平面图。
在所述若干视图中，对应的参考符号指示对应的部件。本文所述的范例以一种形式示出了本发明的各种实施方案，且这种范例不应被解释为以任何方式限制本发明的范围。
具体实施方式
本申请的申请人拥有于2017年12月19日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“METHOD FOR DETERMINING THE POSITION OF A ROTATABLE JAW OF ASURGICAL INSTRUMENT ATTACHMENT ASSEMBLY”的美国专利申请序列号15/847,306；
-名称为“SURGICAL INSTRUMENTS WITH DUAL ARTICULATION DRIVERS”的美国专利申请序列号15/847,297；
-名称为“SURGICAL TOOLS CONFIGURED FOR INTERCHANGEABLE USE WITHDIFFERENT CONTROLLER INTERFACES”的美国专利申请序列号15/847,325；
-名称为“ROBOTIC ATTACHMENT COMPRISING EXTERIOR DRIVE ACTUATOR”的美国专利申请序列号15/847,315；以及
-名称为“SURGICAL INSTRUMENT ASSEMBLY”的美国设计专利申请序列号29/630,115。
本申请的申请人拥有于2017年12月15日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“SEALED ADAPTERS FOR USE WITH ELECTROMECHANICAL SURGICALINSTRUMENTS”的美国专利申请序列号15/843,485；
-名称为“END EFFECTORS WITH POSITIVE JAW OPENING FEATURES FOR USE WITHADAPTERS FOR ELECTROMECHANICAL SURGICAL INSTRUMENTS”的美国专利申请序列号15/843,518；
-名称为“SURGICAL END EFFECTORS WITH CLAMPING ASSEMBLIES CONFIGURED TOINCREASE JAW APERTURE RANGES”的美国专利申请序列号15/843,535；
-名称为“SURGICAL END EFFECTORS WITH PIVOTAL JAWS CONFIGURED TO TOUCHAT THEIR RESPECTIVE DISTAL ENDS WHEN FULLY CLOSED”的美国专利申请序列号15/843,558；
-名称为“SURGICAL END EFFECTORS WITH JAW STIFFENER ARRANGEMENTSCONFIGURED TO PERMIT MONITORING OF FIRING MEMBER”的美国专利申请序列号15/843,528；
-名称为“ADAPTERS WITH END EFFECTOR POSITION SENSING AND CONTROLARRANGEMENTS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICALINSTRUMENTS”的美国专利申请序列号15/843,567；
-名称为“DYNAMIC CLAMPING ASSEMBLIES WITH IMPROVED WEARCHARACTERISTICS FOR USE IN CONNECTION WITH ELECTROMECHANICAL SURGICALINSTRUMENTS”的美国专利申请序列号15/843,556；
-名称为“ADAPTERS WITH FIRING STROKE SENSING ARRANGEMENTS FOR USE INCONNECTION WITH ELECTROMECHANICAL SURGICAL INSTRUMENTS”的美国专利申请序列号15/843,514；
-名称为“ADAPTERS WITH CONTROL SYSTEMS FOR CONTROLLING MULTIPLE MOTORSOF AN ELECTROMECHANICAL SURGICAL INSTRUMENT”的美国专利申请序列号15/843,501；
-名称为“HANDHELD ELECTROMECHANICAL SURGICAL INSTRUMENTS WITH IMPROVEDMOTOR CONTROL ARRANGEMENTS FOR POSITIONING COMPONENTS OF AN ADAPTER COUPLEDTHERETO”的美国专利申请序列号15/843,508；
-名称为“SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER FIRINGRATE OF A SURGICAL INSTRUMENT”的美国专利申请序列号15/843,682；
-名称为“SYSTEMS AND METHODS OF CONTROLLING A CLAMPING MEMBER”的美国专利申请序列号15/843,689；以及
-名称为“METHODS OF OPERATING SURGICAL END EFFECTORS”的美国专利申请序列号15/843,704。
本申请的申请人拥有于2017年6月29日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICALINSTRUMENT”的美国专利申请序列号15/636,829；
-名称为“CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSEDTISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT”的美国专利申请序列号15/636,837；
-名称为“CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTICSURGICAL INSTRUMENT”的美国专利申请序列号15/636,844；
-名称为“ROBOTIC SURGICAL INSTRUMENT WITH CLOSED LOOP FEEDBACKTECHNIQUES FOR ADVANCEMENT OF CLOSURE MEMBER DURING FIRING”的美国专利申请序列号15/636,854；以及
-名称为“SYSTEM FOR CONTROLLING ARTICULATION FORCES”的美国专利申请序列号15/636,858。
本申请的申请人拥有于2017年6月28日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“SURGICAL INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT”的美国专利申请序列号15/635,693；
-名称为“SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO”的美国专利申请序列号15/635,729；
-名称为“SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO”的美国专利申请序列号15/635,785；
-名称为“SURGICAL INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS”的美国专利申请序列号15/635,808；
-名称为“SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEMLOCKABLE TO A FRAME”的美国专利申请序列号15/635,837；
-名称为“SURGICAL INSTRUMENT COMPRISING AN ARTICULATION SYSTEMLOCKABLE BY A CLOSURE SYSTEM”的美国专利申请序列号15/635,941；
-名称为“SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSINGARRANGEMENT”的美国专利申请序列号15/636,029；
-名称为“SURGICAL INSTRUMENT COMPRISING SELECTIVELY ACTUATABLEROTATABLE COUPLERS”的美国专利申请序列号15/635,958；
-名称为“SURGICAL STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLECARTRIDGE NOSES”的美国专利申请序列号15/635,981；
-名称为“SURGICAL INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURETUBE PROFILE”的美国专利申请序列号15/636,009；
-名称为“METHOD FOR ARTICULATING A SURGICAL INSTRUMENT”的美国专利申请序列号15/635,663；
-名称为“SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITHAXIALLY SHORTENED ARTICULATION JOINT CONFIGURATIONS”的美国专利申请序列号15/635,530；
-名称为“SURGICAL INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLYMOVABLE FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE JAWSPRIOR TO FIRING”的美国专利申请序列号15/635,549；
-名称为“SURGICAL INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT ANAXIS UPON CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY TOTHE PIVOT AXIS”的美国专利申请序列号15/635,559；
-名称为“SURGICAL END EFFECTORS WITH IMPROVED JAW APERTUREARRANGEMENTS”的美国专利申请序列号15/635,578；
-名称为“SURGICAL CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVILWITH A TISSUE LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT”的美国专利申请序列号15/635,594；
-名称为“JAW RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICALINSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND SURGICALINSTRUMENT JAW”的美国专利申请序列号15/635,612；
-名称为“SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES”的美国专利申请序列号15/635,621；
-名称为“SURGICAL INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER”的美国专利申请序列号15/635,631；
-名称为“SURGICAL INSTRUMENT LOCKOUT ARRANGEMENT”的美国专利申请序列号15/635,521；
-名称为“STAPLE FORMING ANVIL”的美国设计专利申请序列号29/609,087；
-名称为“SURGICAL INSTRUMENT SHAFT”的美国设计专利申请序列号29/609,083；以及
-名称为“SURGICAL FASTENER CARTRIDGE”的美国设计专利申请序列号29/609,093。
本申请的申请人拥有于2017年6月27日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“SURGICAL ANVIL MANUFACTURING METHODS”的美国专利申请序列号15/634,024；
-名称为“SURGICAL ANVIL ARRANGEMENTS”的美国专利申请序列号15/634,035；
-名称为“SURGICAL ANVIL ARRANGEMENTS”的美国专利申请序列号15/634,046；
-名称为“SURGICAL ANVIL ARRANGEMENTS”的美国专利申请序列号15/634,054；
-名称为“SURGICAL FIRING MEMBER ARRANGEMENTS”的美国专利申请序列号15/634,068；
-名称为“STAPLE FORMING POCKET ARRANGEMENTS”的美国专利申请序列号15/634,076；
-名称为“STAPLE FORMING POCKET ARRANGEMENTS”的美国专利申请序列号15/634,090；
-名称为“SURGICAL END EFFECTORS AND ANVILS”的美国专利申请序列号15/634,099；以及
-名称为“ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号15/634,117。
本申请的申请人拥有于2016年12月21日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIESTHEREOF”的美国专利申请序列号15/386,185；
-名称为“ARTICULATABLE SURGICAL STAPLING INSTRUMENTS”的美国专利申请序列号15/386,230；
-名称为“LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS”的美国专利申请序列号15/386,221；
-名称为“SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF”的美国专利申请序列号15/386,209；
-名称为“LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS ANDREPLACEABLE TOOL ASSEMBLIES”的美国专利申请序列号15/386,198；
-名称为“SURGICAL END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR”的美国专利申请序列号15/386,240；
-名称为“STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”的美国专利申请序列号15/385,939；
-名称为“SURGICAL TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FORSHIFTING BETWEEN CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES ANDARTICULATION AND FIRING SYSTEMS”的美国专利申请序列号15/385,941；
-名称为“SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS”的美国专利申请序列号15/385,943；
-名称为“SURGICAL TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTIONFEATURES”的美国专利申请序列号15/385,950；
-名称为“STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”的美国专利申请序列号15/385,945；
-名称为“SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS”的美国专利申请序列号15/385,946；
-名称为“SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASINGA JAW OPENING DISTANCE”的美国专利申请序列号15/385,951；
-名称为“METHODS OF STAPLING TISSUE”的美国专利申请序列号15/385,953；
-名称为“FIRING MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FORSURGICAL END EFFECTORS”的美国专利申请序列号15/385,954；
-名称为“SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOPARRANGEMENTS”的美国专利申请序列号15/385,955；
-名称为“SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS”的美国专利申请序列号15/385,948；
-名称为“SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES”的美国专利申请序列号15/385,956；
-名称为“SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTINGFIRING SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT”的美国专利申请序列号15/385,958；
-名称为“STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLECAVITIES THEREIN”的美国专利申请序列号15/385,947；
-名称为“METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT”的美国专利申请序列号15/385,896；
-名称为“STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENTTYPES OF STAPLES”的美国专利申请序列号15/385,898；
-名称为“SURGICAL INSTRUMENT COMPRISING IMPROVED JAW CONTROL”的美国专利申请序列号15/385,899；
-名称为“STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISINGWINDOWS DEFINED THEREIN”的美国专利申请序列号15/385,901；
-名称为“SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER”的美国专利申请序列号15/385,902；
-名称为“STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/ORSPENT CARTRIDGE LOCKOUT”的美国专利申请序列号15/385,904；
-名称为“FIRING ASSEMBLY COMPRISING A LOCKOUT”的美国专利申请序列号15/385,905,；
-名称为“SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUTAND A FIRING ASSEMBLY LOCKOUT”的美国专利申请序列号15/385,907；
-名称为“FIRING ASSEMBLY COMPRISING A FUSE”的美国专利申请序列号15/385,908；
-名称为“FIRING ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE”的美国专利申请序列号15/385,909；
-名称为“STAPLE FORMING POCKET ARRANGEMENTS”的美国专利申请序列号15/385,920；
-名称为“ANVIL ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS”的美国专利申请序列号15/385,913；
-名称为“METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OFSTAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT”的美国专利申请序列号15/385,914；
-名称为“BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS”的美国专利申请序列号15/385,893；
-名称为“CLOSURE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICALINSTRUMENTS WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS”的美国专利申请序列号15/385,929；
-名称为“SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLECLOSING AND FIRING SYSTEMS”的美国专利申请序列号15/385,911；
-名称为“SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES”的美国专利申请序列号15/385,927；
-名称为“STAPLE CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPINGBREADTHS”的美国专利申请序列号15/385,917；
-名称为“STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARYSIDEWALLS AND POCKET SIDEWALLS”的美国专利申请序列号15/385,900；
-名称为“NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FORSURGICAL STAPLE/FASTENERS”的美国专利申请序列号15/385,931；
-名称为“FIRING MEMBER PIN ANGLE”的美国专利申请序列号15/385,915；
-名称为“STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMINGSURFACE GROOVES”的美国专利申请序列号15/385,897；
-名称为“SURGICAL INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES”的美国专利申请序列号15/385,922；
-名称为“SURGICAL INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS”的美国专利申请序列号15/385,924；
-名称为“SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT AFIXED AXIS AND INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS”的美国专利申请序列号15/385,912；
-名称为“ANVIL HAVING A KNIFE SLOT WIDTH”的美国专利申请序列号15/385,910；
-名称为“FIRING MEMBER PIN CONFIGURATIONS”的美国专利申请序列号15/385,906；
-名称为“STEPPED STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES”的美国专利申请序列号15/386,188；
-名称为“STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAPSETTING FEATURES”的美国专利申请序列号15/386,192；
-名称为“STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES”的美国专利申请序列号15/386,206；
-名称为“DURABILITY FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIESOF SURGICAL STAPLING INSTRUMENTS”的美国专利申请序列号15/386,226；
-名称为“SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITHPOSITIVE OPENING FEATURES”的美国专利申请序列号15/386,222；
-名称为“CONNECTION PORTIONS FOR DISPOSABLE LOADING UNITS FOR SURGICALSTAPLING INSTRUMENTS”的美国专利申请序列号15/386,236；
-名称为“METHOD FOR ATTACHING A SHAFT ASSEMBLY TO A SURGICALINSTRUMENT AND,ALTERNATIVELY,TO A SURGICAL ROBOT”的美国专利申请序列号15/385,887；
-名称为“SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTIONSYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM”的美国专利申请序列号15/385,889；
-名称为“SHAFT ASSEMBLY COMPRISING SEPARATELY ACTUATABLE ANDRETRACTABLE SYSTEMS”的美国专利申请序列号15/385,890；
-名称为“SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THEOUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS”的美国专利申请序列号15/385,891；
-名称为“SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO ANARTICULATION STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM”的美国专利申请序列号15/385,892；
-名称为“SHAFT ASSEMBLY COMPRISING A LOCKOUT”的美国专利申请序列号15/385,894；
-名称为“SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATIONLOCKOUTS”的美国专利申请序列号15/385,895；
-名称为“SURGICAL STAPLING SYSTEMS”的美国专利申请序列号15/385,916；
-名称为“SURGICAL STAPLING SYSTEMS”的美国专利申请序列号15/385,918；
-名称为“SURGICAL STAPLING SYSTEMS”的美国专利申请序列号15/385,919；
-名称为“SURGICAL STAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMINGMEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES”的美国专利申请序列号15/385,921；
-名称为“SURGICAL STAPLING SYSTEMS”的美国专利申请序列号15/385,923；
-名称为“JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OFA FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN FIRED CARTRIDGE ISINSTALLED IN THE END EFFECTOR”的美国专利申请序列号15/385,925；
-名称为“AXIALLY MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYINGCLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS”的美国专利申请序列号15/385,926；
-名称为“PROTECTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN AMOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT”的美国专利申请序列号15/385,928；
-名称为“SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENINGFEATURES FOR OPENING AND CLOSING END EFFECTOR JAWS”的美国专利申请序列号15/385,930；
-名称为“ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFTARRANGEMENT”的美国专利申请序列号15/385,932；
-名称为“ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLELINKAGE DISTAL OF AN ARTICULATION LOCK”的美国专利申请序列号15/385,933；
-名称为“ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR INAN ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE SYSTEM”的美国专利申请序列号15/385,934；
-名称为“LATERALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FORLOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATEDCONFIGURATION”的美国专利申请序列号15/385,935；以及
-名称为“ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKEAMPLIFICATION FEATURES”的美国专利申请序列号15/385,936。
本申请的申请人拥有于2016年6月24日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES”的美国专利申请序列号15/191,775；
-名称为“STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPEDSTAPLES”的美国专利申请序列号15/191,807；
-名称为“STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME”的美国专利申请序列号15/191,834；
-名称为“STAPLE CARTRIDGE COMPRISING OVERDRIVEN STAPLES”的美国专利申请序列号15/191,788；以及
-名称为“STAPLE CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS”的美国专利申请序列号15/191,818。
本申请的申请人拥有于2016年6月24日提交且各自全文以引用方式并入本文的以下美国专利申请：
-名称为“SURGICAL FASTENER”的美国设计专利申请序列号29/569,218；
-名称为“SURGICAL FASTENER”的美国设计专利申请序列号29/569,227；
-名称为“SURGICAL FASTENER CARTRIDGE”的美国设计专利申请序列号29/569,259；以及
-名称为“SURGICAL FASTENER CARTRIDGE”的美国设计专利申请序列号29/569,264。
本申请的申请人拥有于2016年4月1日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM”的美国专利申请序列号15/089,325，现为美国专利申请公布2017/0281171；
-名称为“MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY”的美国专利申请序列号15/089,321，现为美国专利申请公布2017/0281163；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD”的美国专利申请序列号15/089,326；现为美国专利申请公布2017/0281172；
-名称为“SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIPPORTION”的美国专利申请序列号15/089,263，现为美国专利申请公布2017/0281165；
-名称为“ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLEBAILOUT SYSTEM”的美国专利申请序列号15/089,262，现为美国专利申请公布2017/0281161；
-名称为“SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVILCONCENTRIC DRIVE MEMBER”的美国专利申请序列号15/089,277，现为美国专利申请公布2017/0281166；
-名称为“INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL ENDEFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS”的美国专利申请序列号15/089,296，现为美国专利申请公布2017/0281168；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION”的美国专利申请序列号15/089,258，现为美国专利申请公布2017/0281178；
-名称为“SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVECUTTING OF TISSUE”的美国专利申请序列号15/089,278，现为美国专利申请公布2017/0281162；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT”的美国专利申请序列号15/089,284，现为美国专利申请公布2017/0281186；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSIONLOCKOUT”的美国专利申请序列号15/089,295，现为美国专利申请公布2017/0281187；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT”的美国专利申请序列号15/089,300，现为美国专利申请公布2017/0281179；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT”的美国专利申请序列号15/089,196，现为美国专利申请公布2017/0281183；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT”的美国专利申请序列号15/089,203，现为美国专利申请公布2017/0281184；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGELOCKOUT”的美国专利申请序列号15/089,210，现为美国专利申请公布2017/0281185；
-名称为“SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM”的美国专利申请序列号15/089,324，现为美国专利申请公布2017/0281170；
-名称为“SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS”的美国专利申请序列号15/089,335，现为美国专利申请公布2017/0281155；
-名称为“SURGICAL STAPLING INSTRUMENT”的美国专利申请序列号15/089,339，现为美国专利申请公布2017/0281173；
-名称为“SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OFSTAPLES HAVING DIFFERENT HEIGHTS”的美国专利申请序列号15/089,253，现为美国专利申请公布2017/0281177；
-名称为“SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET”的美国专利申请序列号15/089,304，现为美国专利申请公布2017/0281188；
-名称为“ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS”的美国专利申请序列号15/089,331，现为美国专利申请公布2017/0281180；
-名称为“STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES”的美国专利申请序列号15/089,336，现为美国专利申请公布2017/0281164；
-名称为“CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUESUPPORT”的美国专利申请序列号15/089,312，现为美国专利申请公布2017/0281189；
-名称为“CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM”的美国专利申请序列号15/089,309，现为美国专利申请公布2017/0281169；以及
-名称为“CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL”的美国专利申请序列号15/089,349，现为美国专利申请公布2017/0281174。
本申请的申请人还拥有于2015年12月30日提交且各自全文以引用方式并入本文的如下标识的美国专利申请：
-名称为“MECHANISMS FOR COMPENSATING FOR BATTERY PACK FAILURE INPOWERED SURGICAL INSTRUMENTS”的美国专利申请序列号14/984,488，现为美国专利申请公布2017/0189018；
-名称为“MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”的美国专利申请序列号14/984,525，现为美国专利申请公布2017/0189019；以及
-名称为“SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROLCIRCUITS”的美国专利申请序列号14/984,552，现为美国专利申请公布2017/0189020。
本申请的申请人还拥有于2016年2月9日提交且各自全文以引用方式并入本文的如下标识的美国专利申请：
-名称为“SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLYTRANSLATABLE END EFFECTOR”的美国专利申请序列号15/019,220，现为美国专利申请公布2017/0224333；
-名称为“SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATIONARRANGEMENTS”的美国专利申请序列号15/019,228，现为美国专利申请公布2017/0224342；
-名称为“SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTEDSECONDARY CONSTRAINT”的美国专利申请序列号15/019,196，现为美国专利申请公布2017/0224330；
-名称为“SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLYARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY”的美国专利申请序列号15/019,206，现为美国专利申请公布2017/0224331；
-名称为“SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATIONARRANGEMENTS”的美国专利申请序列号15/019,215，现为美国专利申请公布2017/0224332；
-名称为“ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATIONLINK ARRANGEMENTS”的美国专利申请序列号15/019,227，现为美国专利申请公布2017/0224334；
-名称为“SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLEDRIVEN ARTICULATION SYSTEMS”的美国专利申请序列号15/019,235，现为美国专利申请公布2017/0224336；
-名称为“ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAMARRANGEMENTS”的美国专利申请序列号15/019,230，现为美国专利申请公布2017/0224335；以及
-名称为“SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS”的美国专利申请序列号15/019,245，现为美国专利申请公布2017/0224343。
本申请的申请人还拥有于2016年2月12日提交且各自全文以引用方式并入本文的如下标识的美国专利申请：
-名称为“MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”的美国专利申请序列号15/043,254；
-名称为“MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”的美国专利申请序列号15/043,259；
-名称为“MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”的美国专利申请序列号15/043,275；以及
-名称为“MECHANISMS FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWEREDSURGICAL INSTRUMENTS”的美国专利申请序列号15/043,289。
本申请的申请人拥有于2015年6月18日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“SURGICAL END EFFECTORS WITH POSITIVE JAW OPENINGARRANGEMENTS”的美国专利申请序列号14/742,925，现为美国专利申请公布2016/0367256；
-名称为“SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSINGFEATURES”的美国专利申请序列号14/742,941，现为美国专利申请公布2016/0367248；
-名称为“MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLESURGICAL INSTRUMENTS”的美国专利申请序列号14/742,914，现为美国专利申请公布2016/0367255；
-名称为“ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAMSTRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT”的美国专利申请序列号14/742,900，现为美国专利申请公布2016/0367254；
-名称为“DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLESURGICAL INSTRUMENTS”的美国专利申请序列号14/742,885，现为美国专利申请公布2016/0367246；以及
-名称为“PUSH/PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLESURGICAL INSTRUMENTS”的美国专利申请序列号14/742,876，现为美国专利申请公布2016/0367245。
本申请的申请人拥有于2015年3月6日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“POWERED SURGICAL INSTRUMENT”的美国专利申请序列号14/640,746，现为美国专利9,808,246；
-名称为“MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWEREDSURGICAL INSTRUMENTS”的美国专利申请序列号14/640,795，现为美国专利申请公布2016/02561185；
-名称为“ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURERATES FOR MULTIPLE TISSUE TYPES”的美国专利申请序列号14/640,832，现为美国专利申请公布2016/0256154；
-名称为“OVERLAID MULTI SENSOR RADIO FREQUENCY(RF)ELECTRODE SYSTEM TOMEASURE TISSUE COMPRESSION”的美国专利申请序列号14/640,935，现为美国专利申请公布2016/0256071；
-名称为“MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTORFOR POWERED SURGICAL INSTRUMENTS”的美国专利申请序列号14/640,831，现为美国专利申请公布2016/0256153；
-名称为“TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINESTABILITY,CREEP,AND VISCOELASTIC ELEMENTS OF MEASURES”的美国专利申请序列号14/640,859，现为美国专利申请公布2016/0256187；
-名称为“INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS”的美国专利申请序列号14/640,817，现为美国专利申请公布2016/0256186；
-名称为“CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULARSHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE”的美国专利申请序列号14/640,844，现为美国专利申请公布2016/0256155；
-名称为“SMART SENSORS WITH LOCAL SIGNAL PROCESSING”的美国专利申请序列号14/640,837，现为美国专利申请公布2016/0256163；
-名称为“SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGEINTO A SURGICAL STAPLE/FASTENER”的美国专利申请序列号14/640,765，现为美国专利申请公布2016/0256160；
-名称为“SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON AROTATABLE SHAFT”的美国专利申请序列号14/640,799，现为美国专利申请公布2016/0256162；以及
-名称为“SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING”的美国专利申请序列号14/640,780，现为美国专利申请公布2016/0256161。
本申请的申请人拥有于2015年2月27日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“SURGICAL INSTRUMENT SYSTEM COMPRISING ANINSPECTION STATION”的美国专利申请序列号14/633,576，现为美国专利申请公布2016/0249919；
-名称为“SURGICAL APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCEPARAMETER OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE BAND”的美国专利申请序列号14/633,546，现为美国专利申请公布2016/0249915；
-名称为“SURGICAL CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONEOR MORE BATTERIES”的美国专利申请序列号14/633,560，现为美国专利申请公布2016/0249910；
-名称为“CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FORCHARGING A BATTERY”的美国专利申请序列号14/633,566，现为美国专利申请公布2016/0249918；
-名称为“SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TOBE SERVICED”的美国专利申请序列号14/633,555，现为美国专利申请公布2016/0249916；
-名称为“REINFORCED BATTERY FOR A SURGICAL INSTRUMENT”的美国专利申请序列号14/633,542，现为美国专利申请公布2016/0249908；
-名称为“POWER ADAPTER FOR A SURGICAL INSTRUMENT”的美国专利申请序列号14/633,548，现为美国专利申请公布2016/0249909；
-名称为“ADAPTABLE SURGICAL INSTRUMENT HANDLE”的美国专利申请序列号14/633,526，现为美国专利申请公布2016/0249945；
-名称为“MODULAR STAPLING ASSEMBLY”的美国专利申请序列号14/633,541，现为美国专利申请公布2016/0249927；以及
-名称为“SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFEPARAMETER”的美国专利申请序列号14/633,562，现为美国专利申请公布2016/0249917。
本申请的申请人拥有于2014年12月18日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE ENDEFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER”的美国专利申请序列号14/574,478，现为美国专利9,844,374；
-名称为“SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS”的美国专利申请序列号14/574,483，现为美国专利申请公布2016/0174969；
-名称为“DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS”的美国专利申请序列号14/575,139，现为美国专利9,844,375；
-名称为“LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITHARTICULATABLE SURGICAL END EFFECTORS”的美国专利申请序列号14/575,148，现为美国专利申请公布2016/0174976；
-名称为“SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLEABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE”的美国专利申请序列号14/575,130，现为美国专利申请公布2016/0174972；
-名称为“SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS”的美国专利申请序列号14/575,143，现为美国专利申请公布2016/0174983；
-名称为“SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDMOVABLE FIRING BEAM SUPPORT ARRANGEMENTS”的美国专利申请序列号14/575,117，现为美国专利申请公布2016/0174975；
-名称为“SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS ANDIMPROVED FIRING BEAM SUPPORT ARRANGEMENTS”的美国专利申请序列号14/575,154，现为美国专利申请公布2016/0174973；
-名称为“SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLEARTICULATION SYSTEM”的美国专利申请序列号14/574,493；现为美国专利申请公布2016/0174970；以及
-名称为“SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLEARTICULATION SYSTEM”的美国专利申请序列号14/574,500，现为美国专利申请公布2016/0174971。
本申请的申请人拥有于2013年3月1日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYSFOR SIGNAL COMMUNICATION”的美国专利申请序列号13/782,295，现为美国专利9,700,309；
-名称为“ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号13/782,323，现为美国专利9,782,169；
-名称为“THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号13/782,338，现为美国专利申请公布2014/0249557；
-名称为“ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAYARRANGEMENT”的美国专利申请序列号13/782,499，现为美国专利申请公布9,358,003；
-名称为“MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/782,460，现为美国专利9,554,794；
-名称为“JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS”的美国专利申请序列号13/782,358，现为美国专利申请公布9,326,767；
-名称为“SENSOR STRAIGHTENED END EFFECTOR DURING Removal THROUGHTROCAR”的美国专利申请序列号13/782,481，现为美国专利申请公布9,468,438；
-名称为“CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLEIMPLEMENT PORTIONS”的美国专利申请序列号13/782,518，现为美国专利申请公布2014/0246475；
-名称为“ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OFFREEDOM”的美国专利申请序列号13/782,375，现为美国专利申请公布9,398,911；以及
-名称为“SURGICAL INSTRUMENT SOFT STOP”的美国专利申请序列号13/782,536，现为美国专利申请公布9,307,986。
本申请的申请人还拥有于2013年3月14日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE”的美国专利申请序列号13/803,097，现为美国专利9,687,230；
-名称为“CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICALINSTRUMENT”的美国专利申请序列号13/803,193，现为美国专利申请公布9,332,987；
-名称为“INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICALINSTRUMENT”的美国专利申请序列号13/803,053，现为美国专利申请公布2014/0263564；
-名称为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING AN ARTICULATIONLOCK”的美国专利申请序列号13/803,086，现为美国专利申请公布2014/0263541；
-名称为“SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FORSURGICAL INSTRUMENTS”的美国专利申请序列号13/803,210，现为美国专利9,808,244；
-名称为“MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT”的美国专利申请序列号13/803,148，现为美国专利申请公布2014/0263554；
-名称为“DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/803,066，现为美国专利9,629,623；
-名称为“ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICALINSTRUMENTS”的美国专利申请序列号13/803,117，现为美国专利申请公布9,351,726；
-名称为“DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICALINSTRUMENTS”的美国专利申请序列号13/803,130，现为美国专利申请公布9,351,727；以及
-名称为“METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT”的美国专利申请序列号13/803,159，现为美国专利申请公布2014/0277017。
本申请的申请人还拥有于2014年3月7日提交且全文以引用方式并入本文的以下专利申请：
-名称为“CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号14/200,111，现为美国专利9,629,629。
本申请的申请人还拥有于2014年3月26日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS”的美国专利申请序列号14/226,106，现为美国专利申请公布2015/0272582；
-名称为“STERILIZATION VERIFICATION CIRCUIT”的美国专利申请序列号14/226,099，现为美国专利9,826,977；
-名称为“VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT”的美国专利申请序列号14/226,094，现为美国专利申请公布2015/0272580；
-名称为“POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUITAND WAKE UP CONTROL”的美国专利申请序列号14/226,117，现为美国专利申请公布2015/0272574；
-名称为“MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFTASSEMBLIES”的美国专利申请序列号14/226,075，现为美国专利9,743,929；
-名称为“FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICALINSTRUMENTS”的美国专利申请序列号14/226,093，现为美国专利申请公布2015/0272569；
-名称为“SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION”的美国专利申请序列号14/226,116，现为美国专利申请公布2015/0272571；
-名称为“SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETYPROCESSOR”的美国专利申请序列号14/226,071，现为美国专利9,690,362；
-名称为“SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS”的美国专利申请序列号14/226,097，现为美国专利9,820,738；
-名称为“INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS”的美国专利申请序列号14/226,126，现为美国专利申请公布2015/0272572；
-名称为“MODULAR SURGICAL INSTRUMENT SYSTEM”的美国专利申请序列号14/226,133，现为美国专利申请公布2015/0272557；
-名称为“SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT”的美国专利申请序列号14/226,081，现为美国专利9,804,618；
-名称为“POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLEVOLTAGE PROTECTION”的美国专利申请序列号14/226,076，现为美国专利9,733,663；
-名称为“SURGICAL STAPLING INSTRUMENT SYSTEM”的美国专利申请序列号14/226,111，现为美国专利9,750,499；以及
-名称为“SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT”的美国专利申请序列号14/226,125，现为美国专利申请公布2015/0280384。
本申请的申请人还拥有于2014年9月5日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE”的美国专利申请序列号14/479,103，现为美国专利申请公布2016/0066912；
-名称为“ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUECOMPRESSION”的美国专利申请序列号14/479,119，现为美国专利9,724,094；
-名称为“MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION”的美国专利申请序列号14/478,908，现为美国专利9,737,301；
-名称为“MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'SOUTPUT OR INTERPRETATION”的美国专利申请序列号14/478,895，现为美国专利9,757,128；
-名称为“POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE”的美国专利申请序列号14/479,110，现为美国专利申请公布2016/0066915；
-名称为“SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION”的美国专利申请序列号14/479,098，现为美国专利申请公布2016/0066911；
-名称为“MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE”的美国专利申请序列号14/479,115，现为美国专利9,788,836；以及
-名称为“LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION”的美国专利申请序列号14/479,108，现为美国专利申请公布2016/0066913。
本申请的申请人还拥有2014年4月9日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVESHAFTS”的美国专利申请序列号14/248,590(现为美国专利9,826,976)；
-名称为“SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRINGDRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT”的美国专利申请序列号14/248,581，现为美国专利9,649,110；
-名称为“SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLINGTHE OPERATION OF THE SURGICAL INSTRUMENT”的美国专利申请序列号14/248,595，现为美国专利9,844,368；
-名称为“POWERED LINEAR SURGICAL STAPLE/FASTENER”的美国专利申请序列号14/248,588，现为美国专利申请公布2014/0309666；
-名称为“TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT”的美国专利申请序列号14/248,591，现为美国专利申请公布2014/0305991；
-名称为“MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENTFEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS”的美国专利申请序列号14/248,584，现为美国专利9,801,626；
-名称为“POWERED SURGICAL STAPLE/FASTENER”的美国专利申请序列号14/248,587，现为美国专利申请公布2014/0309665；
-名称为“DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICALINSTRUMENT”的美国专利申请序列号14/248,586，现为美国专利申请公布2014/0305990；以及
-名称为“MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUSINDICATION ARRANGEMENTS”的美国专利申请序列号14/248,607，现为美国专利9,814,460。
本申请的申请人还拥有于2013年4月16日提交且各自全文以引用方式并入本文的以下专利申请：
-名称为“SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”的美国临时专利申请序列号61/812,365；
-名称为“LINEAR CUTTER WITH POWER”的美国临时专利申请序列号61/812,376；
-名称为“LINEAR CUTTER WITH MOTOR AND PISTOL GRIP”的美国临时专利申请序列号61/812,382；
-名称为“SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS ANDMOTOR CONTROL”的美国临时专利申请序列号61/812,385；以及
-名称为“SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY ASINGLE MOTOR”的美国临时专利申请序列号61/812,372。
本文列出了许多具体细节，以提供对说明书中所述和附图中所示的实施方案的整体结构、功能、制造和用途的透彻理解。没有详细描述熟知的操作、部件和元件，以免使说明书中描述的实施方案模糊不清。读者将会理解，本文所述和所示的实施方案为非限制性示例，从而可认识到，本文所公开的特定结构和功能细节可为代表性和例示性的。在不脱离权利要求的范围的情况下，可对这些实施方案进行变型和改变。
术语“包括(comprise)”(以及“包括(comprise)”的任何形式，诸如“包括(comprises)”和“包括(comprising)”)、“具有(have)”(以及“具有(have)”的任何形式，诸如“具有(has)”和“具有(having)”)、“包含(include)”(以及“包含(include)”的任何形式，诸如“包含(includes)”和“包含(including)”)、以及“含有(contain)”(以及“含有(contain)”的任何形式，诸如“含有(contains)”和“含有(containing)”)为开放式系动词。因此，“包括”、“具有”、“包含”或“含有”一个或多个元件的外科系统、装置、或设备具有这些一个或多个元件，但不限于仅具有这些一个或多个元件。同样，“包括”、“具有”、“包含”或“含有”一个或多个特征部的系统、装置、或设备的元件具有那些一个或多个特征部，但不限于仅具有那些一个或多个特征部。
术语“近侧”和“远侧”在本文中是相对于操纵外科器械的柄部部分的临床医生来使用的。术语“近侧”是指最靠近临床医生的部分，术语“远侧”是指远离临床医生定位的部分。还应当理解，为简洁和清楚起见，本文可结合附图使用诸如“竖直”、“水平”、“上”和“下”等空间术语。然而，外科器械在许多方向和位置中使用，并且这些术语并非限制性的和/或绝对的。
提供各种示例性装置和方法以用于执行腹腔镜式和微创外科手术操作。然而，读者将容易理解，本文所公开的各种方法和装置可用于多种外科程序和应用中，包括例如与开放式外科程序结合。继续参阅本具体实施方式，读者将进一步理解，本文所公开的各种器械能够以任何方式插入体内，诸如通过自然腔道、通过成形于组织中的切口或穿刺孔等。器械的工作部分或端部执行器部分可直接插入患者体内或者可通过具有工作通道的进入装置插入，外科器械的端部执行器和细长轴可通过所述工作通道被推进。
外科缝合系统可包括轴和从轴延伸的端部执行器。端部执行器包括第一钳口和第二钳口。第一钳口包括钉仓。钉仓能够插入到第一钳口中并且能够从第一钳口移除；然而，设想到其中钉仓不能够从第一钳口移除或至少能够易于从第一钳口替换的其他实施方案。第二钳口包括被构造成能够使从钉仓射出的钉变形的砧座。第二钳口能够相对于第一钳口围绕闭合轴线枢转；然而，可设想到其中第一钳口能够相对于第二钳口枢转的其他实施方案。外科缝合系统还包括被构造成能够允许端部执行器相对于轴旋转或进行关节运动的关节运动接头。端部执行器能够围绕延伸穿过关节运动接头的关节运动轴线旋转。设想了不包括关节运动接头的其他实施方案。
钉仓包括仓体。仓体包括近侧端部、远侧端部和在近侧端部与远侧端部之间延伸的平台。在使用中，钉仓被定位在待缝合的组织的第一侧上，并且砧座被定位在组织的第二侧上。砧座朝向钉仓运动以将组织压缩并夹持抵靠平台。然后，可移除地储存在仓体中的钉可被部署到组织中。仓体包括限定于其中的钉腔，其中钉可移除地储存在钉腔中。钉腔被布置成六纵向排。三排钉腔被定位在纵向狭槽的第一侧上且三排钉腔被定位在纵向狭槽的第二侧上。钉腔和钉的其他布置结构也是可能的。
钉由仓体中的钉驱动器支撑。驱动器能够在第一或非击发位置和第二或击发位置之间运动，以从钉仓射出钉。驱动器通过保持器保留在仓体中，所述保持器围绕仓体的底部延伸并且包括被构造成能够抓持仓体以及将保持器保持至仓体的弹性构件。驱动器能够通过滑动件在其非击发位置与其击发位置之间运动。滑动件能够在与近侧端部相邻的近侧位置和与远侧端部相邻的远侧位置之间运动。滑动件包括多个斜坡表面，该斜坡表面被构造成能够朝向砧座在驱动器下方滑动以及提升驱动器，并且钉在驱动器上受到支撑。
除上述以外，滑动件还可通过击发构件朝远侧运动。击发构件被构造成能够接触滑动件并朝向远侧端部推动滑动件。限定于仓体中的纵向狭槽被构造成能够接收击发构件。砧座还包括被构造成能够接收击发构件的狭槽。击发构件还包括接合第一钳口的第一凸轮和接合第二钳口的第二凸轮。在击发构件被朝远侧推进时，第一凸轮和第二凸轮可控制钉仓的平台和砧座之间的距离或组织间隙。击发构件还包括被构造成能够切入在钉仓和砧座中间捕集的组织的刀。希望刀定位成至少部分接近斜坡表面，使得钉先于刀被射出。
本文所公开的实施方案可与以下专利申请中所公开的实施方案一起使用：名称为“CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT”的美国专利申请序列号15/636,829；名称为“CLOSED LOOP VELOCITY CONTROL TECHNIQUESBASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT”的美国专利申请序列号15/636,837；名称为“CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBERFOR ROBOTIC SURGICAL INSTRUMENT”的美国专利申请序列号15/636,844；名称为“ROBOTICSURGICAL INSTRUMENT WITH CLOSED LOOP FEEDBACK TECHNIQUES FOR ADVANCEMENT OFCLOSURE MEMBER DURING FIRING”的美国专利申请序列号15/636,854；以及名称为“SYSTEMFOR CONTROLLING ARTICULATION FORCES”的美国专利申请序列号15/636,858，这些专利申请各自全文以引用方式并入本文。
本文所公开的各种实施方案可例如结合图1至图3中描绘的类型的机器人系统1000来采用。图1描绘了可结合图2中描绘的机器人臂从动车1100类型使用的主控制器1001的一个型式。主控制器1001和从属机械臂车1100以及它们各自的部件和控制系统在本文中统称为机器人系统1000。此类系统和装置的示例在名称为“MECHANICAL ACTUATORINTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS”的美国专利7,524,320，以及名称为“SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS”的美国专利9,072,535中公开，这些专利申请各自全文以引用方式并入本文。因此，除了可能必要的理解本公开的各种实施方案和形式以外，本文将不详细地描述此类装置的各种细节。众所周知，主控制器1001通常包括主控制器(在图1中一般表示为1003)，在外科医生经由立体显示器1002观察手术的同时，该主控制器由外科医生抓持并在空中操纵。主控制器1001通常包括手动输入装置，这些手动输入装置优选地以多个自由度运动并通常还具有用于致动工具(例如，用于闭合抓持钳口、施加电势到电极等)的可致动柄部。
如在图2中可见，在一种形式中，机器人臂车1100可被构造成能够致动一个或多个外科工具，通常称为2000。采用主控制器和机器人臂车布置结构的各种机器人外科系统和方法在名称为“MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD”的美国专利6,132,368中公开，该专利申请的全部公开内容据此以引用方式并入本文。在各种形式中，机器人臂车1100包括基座1002，在例示的实施方案中，该基座可支撑外科工具。在各种形式中，一个或多个外科工具可由一系列手动关节运动的连杆(通常称为装置接头1104)和机器人操纵器1106支撑。在各种实施方案中，连杆和接头布置结构可有利于外科工具围绕空间点的旋转，如在公布的名称为“REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE”的美国专利5,817,084中更完整地描述，该专利申请的全部公开内容据此以引用方式并入本文。平行四边形布置结构将旋转约束为围绕轴线1112a(有时称为俯仰轴)枢转。支撑平行四边形连杆的连接件以枢转方式安装到装置接头1104(图2)，使得外科工具还围绕轴线1112b(有时称为偏航轴)旋转。俯仰轴1112a和偏航轴1112b在远程中心1114处相交，该远程中心沿外科工具的细长轴对准。当由操纵器1106支撑时，外科工具可具有另外的从动自由度，包括外科工具沿纵向轴线“LT-LT”的滑动动作。当外科工具沿工具轴线LT-LT相对于操纵器1106滑动(箭头1112c)时，远程中心1114相对于操纵器1106的基座1116保持固定。从而，使整个操纵器总体上运动以重新定位远程中心1114。操纵器1106的连杆1108可由一系列马达1120驱动。这些马达响应于来自控制系统的处理器的命令而主动地使连杆1108运动。还可采用马达1120来操纵外科工具。还设想了另选的接头结构和装置布置结构。其他接头和装置布置结构的示例例如在名称为“AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMALPOSITIONING”的美国专利5,878,193中公开，该专利申请的全部公开内容据此以引用方式并入本文。另外，虽然结合外科工具与主控制器1001之间的通信在本文中初步描述了机器人部件与机器人外科系统的处理器之间的数据通信，但应当理解，类似的通信可发生在操纵器、装置接头、内窥镜或其他图像捕获装置等的电路与机器人外科系统的处理器之间，该机器人外科系统的处理器用于部件兼容性确认、部件类型识别、部件校正(诸如偏移等)通信、部件与机器人外科系统的联接确认等。根据至少一个方面，本文所公开的各种外科器械可结合其他机器人控制的或自动外科系统使用，并且不一定限于与图1至图3所示和上述参考文献中所述的特定机器人系统部件一起使用。
在一个方面，例如，通常称为2000的外科工具被构造成能够与第一控制器接口3000(图22至图25)和第二控制器接口3500(图28和图29)选择性地且可互换地采用。在图4至图14所示的示例中，外科工具2000的一种形式包括被构造成能够切割和缝合或紧固组织的外科端部执行器2100。外科端部执行器2100包括第一“仓”钳口2110和第二“砧座”钳口2200。在一个布置结构中，仓钳口包括框架2112，该框架被构造成能够在其中可操作地支撑外科钉/紧固件仓2150。第二钳口2200包括砧座2202，该砧座相对于框架2112被枢转地支撑并且被构造成能够形成从钉/紧固件仓2150射出的钉或紧固件。在使用中，砧座2202可在打开的非夹持位置与闭合的夹持位置之间旋转；然而，设想了其中仓钳口2110可相对于砧座2202运动的实施方案。
如在图6和图8中可见，在一个方面，砧座2202可枢转地支撑在框架2112上，以相对于该框架选择性枢转行进。在一种布置结构中，例如，砧座2202包括砧座主体2204和砧座安装部分2210。参见图6。砧座耳轴2212从砧座安装部分2210的每一侧侧向延伸，并且适于接收在框架2112的近侧端部部分2114中的对应耳轴支架2116中。砧座耳轴2212由通道顶盖或砧座保持器2120可枢转地保持在其对应耳轴支架2116中。通道顶盖或砧座保持器2120包括一对附接凸耳2122，该一对附接凸耳被构造成能够被保持地接收在形成在框架2112的近侧端部部分2114的直立壁2115中的对应凸耳凹槽或凹口2118内。外科工具2000还包括细长轴组件2300，其中外科端部执行器2100围绕关节运动接头2350可旋转地连接到轴组件2300。如将在下文进一步详细讨论的，关节运动接头2350有利于外科端部执行器2100相对于细长轴组件2300围绕固定枢转轴线PA进行关节运动。参见图8。
参考图6，根据一个示例，外科工具2000的轴组件2300包括外部闭合管，在至少一个形式中，该外部闭合管包括外部壳体2410，该外部壳体具有附接于其的联接器部分2412。在一种布置结构中，例如，联接器部分2412可焊接到外部壳体2410或通过例如适当的粘合剂附接到该外部壳体。轴组件2300还包括远侧壳体2420，该远侧壳体通过定位在关节运动接头2350的相对侧上的两个连接器板2430枢转地连接到联接器部分2412。远侧壳体2420可朝远侧运动以接合砧座2202并且使砧座2202朝钉仓2150运动。每个连接器板2430在枢轴2414处连接到联接器部分2412，并且类似地在枢轴2422处连接到远侧壳体2420。与上文类似，当外科端部执行器2100处于关节运动位置时，连接器板2430允许联接器部分2412和远侧壳体2420相对于关节运动接头2350滑动，其中因此，砧座2202可在外科端部执行器2100处于关节运动位置时打开和闭合。除上述之外，远侧壳体2420包括远侧钳口打开特征结构2424和近侧钳口打开特征结构2426，当远侧壳体2420沿近侧方向PD回缩时，该远侧钳口打开特征结构和该近侧钳口打开特征结构用于将钳口打开动作施加到砧座安装部分2210。当沿远侧方向DD驱动远侧壳体2420时，该远侧钳口打开特征结构和该近侧钳口打开特征结构被构造成能够凸轮地接触砧座安装部分2210的对应部分以将闭合动作传送到砧座2202。关于远侧钳口打开特征结构2424和近侧钳口打开特征结构2426的进一步细节可见于名称为“SURGICAL INSTRUMENT WITH POSITIVE JAW OPENING FEATURES”的美国专利申请序列号15/635,621，该专利申请的全部公开内容据此以引用方式并入本文。
在例示的布置结构中，手术端部执行器2100围绕关节运动接头2350的固定枢轴2550可旋转地安装到工具框架组件2320。在各种情况下，为便于组装，工具框架组件2320可包括通过按扣特征结构、粘合剂、焊接等互连在一起的近侧工具框架部分2322和远侧工具框架部分2330。参见图6。轴组件2300还包括远侧安装突片2340，这些远侧安装突片从远侧工具框架部分2330延伸并且固定地安装到该远侧工具框架部分。第一远侧安装突片2340安装到包括框架2112的第一仓钳口2110，并且第二远侧安装突片2340安装到砧座保持器2120。在安装突片2340与第一仓钳口2110和砧座保持器2120之间的互连限定了固定枢轴2550。由固定枢轴2550限定的固定枢转轴线PA相对于轴组件2300的中心纵向轴线LA侧向偏移了偏移距离OD。参见图9。纵向轴线LA在近侧端部2302与远侧端部2304之间延伸。参见图4。在各种情况下，偏移距离OD例如在0.0250英寸至0.045英寸之间。在各种情况下，偏移距离OD例如在0.0300英寸至0.0400英寸之间。在各种情况下，偏移距离OD例如在0.0325英寸至0.0375英寸之间。在各种情况下，偏移距离OD例如为约0.0355英寸。例如，偏移距离OD例如为0.0355英寸。设想并可采用其他偏移距离OD。
再次参考图6，外科工具2000还包括关节运动系统2500，该关节运动系统包括延伸穿过限定在轴组件2300的近侧闭合管或外部壳体2410内的内部孔口2415的第一或右关节运动驱动器2510和第二或左关节运动驱动器2530。关节运动系统2500还包括第一或右关节运动连接件2520，该第一或右关节运动连接件在第一连接件附接位置2525处围绕近侧右销2522可旋转地联接到右关节运动驱动器2510的远侧端部。关节运动系统2500还包括第二或左关节运动连接件2540，该第二或左关节运动连接件在第二连接件附接位置2545处围绕近侧左销2542可旋转地联接到左关节运动驱动器2530的端部。转到图12，在至少一种布置结构中，例如，近侧右销2522从纵向轴线LA侧向偏移第一侧向距离XR，并且近侧左销2542从纵向轴线LA侧向偏移第二侧向距离XL。在至少一个示例中，XL<XR。在各种情况下，XL例如在0.0500英寸至0.1500英寸之间。在各种情况下，XL例如在0.0750英寸至0.1250英寸之间。在各种情况下，XL例如为约0.1000英寸。例如，XL例如为0.1000英寸。在各种情况下，XR例如在0.0500英寸至0.1500英寸之间。在各种情况下，XR例如在0.0750英寸至0.1250英寸之间。在各种情况下，XR例如为约0.1100英寸。例如，XR例如为0.1100英寸。设想并可采用其他侧向距离XL、XR。类似地，右关节运动连接件2520在第一附接位置2135处围绕远侧左驱动销2130可旋转地联接到仓钳口2110或框架2112，该远侧左驱动销延伸穿过限定在右关节运动连接件2520中的孔口。同样，左关节运动连接件2540在第二附接位置2137处围绕远侧右驱动销2132可旋转地联接到仓钳口2110或框架2112，该远侧右驱动销延伸穿过限定在左关节运动连接件2540中的孔口。如在图12中可见，左关节运动连接件2540相对于所述另一种方式横向地延伸跨过由细长轴组件2300限定的中心纵向轴线LA。在例示的布置结构中，左关节运动连接件2540还横向于右关节运动连接件2520延伸或跨过该右关节运动连接件。设想了其他另选的布置结构，其中右关节运动连接件跨过左关节运动连接件。
再次转到图9，远侧右销2130和远侧左销2132相对于枢转轴线PA纵向偏移，该枢转轴线可形成纵向或轴向扭矩臂(ATA)。在各种情况下，扭矩臂ATA例如在0.0500英寸至0.1500英寸之间。在各种情况下，扭矩臂ATA例如在0.0750英寸至0.1250英寸之间。在各种情况下，扭矩臂ATA例如为约0.0917英寸。例如，扭矩臂ATA例如为0.0917英寸。设想并可采用其他扭矩臂ATA。另外，远侧右销2130可从中心纵向轴线LA侧向偏移右侧向距离X1，并且远侧左销2132可从中心纵向轴线LA侧向偏移左侧向距离X2。例如，在例示的布置结构中，X1>X2。在各种情况下，X1例如在0.1000英寸至0.2000英寸之间。在各种情况下，X1例如在0.1250英寸至0.1750英寸之间。在各种情况下，X1例如为约0.1455英寸。例如，X1例如为0.1455英寸。在各种情况下，X2例如在0.0500英寸至0.1500英寸之间。在各种情况下，X2例如在0.0750英寸至0.1250英寸之间。在各种情况下，X2例如为约0.1137英寸。例如，X2例如为0.1137英寸。设想并可采用其他侧向距离X1、X2。
该设计的不对称性可具有若干目的。例如，当关节运动连接件一个在另一个的顶部上取向时，不对称设计可产生更稳定的构型。重力的影响使得需要在端部执行器的顶部上具有更大的稳定性，从而表明需要不平衡的力施加到关节运动连接件上。其次，不对称设计还产生具有不对称属性的控制算法。这在两个关节运动连接件之间产生一组在每个点处都是唯一的力比率，因为两个关节运动连接件之间的力比率总是不同的。该设计可有助于诊断两个关节运动连接件的相互作用之间的问题和调试问题，因为已知每个点处的力比率分布都是唯一的。
参考图12至图14，示出了根据一些方面的关节运动驱动器2510、2530的运动如何引起外科端部执行器2100进行关节运动的示例。在图12中，外科端部执行器2100相对于关节运动驱动器2510、2530以及纵向轴线LA处于中立或直线位置。此类布置结构可例如有利于将外科工具2000插入穿过套管针或类似布置结构的插管。在图13中，左关节运动驱动器2530朝远侧(远侧方向DD)运动，同时右关节运动驱动器2510朝近侧(近侧方向PD)运动。因为连接到外科端部执行器2100的仓钳口2110的关节运动驱动器2510、2530的铰链(连接件2520、2540)定位在固定的关节运动枢轴2550的相对侧上，所以这些所述动作导致外科端部执行器2100沿逆时针向左方向L进行关节运动，如图所示。类似地，因为连接右关节运动驱动器2510的右关节运动连接件2520附接到固定枢轴2550的左侧，所以右关节运动驱动器2510沿近侧方向PD的运动与引起逆时针动作一致。相比之下，如图14所示，关节运动驱动器2510、2530的反向运动导致外科端部执行器2100沿反向(即，顺时针)方向R运动。即，由右关节运动驱动器2510沿远侧方向DD的运动以及由左关节运动驱动器2530沿近侧方向PD的任何同时运动使外科端部执行器2100产生围绕固定枢转轴线2550的顺时针动作。
如在图12中可见，当外科端部执行器2100处于非关节运动位置并且右关节运动驱动器2510和左关节运动驱动器2530处于其相应的中立位置时，近侧右销2522的中心位于非关节运动轴线UAR上。类似地，近侧左销2542的中心位于非关节运动轴线UAL上。在例示的布置结构中，当外科端部执行器2100处于非关节运动位置时，非关节运动轴线UAR略微靠近非关节运动轴线UAL。换句话讲，UAR从UAL轴向偏移。换句话讲，当第一关节运动驱动器2510处于第一中立位置(图12)并且第二关节运动驱动器2530处于第二中立位置(图12)时，第一连接件附接位置2525从第二连接件附接位置2545轴向偏移。
如上所述，图12分别示出了第一关节运动驱动器2510和第二关节运动驱动器2530的中立位置2527、2547。当处于该位置时，外科端部执行器2100与纵向轴线LA轴向对准，或换句话讲，外科端部执行器2100处于非关节运动位置。转到图13，为了使外科端部执行器2100沿逆时针方向(箭头L)枢转或进行关节运动，使左关节运动驱动器2530轴向运动第二远侧关节运动行程长度LS1(从第二中立位置2547测量到第二远侧位置2560)，并且使右关节运动驱动器2510轴向运动第一近侧关节运动行程长度RS1(从第一中立位置2527测量到第一近侧位置2562)。右关节运动驱动器2510通过第一近侧关节运动行程长度RS1的运动可与左关节运动驱动器2530通过第二远侧关节运动行程长度的运动同时发生。在例示的示例中，LS1>RS1。在使用中，外科端部执行器2100可围绕关节运动接头2350在由角度αL指示的完全关节运动的左位置(图13)与由角度αR指示的完全关节运动的右位置(图14)，和/或它们之间的任何合适的位置之间旋转。在至少一种布置结构中，左关节运动驱动器2530轴向运动通过第二远侧关节运动行程长度LS1，并且右关节运动驱动器2510轴向运动通过第一近侧关节运动行程长度RS1，以便使外科端部执行器2100进行关节运动到其最大左关节运动位置(αL＝大约六十五度(65°))。在各种情况下，LS1例如在0.1200英寸至0.2200英寸之间。在各种情况下，LS1例如在0.1450英寸至0.1950英寸之间。在各种情况下，LS1例如为约0.1727英寸。例如，LS1例如为0.1727英寸。在各种情况下，RS1例如在0.0500英寸至0.1500英寸之间。在各种情况下，RS1例如在0.0750英寸至0.1250英寸之间。在各种情况下，RS1例如为约0.1164英寸。例如，RS1例如为0.1164英寸。设想并可采用其他行程长度LS1、RS1。同样，例如，右关节运动驱动器2510轴向运动通过第一远侧关节运动行程长度RS2(从第一中立位置2527测量到第一远侧位置2564)，并且左关节运动驱动器2530轴向运动通过第二近侧关节运动行程长度LS2(从第二中立位置2547测量到第二近侧位置2566)，以便使外科端部执行器2100进行关节运动到其最大右关节运动位置(αR＝大约四十三度(43°))。在各种情况下，LS2例如在0.0250英寸至0.1250英寸之间。在各种情况下，LS2例如在0.0500英寸至0.1000英寸之间。在各种情况下，LS2例如为约0.0760英寸。例如，LS2例如为0.0760英寸。在各种情况下，RS2例如在0.1200英寸至0.2200英寸之间。在各种情况下，RS2例如在0.1450英寸至0.1950英寸之间。在各种情况下，RS2例如为约0.1731英寸。例如，RS2例如为0.1731英寸。设想并可采用其他行程长度LS2、RS2。参见图14。在至少一种布置结构中，例如，UAL≠UAR；LS1>RS1；LS2<RS2；LS1>RS2；LS2<RS1。
在一些方面，引起外科端部执行器2100的关节运动涉及以拮抗关系对两个关节运动连接件2520、2540施加力。例如，与右关节运动驱动器2510和左关节运动驱动器2530可操作地交接的关节运动动作中的每个源(例如，马达)可同时对两个关节运动连接件施加拉力/推力。两个关节运动连接件之间的拉(或推)力的量的比率可确定外科端部执行器2100进行关节运动的角度。参考图10，示出了根据一些方面可如何将力施加到两个关节运动连接件2520、2540上以便使外科端部执行器2100偏离中心线或纵向轴线进行30°的关节运动的另一个示例。在此，联接到右关节运动驱动器2510的马达或其他关节运动动作的源可施加大于由第二马达或其他第二关节运动动作的源施加到左关节运动驱动器2530的致动力的致动力。力的差值可不与其例如使外科端部执行器2100通过其最大左关节运动角度αL进行关节运动所需的力一样显著。例如，两个关节运动臂之间的力的确切比率可例如通过控制算法图诸如名称为“SYSTEM FOR CONTROLLING ARTICULATION FORCES”的美国专利申请序列号15/636,858中所公开的控制算法图来确定，该专利申请的全部公开内容据此以引用方式并入本文。例如，图15示出了左关节运动位置中的外科端部执行器2100，其中左关节运动角度αL为大约六十度(60°)。从图15的图示中的关节运动位置开始，施加到两个关节运动驱动器2510、2530的力的变化导致有效力FE施加到图10中的外科端部执行器。箭头2560和2562表示施加到其相应的关节运动驱动器的力相对于图15中例示的力的变化。
参考图11，示出了根据一些方面可如何将力施加到两个关节运动驱动器2510、2530上以使外科端部执行器2100进行关节运动回到中心位置或中立位置的第三示例。在此，与右关节运动驱动器2510可操作地交接的马达或其他致动器可施加小于由第二马达或其他致动器施加到左关节运动驱动器2530的致动力的致动力。例如，左关节运动驱动器2530的拮抗致动力可实际上大于在0°点(没有关节运动)处施加到右关节运动驱动器2510的致动力。当考虑关节运动枢轴2550偏心并且更靠近左关节运动驱动器2530的铰链(左关节运动连接件2540)时，这是有意义的。这需要左关节运动驱动器2530递送相对于右关节运动驱动器2510更多的扭矩以便平衡力。在该示例中，施加到图10中的关节运动驱动器中的两个关节运动驱动器的力的量的变化导致有效力FE施加到外科端部执行器2100的质心。
右关节运动连接件2520具有连接件长度LLR，并且左关节运动连接件2540具有左连接件LLL。在例示的示例中，LLR大约等于LLL。然而，设想了其中LLR≠LLL的其他实施方案。
除了轴组件2300、外科端部执行器2100和关节运动接头2350之外，外科工具2000还包括例如包括延伸穿过关节运动接头2350的击发杆2610的钉击发系统2600。参见图6和图7。在使用中，击发杆2610可朝远侧平移以执行钉击发行程，并且在钉击发行程的至少一部分已完成之后朝近侧回缩。击发杆2610延伸穿过在轴组件2300的近侧工具框架部分2322中限定的通道或狭槽2324和在远侧工具框架部分2330中限定的狭槽2332，该通道或狭槽被构造成能够当击发杆2610相对于轴组件2300运动时紧密地接收和/或引导击发杆2610。参见图6。
除上述之外，通道2324和2332不延伸到关节运动接头2350内，并且在无其他情况下，击发杆2610可不被支撑在关节运动接头2350内。当外科端部执行器2100处于非关节运动构型(图7)时，击发杆2610在钉击发行程期间不太可能在关节运动接头2350内屈曲，然而，当外科端部执行器2100处于关节运动构型(图13至图15)时，击发杆2610在钉击发行程期间很可能侧向屈曲。为了减小此类屈曲的可能性，外科工具2000还包括被构造成能够支撑击发杆2610的击发杆支撑件2650。击发杆支撑件2650包括：连接到远侧工具框架部分2330的近侧部分2652、连接到框架2112的远侧部分2654、以及在近侧部分2652与远侧部分2654之间延伸的中间部分2656。击发杆支撑件2650的部分2652、2654、2656是一体形成的；然而，设想其中部分2652、2654、2656彼此组装和/或包括单独部件的其他实施方案。参见图6。
除上述之外，击发杆支撑件2650的远侧部分2652固定地安装到框架2112，并且相对于框架2112不运动或至少基本上不运动。击发杆支撑件2650的中间部分2654包括具有减小的横截面的一个或多个部分，除其他项外，这些部分允许击发杆支撑件2650在外科端部执行器2100进行关节运动时在关节运动接头2350内挠曲。击发杆支撑件2650的近侧部分2656可滑动地安装到远侧工具框架部分2330，使得当外科端部执行器2100进行关节运动时，击发杆支撑件2650可相对于远侧工具框架部分2330平移。也就是说，击发杆支撑件2650的近侧部分2656包括近侧头部2658，该近侧头部可在限定在远侧工具框架部分2330内的腔室或腔体2331内滑动，该腔室或腔体可限制击发杆支撑件2650的行进。然而，设想了不具有这种行进约束的实施方案。在任何情况下，击发杆支撑件2650的远侧部分2652、中间部分2654和近侧部分2656共同可操作地限定通道或狭槽2659，该通道或狭槽被构造成能够支撑击发杆2610(尤其是在关节运动接头2350内)并且减小击发杆2610在例如钉击发行程期间屈曲的可能性。
在各种情况下，击发杆2610由多个平行的或至少基本上平行的层2612构成。参见图7。这些层附连到远侧击发或切割构件2620并且可相对于彼此部分地平移或纵向滑动，尤其是在关节运动接头2350内。每个此类层被构造成能够沿相同方向(即，朝近侧或朝远侧)传递负载，即使此类层可相对于彼此运动或滑动。除上述之外，当外科端部执行器2100已进行关节运动时，此类层可相对于彼此侧向展开，尤其是在关节运动接头2350内。击发杆支撑件2650的中间部分2654包括多个连接的控制元件，这些多个连接的控制元件可至少减小(即使不能防止)击发杆层的相对侧向展开。替代地，如上文所提及，控制元件中的一个或多个可彼此不连接。各种击发杆和击发杆支撑件布置结构的示例在名称为“SURGICALINSTRUMENT COMPRISING FIRING MEMBER SUPPORTS”的美国专利申请序列号15/635,808中公开，该专利申请的全部公开内容据此以引用方式并入本文。
同样如在图6中可见，击发构件或刀构件2620附接到击发杆2610的远侧端部。在一个示例性形式中，击发构件2620包括支撑刀或组织切割部分2624的主体部分2622。主体部分2622突起穿过框架2112中的细长狭槽或通道2113并且终止于在主体部分2622的每一侧上侧向延伸的脚部构件2626中。当穿过外科钉/紧固件仓2150朝远侧驱动击发构件2620时，脚部构件2626跨置在框架2112中位于外科钉/紧固件仓2150下方的通路内。组织切割部分2624设置在朝远侧突起的顶部鼻部部分与脚部构件2626之间。如在图6中进一步可见，击发构件2620还可包括两个侧向延伸的顶部突片、销或砧座接合特征结构2628。当朝远侧驱动击发构件2620时，主体部分2622的顶部部分延伸穿过居中设置的砧座狭槽2206，并且砧座接合特征结构2634跨置在形成在砧座狭槽2206的每一侧上的对应砧座凸台2208上。参见图7。击发构件2620被构造成能够与滑动组件可操作地交接，该滑动组件被可操作地支撑在外科钉/紧固件仓2150的主体2152内。滑动组件在外科钉/紧固件仓体2152内从邻近仓体2152的近侧端部的近侧起始位置可滑动地移位到邻近仓体2152的远侧端部的结束位置。仓体2152在其中可操作地支撑多个钉驱动器，这些钉驱动器在居中设置的狭槽2154的每一侧上成排对准。如上所述，居中设置的狭槽2154使击发构件2620能够穿过其中，并切割夹持在砧座2202与外科钉/紧固件仓2150之间的组织。钉驱动器与对应的钉/紧固件凹坑2156相关联，这些钉/紧固件凹坑穿过仓体2152的上平台表面打开。钉驱动器中的每一个在其上支撑一个或多个外科钉或紧固件。滑动组件包括多个倾斜的或楔形凸轮，其中每个凸轮对应于位于狭槽的一侧上的紧固件或驱动器的特定线。另外，击发构件闭锁系统2630可用于防止击发构件2620从起始位置意外致动或以另一种方式朝远侧推进，除非未击发的“新”外科钉仓2150已被正确地支撑在框架中。例如，击发构件主体2622设置有可在锁定位置与解锁位置之间运动的可倾倒元件2632。提供闭锁弹簧2633以将可倾倒元件2632偏压到锁定位置，除非可倾倒元件2632在与外科钉仓2150中的滑动件组件接合时运动到解锁位置。关于击发构件闭锁系统2660的进一步细节可见于名称为“SURGICAL INSTRUMENT LOCKOUTARRANGEMENT”的美国专利申请序列号15/635,521，该专利申请的全部公开内容据此以引用方式并入本文。
根据至少一个一般方面，击发杆2610被构造成能够附接到击发杆3230，该击发杆被可运动地支撑在细长轴组件2300的工具框架组件2320内。具体地讲，击发杆附接突片2614形成于击发杆2610的近侧端部2616(图6)上，并且被构造成能够被接收在设置在击发杆3230的远侧端部部分中的附接狭槽内。
图16和图17示出了处于相应的中立联接位置的轴组件2300的各种上述部件，这些部件有利于其与外科工具所附接到的控制器接口的驱动系统和支撑结构的对应部分可操作地交接。如在这些图中可见，外部壳体或近侧闭合管2410包括近侧端部或近侧联接器部分2416，这些近侧端部或近侧联接器部分包括环形附接沟槽2418。图16和图17示出了处于其对应中立联接位置(通常称为2417)的近侧联接器部分2416。如上所述，外部壳体或近侧闭合管2410被支撑用于在工具框架组件2320上并且更具体地在其近侧工具框架部分2322上可轴向运动地行进。如图16和图17所示，工具框架组件2320包括近侧联接器部分2326，该近侧联接器部分包括两个框架附接凹槽2328。图16和图17示出了处于其对应中立联接位置(通常称为2327)的近侧联接器部分2326。
如上所讨论，右关节运动驱动器2510被支撑用于可相对于工具框架组件2320选择性轴向运动行进。图16和图17进一步示出，在至少一种形式中，右关节运动驱动器2510包括管状近侧端部部分或近侧联接器部分2514，该管状近侧端部部分或近侧联接器部分包括右附接套环2516。图16和图17示出了处于其对应中立联接位置(通常称为2517)的近侧联接器部分2514。类似地，左关节运动驱动器2530被支撑用于可相对于工具框架组件2320选择性轴向运动行进。图16和图17进一步示出，在至少一种形式中，左关节运动驱动器2530包括管状近侧端部部分或近侧联接器部分2534，该管状近侧端部部分或近侧联接器部分包括左附接套环2536。图16和图17示出了处于其对应中立联接位置(通常称为2537)的近侧联接器部分2534。
如上所述，击发杆3230被可运动地支撑在工具框架组件2320内。更具体地，击发杆3230被支撑用于在工具框架组件2320内轴向行进。击发杆3230包括近侧端部或近侧联接器部分3232，该近侧端部或近侧联接器部分具有形成于其上的附接凸耳3234。图16和图17示出了处于其对应中立联接位置(通常称为3237)的近侧联接器部分3232。
根据一个方面，当近侧联接器部分2416、2326、2534、2514、3232各自处于其相应的中立联接位置时，它们处于预先确定的串联轴向对准，以有利于与控制器接口的对应驱动系统或部件交接。在图16和图17描绘的示例中，中立联接位置3237在中立联接位置2517的近侧，该中立联接位置在中立联接位置2537的近侧，该中立联接位置在中立联接位置2527的近侧，该中立联接位置在中立联接位置2417的近侧。这些中立联接位置也可称为起始位置。设想中立联接位置的其他串联轴向布置结构。
根据另一个一般方面，间隔锁2710被可操作地支撑在外科工具2000的对接壳体2700中以将近侧联接器部分2416、2326、2534、2514、3232保持在其相应的中立联接位置。更具体地并结合图18至图21，对接壳体2700附接到细长轴组件2300的近侧端部2301并且可运动地支撑其中的间隔锁2710。如将在下文进一步所讨论，对接壳体2700可用于有利于将外科工具可操作地附接到适当的控制器接口。如在图18至图21中可见，在至少一个示例中，间隔锁2710被支撑用于在由箭头2712和2714表示的锁定位置与解锁位置之间可运动地行进。间隔锁2710被构造成能够可释放地接合近侧联接器部分2416、2326、2534、2514、3232中的每一个，并且当工具组件未联接到控制器接口时将其保持在其相应的中立联接位置。在至少一种布置结构中，为了将间隔锁2710保持在轴向对准位置，至少一个滑块支撑件2711从间隔锁2710侧向延伸，以可滑动地接收在形成于对接壳体2700中的狭槽中。
如在图18至图21中可见，在例示的示例中，间隔锁2710包括闭合锁或键2720，该闭合锁或键被构造成能够被接收在外部壳体或近侧闭合管2410的近侧联接器部分2416中的环形沟槽2418内以防止其轴向运动。间隔锁2710还包括框架锁定布置结构，该框架锁定布置结构包括被构造成能够被接收在工具框架组件2320的近侧联接器部分2326中的环形凹槽2328内的一对框架键2722。另外，间隔锁2710包括左关节运动凹槽或锁定棘爪2726，该左关节运动凹槽或锁定棘爪被构造成能够保持地接合左关节运动驱动器2530的近侧联接器部分2534的左附接套环2536。同样，间隔锁2710包括右关节运动凹槽或锁定棘爪2728，该右关节运动凹槽或锁定棘爪被构造成能够保持地接合右关节运动驱动器2510的近侧联接器部分2514上的右附接套环2516。同样如在图18至图21中可见，间隔锁2710还包括击发键2729，该击发键被构造成能够保持地接合击发杆3230的近侧联接器部分3237上的减小颈部部分3236。图18至图21示出了处于锁定位置的间隔锁2710。在至少一种布置结构中，间隔锁2710通过偏压件或弹簧2730偏压成锁定构型。
在本公开的一个方面，外科工具2000可与第一控制器接口和与第一控制器接口不相同或不同的至少第二控制器接口可互换地采用，该第一控制器接口支撑被构造成能够将适当的控制动作施加到外科工具2000的各种驱动器部件的多个对应控制系统，还具有类似的(至少从功能角度来看)控制系统，这些控制系统被构造成能够将适当的控制动作施加到外科工具2000的各种驱动器布置结构。在一个方面，例如，第一控制器接口可包括手持控制器，并且第二控制器接口可包括被设计成支撑和操纵一个或多个外科工具的机器人系统或其他自动系统的工具安装部分。在该上下文中，例如，“手持”控制器可被构造成能够被支撑在临床医生的手中并被手动操纵。虽然此类手持控制器在一些情况下可包括机载马达和电源和/或一个或多个微处理器等，以提供和/或监测或控制为外科工具2000的各种驱动器和其他元件供电所需的相应的控制系统，此类装置还可包括或在另选方案中包括被设计成有利于将电力和/或电信号传输到该装置的电源线或拴系件。在任何情况下，此类手持控制器被设计成握持在手中并被手动操纵。
包括被构造成能够与外科工具2000可操作地交接的手持控制器3002的第一控制器接口3000的一个示例在图23至图25中描绘。包括能够可操作地附接到机器人系统1000的工具保持器的工具安装部分3502的第二控制器接口3500的一个示例在图28和图29中描绘。设想第一控制器接口和第二控制器接口的其他形式，包括其他形式的手持控制器和机器人控制的工具保持器/系统。
如在图22和图23中可见，手持控制器3002包括柄部组件3010，该柄部组件包括柄部壳体3012，该柄部壳体包括手枪式握把部3014。喷嘴组件3030可旋转地安装到柄部壳体3012以用于围绕柄部轴线HA选择性旋转。在例示的布置结构中，对接腔体3032设置在喷嘴组件3030中以有利于将外科工具2000的对接壳体2700安装在其中。对接壳体2700可通过摩擦、可释放闩锁布置结构等与喷嘴组件3030可移除地保持接合。为了将外科工具2000可操作地联接到柄部组件3010，对接壳体2700被定位成在正交于柄部轴线HA的安装方向ID上插入对接腔体3032中。如在图18中可见，对接壳体2700可包括电连接器2705，这些电连接器被构造成能够与支撑在外科工具2000所附接到的控制器接口中的对应电连接器交接。此类布置结构用于有利于电力和电信号在控制器接口的各种部件与包括在外科工具2000中的机载电子部件(开关、微处理器等)之间的传送。
在至少一个示例中，框架安装座3016固定地联接到喷嘴组件3030并且在其上包括两个框架附接特征结构或凸耳3017，当外科工具2000附接到手持控制器3002时，这两个框架附接特征结构或凸耳适于接收在工具框架组件2320的近侧联接器部分2326中的框架附接凹槽2328中。参见图24。框架附接凸耳3017的尺寸可设定成或以其他方式成形为可释放地摩擦地接收在其相应的框架附接凹槽2328内。一旦框架附接凸耳3017按扣到框架凹槽2328中或以其他方式保持在其中，喷嘴组件3030相对于柄部壳体3012的旋转就将导致外科端部执行器2100相对于纵向轴线LA和柄部轴线HA的旋转。
如上所述，柄部壳体3012可以可操作地支撑其中的多个驱动系统。例如，柄部壳体3012可以可操作地支撑闭合驱动系统(通常称为3100)，该闭合驱动系统可用于将闭合和打开动作施加到可操作地附接或联接到柄部组件3010的外科工具2000。在至少一种形式中，闭合驱动系统3100可包括由柄部壳体3012枢转地支撑的闭合触发器3104形式的致动器。此类布置结构使闭合触发器3104将能够由临床医生操纵，使得当临床医生抓持柄部组件3010的手枪式握把部3014时，闭合触发器3104可容易从起始或“未致动”位置枢转到“致动”位置并且更具体地枢转到完全压缩或完全致动位置。在各种形式中，闭合驱动系统3100还包括闭合连杆组件3108，该闭合连杆组件与闭合触发器3104可运动地交接或者以其他方式可操作地附接到该闭合触发器组件。参见图24。在例示的示例中，闭合连杆组件3108包括安装凸耳或特征结构3110，该安装凸耳或特征结构被构造成能够被可操作地接收在近侧闭合管或外部壳体2410的近侧联接器部分2416中的附接凹槽2418内，这有利于可操作地附接到闭合驱动系统3100。在使用中，为了致动闭合驱动系统3100，临床医生将闭合触发器3104朝手枪式握把部3014压下。如名称为“SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM”的美国专利申请序列号14/226,142(现为美国专利申请公布2015/0272575，该申请专利据此全文以引用方式并入本文)中进一步详细描述的，闭合驱动系统3100可被构造成能够当临床医生完全压下闭合触发器3104以实现完全闭合行程时，将闭合触发器3104锁定到完全压下或完全致动的位置。当临床医生期望将闭合触发器3104解锁以允许闭合触发器3104被偏压到未致动位置时，临床医生启动使闭合触发器3104能够返回到其未致动位置的闭合释放按钮组件3112。闭合释放按钮组件3112还可被构造成能够与各种传感器相互作用，这些传感器与柄部组件3010中的微控制器通信以跟踪闭合触发器3014的位置。关于闭合释放按钮组件3112的另外细节可见于名称为“SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM”的美国专利申请序列号14/226,142，现为美国专利申请公布2015/0272575，该专利申请据此全文以引用方式并入本文。
在至少一种形式中，柄部壳体3012可以可操作地支撑在本文中被称为击发驱动系统3200的另一个驱动系统，该另一个驱动系统被构造成能够将击发动作施加到附接于其的可互换的外科工具2000的对应部分。如在美国专利申请公布2015/0272575中进一步详细描述的，击发驱动系统3200可采用位于柄部组件3010的手枪式握把部3014中的电动马达3210。在各种形式中，马达3210可为例如具有大约25,000RPM的最大速度的直流有刷驱动马达。在其他布置结构中，马达3210可包括无刷马达、无绳马达、同步马达、步进马达或任何其他合适的电动马达。马达3210可由电源3212供电，在一种形式中，该电源可包括可移除电源组。电源组可将多个锂离子(“LI”)或其他合适的电池支撑在其中。可使用串联连接的多个电池作为外科控制器3000的电源3212。另外，电源3212可为可更换的和/或可充电的。
转到图24和图25，电动马达3210被构造成能够根据施加到马达的电压的极性在远侧和近侧方向上轴向驱动可纵向运动的驱动构件3220。例如，当马达在一个旋转方向上被驱动时，可纵向运动的驱动构件3220将在远侧方向DD上被轴向驱动。当马达3210在相反的旋转方向上被驱动时，可纵向运动的驱动构件将在近侧方向PD上被轴向驱动。柄部组件3010可包括开关3214，该开关可被构造成能够使由电源3212施加到电动马达3210的极性反转或以其他方式控制马达3210。柄部组件3010还可包括一个或多个传感器，该一个或多个传感器被构造成能够检测驱动构件的位置和/或驱动构件运动的方向。马达3210的致动可由被枢转地支撑在柄部组件3010上的击发触发器3216(图22)控制。击发触发器3216可在未致动位置与致动位置之间枢转。击发触发器3216可由弹簧或其他偏压布置结构偏压到未致动位置中，使得当临床医生释放击发触发器3216时，该击发触发器3216可由弹簧或偏压布置结构枢转或以其他方式返回到未致动位置。在至少一种形式中，击发触发器3216可定位在闭合触发器3104的“外侧”，如上文所讨论。如美国专利申请公布2015/0272575中所讨论的，柄部组件3010可配备有用于防止击发触发器3216的无意致动的击发触发器安全按钮。当闭合触发器3104处于未致动位置时，安全按钮被容纳在柄部组件3010中，在此时，临床医生不能容易地接近安全按钮并使安全按钮在防止击发触发器3216的致动的安全位置与其中可击发击发触发器3216的击发位置之间运动。当临床医生压下闭合触发器3216时，安全按钮和击发触发器3216向下枢转，其中随后其可由临床医生操纵。
在至少一种形式中，可纵向运动的驱动构件3220可以具有形成在其上的齿条，以用于与和马达3210交接的对应驱动齿轮布置结构啮合接合。关于那些特征的进一步的细节可见于美国专利申请公布2015/0272575。在至少一种形式中，柄部组件3010还包括可手动致动的“应急”组件，该手动致动的“应急”组件被构造成能够使临床医生能够在马达3210变得失效的情况下手动地回缩可纵向运动的驱动构件。应急组件可包括杠杆或应急柄部组件，该杠杆或应急柄部组件在可释放门3018下方储存在柄部组件3010内。参见图23。杠杆可被构造成能够被手动枢转成与驱动构件中的齿棘轮接合。因此，临床医生可通过使用应急柄部组件来手动地使驱动构件3220回缩，以在近侧方向PD上棘齿配合驱动构件。名称为“POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLEFIRING SYSTEM”的美国专利8,608,045(该专利申请的全部公开内容据此以引用方式并入本文)公开了应急布置结构以及其他部件、布置结构和系统，其也可与本文所公开的各种外科工具中的任一种一起采用。
当外科工具2000附接到第一控制器接口3002时，击发杆3230的近侧联接器部分3232上的附接凸耳3234可操作地接收在附接支架3226内，该附接支架形成于可纵向运动的驱动构件3220的远侧端部3224上。当附接凸耳3234被接收在附接支架3226内时，击发杆3230可操作地联接到击发驱动系统3200。击发驱动系统3200的致动将导致可纵向运动的驱动构件3220以及击发杆3230轴向运动。击发杆3230沿远侧方向DD的运动将导致击发杆2610以及附接于其的切割构件2620也朝远侧运动。当组织被夹持在仓钳口与砧座钳口之间时，击发杆2610的远侧运动将导致夹持在其中的组织被切断，并且储存在仓中的钉将在组织切割线的每一侧上附接到被切割的组织。
柄部壳体3012可以可操作地支撑在本文中被称为关节运动驱动系统3300的另一个驱动系统，该另一个驱动系统被构造成能够将关节运动动作施加到附接于其的可互换的外科工具2000的对应部分。例如，关节运动驱动系统3300可向右关节运动驱动器2510和左关节运动驱动器2530施加关节运动动作，以使外科端部执行器2100围绕由关节运动接头2350限定的枢转轴线PA进行选择性地关节运动。参见图8。在例示的布置结构中，例如，关节运动驱动系统3300可包括由柄部壳体3012可操作地支撑的关节运动马达3310。参见图25。在至少一种布置结构中，关节运动驱动齿轮3312附接到关节运动马达3310。关节运动驱动齿轮3312与右关节运动驱动齿条3320啮合接合，该右关节运动驱动齿条被支撑用于在柄部组件3010中轴向行进。如在图25中可见，例如，右关节运动驱动器2510的近侧端部部分2514本质上是管状的。在例示的布置结构中，例如，击发杆3230延伸穿过其并且被可运动地支撑在其中。右关节运动驱动齿条3320包括右接合支架3322，该右接合支架被构造成能够接收右关节运动驱动器2510的近侧联接器部分2514的右附接套环2516。类似地，关节运动驱动齿轮3312与左关节运动驱动齿条3330啮合接合，该左关节运动驱动齿条被支撑用于在柄部组件3010中轴向行进。左关节运动驱动齿条3330包括左接合支架3332，该左接合支架被构造成能够接收左关节运动驱动器2530的近侧联接器部分2534的左附接套环2536。关节运动马达3310可由柄部组件3010上的开关3314(或多个开关)控制。因此，关节运动驱动齿轮3312在第一旋转方向上的旋转将驱动远侧方向上的右关节运动驱动齿条3320以及右关节运动驱动器2510，并且驱动近侧方向上的左关节运动驱动齿条3330和左关节运动驱动器2530，这将导致外科端部执行器2100围绕枢转轴线向左进行关节运动。同样，关节运动驱动齿轮3312在第二旋转方向上的旋转将驱动近侧方向上的右关节运动驱动齿条3320以及右关节运动驱动器2510，并且驱动远侧方向上的左关节运动驱动齿条3330和左关节运动驱动器2530，这将导致外科端部执行器2100围绕枢转轴线向右进行关节运动。在某些实施方案中，可采用不同的齿轮布置结构来获得不同的关节运动行程长度。例如，在至少一种布置结构中，右关节运动行程长度和左关节运动行程长度相等。在其他布置结构中，右关节运动行程长度和左关节运动行程长度不相等。在其他布置结构中，右关节运动驱动器2510通过专用的右关节运动马达轴向运动，并且左关节运动驱动器2530通过专用的左关节运动马达轴向运动。柄部组件中的机载微处理器可控制右关节运动马达和左关节运动马达以获得期望的右关节运动行程和左关节运动行程。
当将外科工具2000与机器人系统的柄部组件3010或工具安装部分拆离时，外部壳体或近侧闭合管2410、右关节运动驱动器2510、左关节运动驱动器2530以及击发杆3230通过间隔锁2710相对于彼此在其相应的中立联接位置中保持串联对接对准(图18至图21)。间隔锁2710用于将近侧联接器部分2416、2326、2534、2514、3232保持串联对接对准，使得其可操作地接合柄部组件3010或其他控制器接口中的对应驱动系统的驱动部分。当临床医生将对接壳体2700的一部分正确地插入柄部组件3010的喷嘴组件3030中的对接腔体3032中时，间隔锁2710的解锁部分2740与可纵向运动的驱动构件3220接合，从而将间隔锁2710偏压成脱离保持接合，以使外部壳体或近侧闭合管2410、击发杆3230、右关节运动驱动器2510和左关节运动驱动器2530响应于对其所施加的对应控制动作而能够轴向运动。参见图26至图28。然而，一旦将外科工具2000与壳体组件3010拆离(沿方向2714运动)，弹簧2730将使间隔锁2710偏压回到图18至图21所示的锁定取向。此类锁定布置结构使外科工具2000能够根据需要重新附接到机器人系统的柄部组件3010或工具保持器部分(第二控制接口)。
如上所述，外科工具2000被构造成能够可互换地且可操作地附接到第一控制器接口和与第一控制器接口不相同或不同的至少第二控制器接口，该第一控制器接口支撑被构造成能够将适当的控制动作施加到外科工具2000的各种部件的多个对应控制系统，还具有类似的(至少从功能角度来看)控制系统，这些控制系统被构造成能够将适当的控制动作施加到外科工具2000的各种驱动器布置结构。例如，除了能够可互换地且可操作地联接到可包括手持控制器3002的第一控制器接口3000之外，外科工具2000还能够可操作地联接到可例如包括机器人控制的系统的一部分的第二控制器接口。
转到图28和图29，外科工具2000可被构造成能够与第二控制器接口3500可操作地交接，该第二控制器接口包括例如能够可操作地附接到机器人系统1000的工具保持器的工具安装部分3502。在至少一种布置结构中，工具安装部分3502包括可操作地支撑多个机器人控制的驱动系统的壳体3510。例如，工具安装部分3500支撑闭合驱动系统(通常称为3600)，该闭合驱动系统可用于将闭合和打开动作施加到可操作地附接或联接到工具安装部分3502的外科工具2000。如在图29中可见，闭合驱动系统3600包括可轴向运动的闭合联接器3610，该闭合联接器被构造成能够响应于由机器人控制的闭合驱动系统3600对其施加的闭合动作而朝远侧和近侧运动。闭合联接器3610包括安装凸耳或安装特征结构3612，该安装凸耳或安装特征结构被构造成能够被可操作地接收在近侧闭合管或外部壳体2410的近侧联接器部分2416的附接凹槽2418内，这有利于可操作地附接到闭合驱动系统3600。当外科工具2000附接到工具安装部分35020时，如图29所示，闭合驱动系统3600的致动将导致轴组件2300的外部壳体或近侧闭合管2410的轴向运动。
仍然参考图29，在例示的布置结构中，工具安装部分3502包括具有框架附接凸耳3522的通道保持器安装座3520，这些框架附接凸耳被构造成能够被保持地接收在工具框架组件2320的近侧联接器部分2326的对应框架附接凹槽2328内。此类布置结构用于将工具框架组件2320的近侧联接器部分2326可移除地联接到工具安装部分3502。在至少一种形式中，工具安装部分3502可操作地支撑击发驱动系统3700，该击发驱动系统被构造成能够将击发动作施加到外科工具2000的击发杆3230。如在图29中可见，击发驱动轴3702被支撑用于响应于由机器人控制的击发驱动系统3700产生的击发控制动作而轴向行进。击发杆3230上的附接凸耳3234适于可操作地接收在形成于可纵向运动的击发驱动轴3702的远侧端部3704上的附接支架3706内。当附接凸耳3234被接收在附接支架3706内时，击发杆3230可操作地联接到机器人控制的击发驱动系统3700。击发驱动系统3700的致动将导致可纵向运动的击发驱动轴3702以及击发杆3230轴向运动。击发杆3230沿远侧方向DD的运动将导致击发杆2610以及附接于其的切割构件2620也朝远侧运动。当组织被夹持在仓钳口与砧座钳口之间时，击发杆2610的远侧运动将导致夹持在其中的组织被切断，并且储存在仓中的钉将在组织切割线的每一侧上附接到被切割的组织。
工具安装部分3500可以可操作地支撑在本文中被称为机器人控制的关节运动驱动系统3800的另一个驱动系统，该另一个驱动系统被构造成能够将关节运动动作施加到附接于其的外科工具2000的对应部分。例如，机器人控制的关节运动驱动系统3800可向右关节运动驱动器2510和左关节运动驱动器2530施加关节运动动作，以使外科端部执行器2100围绕由关节运动接头2350限定的枢转轴线PA进行选择性地关节运动。在例示的布置结构中，例如，右关节运动驱动构件3820被支撑用于响应于由机器人控制的关节运动驱动系统3800产生的控制动作而在工具安装部分3500上轴向行进。右关节运动驱动构件3820包括右接合支架3822，该右接合支架被构造成能够接收右关节运动驱动器2510的近侧联接器部分2514的右附接套环2516。另外，左关节运动驱动构件齿条3830被支撑用于响应于由机器人控制的关节运动驱动系统3800产生的控制动作而在工具安装部分3500中轴向行进。左关节运动驱动构件3830包括左接合支架3832，该左接合支架被构造成能够接收左关节运动驱动器2530的近侧联接器部分2534的左附接套环2536。右关节运动驱动构件3820和左关节运动驱动构件3830的致动可由控制关节运动驱动系统3800的控制系统控制，使得当右关节运动驱动构件3820朝远侧运动时，左关节运动构件3830朝近侧运动，反之亦然，以实现外科端部执行器2100的期望的关节运动量。各种控制布置结构还在名称为“SYSTEM FORCONTROLLING ARTICULATION FORCES”的美国专利申请序列号15/636,858中描绘，该专利申请的全部公开内容据此以引用方式并入本文。
如在图28中可见，尺寸设定成将对接壳体2700接收在其中的开放对接腔体3512设置在工具安装部分3502的壳体3510中。为了将外科工具2000可操作地联接到工具安装部分3502，对接壳体2700被定位用于插入到对接腔体3512中并且沿正交于纵向安装轴线MA的安装方向ID运动，直到模块化轴喷嘴部分2700保持地接合壳体3512。模块化对接壳体2700可通过摩擦、可释放闩锁布置结构、按扣特征结构等与壳体可移除地保持接合。当临床医生将对接壳体2700正确地对接在壳体3510中的对接腔体3512内时，间隔锁2710上的解锁构件2740与可纵向运动的击发驱动轴3702接合，以将间隔锁2710偏压成与联接器部分2416、2326、2534、2514、3232以上述方式脱离保持接合。参见图29。然而，一旦将外科工具2000与工具安装部分3502拆离(沿方向2714运动)，弹簧2730将使间隔锁2710偏压回到锁定取向。此类锁定布置结构使外科工具2000能够根据需要重新附接到手持壳体或机器人系统。
因此，根据至少一个方面，外科工具可与多个控制器接口可互换地采用，这些多个控制器接口可彼此不相同。例如，外科工具2000可以可操作地联接到第一控制器接口3000和第二控制器接口3500中的一者(用于其上)，并且随后与其拆离以可操作地附接到第二控制器接口3500，或反之亦然。这可发生在其中控制器接口3000、3500两者均位于单个外科套件内的单个操作期间。在其他布置结构中，外科工具2000可与控制器接口3000、3500中的一者结合使用并且随后重新消毒以与第一控制器接口和第二控制器接口中的另一者结合使用。无论外科工具2000最初与哪个控制器接口一起采用，在外科工具的使用已完成之后，驱动系统应被致动以使联接器部分2416、2326、2534、2514、3232中的每一者返回到其相应的中立联接位置，然后将外科工具2000与控制器接口拆离。一旦近侧联接器部分2416、2326、2534、2514、3232已进入其相应的中立联接位置，就可通过使对接壳体2700在与安装方向ID相反的拆离方向上运动来将外科工具2000与控制器接口拆离。一旦间隔锁2710上的解锁构件2740与可纵向运动的击发驱动轴3702脱离接合，间隔锁就将被偏压成与近侧联接器部分2416、2326、2534、2514、3232中的每一者锁定接合。
图30至图77描绘了被构造成能够与外科机器人一起使用的外科器械组件4000。外科器械组件4000被构造成能够缝合和切割组织，但外科器械组件4000可适于以任何合适的方式处理组织，诸如例如通过向组织施加热能、电能和/或振动。此外，外科器械组件4000是模块化的并且被构造成能够与具有相同和/或不同功能的其他外科器械组件可互换。参考图30，外科器械组件4000包括：一、无菌屏障4100，该无菌屏障被构造成能够从无菌屏障4100附接到的外科机器人的外科机器人接口接收驱动动作；以及二、控制组件5000，该控制组件被构造成能够从无菌屏障4100接收驱动动作。如下文更详细地讨论，外科器械组件还包括被构造成能够从控制组件5000接收驱动动作的轴组件6000。
如上所讨论，无菌屏障4100被构造成能够可操作地附接到外科机器人接口，并且控制组件5000被构造成能够与无菌屏障4100可操作地联接。当无菌屏障4100附接到外科机器人接口时，无菌屏障4100被构造成能够通过多个驱动盘将驱动动作从外科机器人接口传输到控制组件5000。控制组件5000和外科机器人接口由无菌屏障4100物理地隔开，并且因此可由不同的临床医生在不同的无菌区域中处理。外科机器人接口的驱动盘被构造成能够驱动控制组件5000的五个主要驱动系统，该控制组件将在下文讨论。
控制组件5000被构造成能够在无菌屏障4100已联接到外科机器人之后附接到无菌屏障4100。另选地，控制组件5000和无菌屏障4100可在附接到外科机器人之前组装。主要参考图31，无菌屏障4100包括框架部分4101和浮动板组件4108，该浮动板组件包括嵌套在其中的多个驱动盘。浮动板组件4108被构造成能够在框架部分4101内竖直运动，以允许无菌屏障4100的驱动盘与控制组件5000的驱动盘之间的脱离接合，使得控制组件5000可附接到无菌屏障4100并与该无菌屏障拆离。外科机器人接口可包括对应的可竖直运动的驱动输出件，以允许浮动板组件4108的竖直运动，同时保持外科机器人接口的驱动输出件与驱动盘之间的驱动接合。
主要参考图32、图36和图40，无菌屏障4100的浮动组件4108包括面向机器人的板4110、面向器械的板4120以及嵌套在面向机器人的板4110与面向器械的板4120之间的多个驱动盘7100、8100、9100、10100和11100。面向机器人的板4110面向外科机器人接口并且包括弹簧构件4112，这些弹簧构件被构造成能够将面向机器人的板4110以及因此将面向器械的板4120和驱动盘7100、8100、9100、10100和11100朝控制组件5000偏压。浮动板组件4108朝控制组件5000偏压，以保持驱动盘7100、8100、9100、10100和11100与控制组件5000的驱动盘之间的驱动接合。弹簧构件4112允许浮动板组件4108被推动远离控制组件，以使控制组件5000的驱动盘与驱动盘7100、8100、9100、10100和11100脱离接合。面向机器人的板4110还包括对准特征结构4114，这些对准特征结构被构造成能够与外科机器人接口的对应对准特征结构对准，并且因此当无菌屏障4100被组装到外科机器人接口时，将无菌屏障4100与外科机器人接口对准。
为了联接无菌屏障4100和控制组件5000，无菌屏障4100和控制组件5000包括有助于无菌屏障4100和控制组件5000的组装的各种配合对准元件。如在图36中所见，控制组件5000包括下部壳体5100和上部壳体5200。下部壳体5100包括对准特征结构5120，这些对准特征结构被构造成能够由面向器械的板4120的对应对准孔口4122接收。控制组件5000还包括从下部壳体5100延伸的突片5130。突片5130被构造成能够由当控制组件5000附接到无菌屏障4100时被限定在无菌屏障4100中的对准凹口4102接收。类似地，参考图40，轴组件6000被构造成能够例如当控制组件5000附接到无菌屏障4100时以卡扣配合方式被接收在无菌屏障4100的轴接收凹口4104内。
现在参考图36，无菌屏障4100还包括限定于其中的被构造成能够接收浮动板组件4108的凹口4106。凹口4106允许面向机器人的板4110、面向器械的板4120以及驱动盘7100、8100、9100、10100和11100相对于无菌屏障4100的框架部分4101运动。这种相对运动允许面向机器人的板4110与外科机器人接口之间留空间，使得驱动盘7100、8100、9100、10100和11100与外科机器人接口的对应驱动盘可在彼此接合之前正确地对准。这种相对运动还允许脱离机构5400使驱动盘7100、8100、9100、10100和11100与控制组件5000脱离接合，使得控制组件5000可与无菌屏障4100脱离。
主要参考图40，脱离机构5400包括被构造成能够使控制组件5000和无菌屏障4100脱离接合的两个杠杆5410。每个杠杆5410安装到包括多个推动构件5430的杆5420。每个杠杆5410用弹簧5412弹簧加载抵靠在下部壳体5100上，使得当杠杆5410被挤压时，杆5420向下旋转，并且因此推动构件5430向下旋转。在释放杠杆5410时，杠杆5410被构造成能够通过弹簧5412向外偏压成其未接合构型。推动构件5430延伸穿过限定在下部壳体5100中的孔口5150，使得推动构件5430可向下推动面向器械的板4120以使对准特征结构5120与孔口4122脱离接合并且使驱动盘7100、8100、9100、10100和11100和控制组件5000脱离接合，使得控制组件5000可与无菌屏障4100脱离。
主要参考图31和图32，外科器械组件4000包括轴旋转驱动系统7000、第一关节运动驱动系统8000、第二关节运动驱动系统9000、闭合驱动系统10000和击发驱动系统11000。驱动盘7100被构造成能够驱动轴旋转驱动系统7000，驱动盘8100被构造成能够驱动第一关节运动驱动系统8000，驱动盘9100被构造成能够驱动第二关节运动驱动系统9000，驱动盘10100被构造成能够驱动闭合驱动系统10000，并且驱动盘11100被构造成能够驱动击发驱动系统11000。
参考图31，轴旋转驱动系统7000被构造成能够使轴组件6000围绕纵向轴线LA旋转。现在参考图38，轴旋转驱动系统7000包括与无菌屏障4100的驱动盘7100(图32)可操作地联接的输入驱动盘7110。输入驱动盘7110固定地附接到驱动轴7120并且被构造成能够当输入驱动盘7110旋转时使驱动轴7120旋转。驱动轴7120被构造成能够使固定地附接到驱动轴7120的正齿轮7130旋转。正齿轮7130与正齿轮7150可操作地啮合。正齿轮7150固定地附接到传送轴7160，当该传送轴由正齿轮7150旋转时被构造成能够使螺旋齿轮7170旋转，该螺旋齿轮也附接到驱动轴7160。参考图31，螺旋齿轮7170与另一个螺旋齿轮7180可操作地啮合，该另一个螺旋齿轮与轴组件6000的脊6700的近侧端部6702(图33)可操作地联接，使得螺旋齿轮7180的旋转使脊6700旋转，并且因此使轴组件6000围绕其纵向轴线LA旋转。
如在图31中所见，第一关节运动驱动系统8000和第二关节运动驱动系统9000被构造成能够协作地使轴组件6000的端部执行器2100进行关节运动。第一关节运动驱动系统8000和第二关节运动驱动系统9000被构造成能够协作地致动关节运动驱动器2510、2530(图43)。关节运动驱动系统8000和9000被构造成能够进行拮抗操作，使得关节运动驱动系统8000、9000中的一者将关节运动驱动器2510、2530中的一者朝近侧拉动，并且关节运动驱动系统8000、9000中的另一者将关节运动驱动器2510、2530中的另一者朝远侧推动。也就是说，驱动系统8000和9000可在不操作另一者的情况下独立操作。
再次参考图38，第一关节运动驱动系统8000包括与无菌屏障4100的驱动盘8100(图32)可操作地联接的输入驱动盘8110。输入驱动盘8110固定地附接到驱动轴8120并且被构造成能够当输入驱动盘8110旋转时使驱动轴8120旋转。驱动轴8120被构造成能够使固定地附接到驱动轴8120的小齿轮8130旋转。小齿轮8130与关节运动驱动构件8140的齿条齿轮部分8142可操作地啮合，使得当小齿轮8130沿第一旋转方向旋转时，关节运动驱动构件8140被构造成能够沿第一平移方向平移。当小齿轮8130沿第二旋转方向旋转时，关节运动驱动构件8140被构造成能够沿第二平移方向平移。第二旋转方向与第一旋转方向相反。
仍然参考图38，关节运动驱动构件8140还包括被构造成能够使致动轭8150平移的致动器突片8144。具体地讲，致动器突片8144被构造成能够被接收在致动轭8150的环形狭槽8152内，使得致动轭8150可相对于致动器突片8144围绕纵向轴线LA(图31)旋转。当致动上述讨论的轴旋转驱动系统7000时，将发生此类旋转。如图51所示，致动轭8150包括限定于其中的孔口8154。孔口8154被构造成能够在其中接收关节运动驱动器2510的近侧端部2511。关节运动驱动器2510的近侧端部2511附接到致动轭8150，使得当致动轭8150由关节运动驱动构件8140平移时，关节运动驱动器2510平移。当关节运动驱动器2510平移时，端部执行器2100(图31)如上所述进行关节运动。
参考图50，第二关节运动驱动系统9000包括与无菌屏障4100的驱动盘9100(图32)可操作地联接的输入驱动盘9110。输入驱动盘9110固定地附接到驱动轴9120并且被构造成能够当输入驱动盘9110旋转时使驱动轴9120旋转。驱动轴9120被构造成能够使固定地附接到驱动轴9120的小齿轮9130旋转。小齿轮9130与关节运动驱动构件9140的齿条齿轮部分9142可操作地啮合，使得当小齿轮9130沿第一旋转方向旋转时，关节运动驱动构件9140被构造成能够沿第一平移方向平移。当小齿轮9130沿第二旋转方向旋转时，关节运动驱动构件9140被构造成能够沿第二平移方向平移。第二旋转方向与第一旋转方向相反。
仍然参考图50，关节运动驱动构件9140还包括被构造成能够使致动轭9150平移的致动器突片9144。具体地讲，致动器突片9144被构造成能够被接收在致动轭9150的环形狭槽9152内，使得致动轭9150可相对于致动器突片9144围绕纵向轴线LA(图31)旋转。当致动上述讨论的轴旋转驱动系统7000时，将发生此类旋转。如图38所示，致动轭9150包括限定于其中的孔口9154。孔口9154被构造成能够在其中接收关节运动驱动器2530的近侧端部2531。关节运动驱动器2530的近侧端部2531附接到致动轭8150，使得当致动轭9150由关节运动驱动构件9140平移时，关节运动驱动器2530平移。当关节运动驱动器2530平移时，端部执行器2100(图31)如上所述进行关节运动。
参考图41，致动轭8150包括一对轴突起区段8156，并且致动轭9150包括轴突起区段9156。轴突起区段8156被构造成能够被接收在致动轭9150的狭槽9158内。类似地，轴突起区段9156被构造成能够被接收在致动轭8150的狭槽8158内。轴突起区段8156、9156被构造成能够为致动轭8150、9150提供嵌套支撑系统。致动轭8150、9150被构造成能够在相同方向上一起旋转并且在不同方向上相对于彼此纵向平移。
现在将结合图45至图49讨论关节运动驱动系统8000、9000的致动。为了使端部执行器2100进行关节运动，沿相同的旋转方向致动驱动盘8100、9100。两个驱动盘8100、9100沿相同的旋转方向的致动提供如上所讨论的关节运动驱动器2530、2510的拮抗致动。如图48所示，沿远侧方向DD推动关节运动驱动器2510并且沿近侧方向PD拉动关节运动驱动器2530以使端部执行器2100沿第一方向进行关节运动。为了实现该动作，关节运动驱动盘8100和关节运动驱动盘9100沿CW方向旋转(图45)。如图49所示，沿近侧方向PD拉动关节运动驱动器2510并且沿远侧方向DD推动关节运动驱动器2530以使端部执行器2100沿第二方向进行关节运动。第二方向与第一方向相反。为了实现该动作，关节运动驱动盘8100和关节运动驱动盘9100沿CCW方向旋转(图46)。
再次参考图31，闭合驱动系统10000被构造成能够用端部执行器2100夹持和非夹持组织。闭合驱动系统10000被构造成能够使闭合管6100相对于脊6700(图36)平移以使砧座钳口2200(图52)在打开位置与闭合位置之间运动。主要参考图38和图50，闭合驱动系统10000包括两个输入驱动盘10110。每个输入驱动盘10110与无菌屏障4100的驱动盘10100(图32)中的一个可操作地联接。每个输入驱动盘10110附接到驱动轴10120并且被构造成能够旋转该驱动轴。每个驱动轴10120包括固定地附接于其的正齿轮10130，其中两个正齿轮10130与主驱动齿轮10140可操作地啮合。因此，闭合驱动系统10000由两个输入驱动盘10100驱动。参考图40，主驱动齿轮10140安装到下部壳体5100的轴突起5140，使得主驱动齿轮10140可围绕轴突起5140旋转。尽管在这种情况下使用了两个输入驱动装置，但是设想其中仅使用一个输入驱动装置的实施方案。
如图53至图59所示，主驱动齿轮10140包括中央凹陷部10142，该中心凹陷部被构造成能够在其中接收轴突起5140。轴突起5140和中心凹陷部10142限定轴轴线，主驱动齿轮10140可围绕该轴轴线旋转。主驱动齿轮10140还包括螺旋凸轮狭槽10144(图54)，该螺旋凸轮狭槽被构造成能够使从闭合主体10150延伸的销10152(图55至图57)作凸轮运动并平移。图55示出邻接螺旋凸轮狭槽10144的第一端壁10145的销10152。在该位置中，端部执行器2100(图2)处于完全打开构型。当主驱动齿轮10140在方向10147上旋转时，销10152由主驱动齿轮10140作凸轮运动并且相对于主驱动齿轮10140纵向平移。销10152以及因此闭合主体10150(图54)被构造成能够平移完全闭合行程距离10148。在驱动齿轮10140完全旋转之后，图57示出了在闭合行程结束时邻接螺旋凸轮狭槽10144的第二端部10146的销10152。在该位置中，端部执行器2100(图31)处于完全夹持构型。
为了使闭合管6100平移(图31)，闭合驱动系统10000包括通过销10191可枢转地联接到闭合主体10150的第一轭10160、通过销10192可枢转地联接到第一轭10160的第二轭10170(图36)、以及包括通过销10193可枢转地联接到第二轭10170的突片10182的闭合管梭动件10180。闭合管梭动件10180经由轴联接器10190(图36)联接到闭合管6100。轴联接器10190定位在限定于闭合管6100中的狭槽6102(图44)和限定于闭合管梭动件10180(图76)中的狭槽10184(图76)内。因此，当闭合主体10150朝近侧平移时，闭合管梭动件10180使闭合管6100朝近侧平移以打开端部执行器2100。当闭合主体10150朝远侧平移时，闭合管梭动件10180使闭合管6100朝远侧平移以闭合端部执行器2100。
再次参考图31，击发驱动系统11000被构造成能够推进和回缩轴组件6000的击发杆2610(图41)。参考图50，击发驱动系统11000包括与驱动盘11100(图32)可操作地联接的输入驱动盘11110。输入驱动盘11110附接到驱动轴11120并且被构造成能够旋转该驱动轴。驱动轴11120被构造成能够使附接到驱动轴11120的正齿轮11130旋转。正齿轮11130与附接到另一个驱动轴11142的正齿轮11140可操作地啮合。正齿轮11140与附接到另一个驱动轴11152的正齿轮11150可操作地啮合。最后，正齿轮11150与附接到另一个驱动轴11162的输出小齿轮11160可操作地啮合。输出小齿轮11160与击发构件11200的齿条齿轮部分11210可操作地啮合。现在参考图35，击发构件11200的远侧端部11202与击发杆6200的近侧端部6202联接，使得击发杆6200可相对于击发构件11200旋转。击发杆6200的此类旋转适应轴旋转驱动系统7000所需的旋转。击发构件11200被构造成能够当驱动盘11100在第一旋转方向上旋转时使击发杆6200在第一平移方向上平移。类似地，击发构件11200被构造成能够当驱动盘11100在第二旋转方向上旋转时使击发杆6200在第二平移方向上平移。第二平移方向与第一平移方向相反。现在参考图41，击发杆6200包括限定其中的孔口6205的远侧端部6204。击发杆2610的近侧端部2616的附接突片2614定位在孔口6205内，使得击发杆6200可推动和/或拉动击发杆6210。
现在主要参考图60至图63，控制组件5000还包括击发驱动锁定系统10400，该击发驱动锁定系统被构造成能够当端部执行器2100(图31)处于其非夹持构型时防止击发杆6200(图35)被致动。更具体地，当闭合主体10150处于非夹持位置时，击发驱动锁定系统10400防止驱动轴11120(图50)旋转。击发驱动锁定系统10400包括击发杆锁定连接件10410和锁10420。击发杆锁定连接件10410的远侧端部10412可枢转地联接到闭合主体10150的侧向延伸的突片10158。击发杆锁定连接件10410朝击发驱动系统11000向近侧延伸。锁10420通过销10424可枢转地联接到击发杆锁定连接件10410的近侧端部10414，并且还通过销10422联接到控制组件5000的壳体5100、5200和5300中的任一者或多者。此类布置结构允许击发杆锁定连接件10410在闭合主体10150平移时使锁10420围绕销10422枢转。
锁10420还包括被构造成能够接合齿轮11340的锁齿10426。重新参考图50，齿轮11340固定地附接到轴11330。另一个齿轮11320也固定地附接到轴11330。参考图64，齿轮11320与固定地附接到驱动轴11120的齿轮11310可操作地啮合。齿轮11340与也固定地附接到驱动轴11120的齿轮11350可操作地啮合。因此，防止齿轮11340旋转防止了驱动轴11120的旋转和击发杆6200的致动(图35)。
图60和图62示出了在端部执行器2100(图31)处于非夹持构型的位置的闭合主体10150。在该位置中，闭合主体10150已将锁齿10426枢转成与齿轮11340锁定接合，以防止击发驱动轴11120旋转。当器械非夹持时防止击发驱动轴11120旋转防止了击发杆6200的过早运动(图35)。使端部执行器2100运动到夹持构型解锁了击发驱动装置。图61和图63示出了在端部执行器2100处于夹持构型的位置的闭合主体10150。当端部执行器2100被夹持时，闭合主体10150从其在图60和图62中的位置朝远侧运动。闭合主体10150的远侧运动致使击发杆锁定连接件10410将锁10420枢转远离齿轮11340以使锁齿10426与齿轮11340脱离接合，从而允许齿轮11340的旋转。在该位置中，允许齿轮11320、11340自由旋转，并且因此击发驱动轴11120可旋转以致动击发杆6200。
现在主要参考图65至图69，控制组件5000(图30)还包括双闭合和击发锁定系统10500，该双闭合和击发锁定系统被构造成能够防止击发构件2610(图41)在端部执行器2100(图31)处于完全夹持构型之前被推进。更具体地，双闭合和击发锁定系统10500被构造成能够在闭合管6100(图35)处于其完全远侧位置或充分远侧位置之前防止击发杆6200(图35)被推进。此外，一旦击发杆6200被推进，双闭合和击发锁定系统10500就被构造成能够在击发杆6200完全回缩到其未击发位置之前防止闭合管6100被致动。
如图65所示，双锁定系统10500包括可枢转地联接到脊6700的锁定棘爪10510。锁定棘爪10510定位在限定于脊6700中的脊腔6750内。锁定棘爪10510包括通过销10520可枢转地联接到脊6700的远侧部分10516。如图66所示，锁定棘爪10510还包括闭合管锁定突起10512、击发杆锁定突起10514和键部分10517。图67示出了处于非夹持位置的闭合管6100和处于防止击发杆6200在闭合管6100朝远侧运动以完全夹持端部执行器2100(图31)之前被推进的构型的锁定棘爪10510，如上所述。在该位置中，限定在闭合管6100中的孔口6150的远侧边缘6152邻接键部分10517。而且，在该位置中，击发杆锁定突起10514邻接限定在击发杆6200中的凸台6212。该基台防止击发杆6200被朝远侧推进。
为了将击发杆锁定突起10514提离凸台6212，使得凸台6212可越过击发杆锁定突起10514，闭合管6100被朝远侧推进以完全夹持端部执行器2100。闭合管6100的这种远侧运动致使孔口6150的近侧边缘6151接合键部分10517。在此类情况下，近侧边缘6151使锁定棘爪10510旋转到图68所示的位置中。当锁定棘爪10510旋转到该位置中时，闭合管锁定突起10512被接收在限定于闭合管6100中的另一个孔口6153内。如在图67至图69中可见，孔口6153靠近孔口6150。一旦锁定棘爪10510旋转到图68所示的位置中，击发杆锁定突起10514就越过凸台6212，并且击发杆6200可被推进穿过钉击发行程。
图69示出了处于部分推进状态的击发杆6200。一旦凸台6212推进经过击发杆锁定突起10514，锁定棘爪10510就不能在其由击发杆6200保持在适当位置时旋转。此外，因此，闭合管锁定突起10512在击发行程的持续时间内驻留在孔口6153内。因此，闭合管6100不能在击发杆6200的钉击发行程期间被致动。一旦击发杆6200完全回缩到图67所示的位置中，锁定棘爪10510就可旋转回到与击发杆6200锁定接合，以防止击发杆6200被再次致动。在各种情况下，弹簧可用于将锁定棘爪10510偏压回到该位置。在其他情况下，锁定棘爪10510可能需要闭合管6100的初步近侧动作以使锁定棘爪10510旋转成与击发杆6200接合。在任一种情况下，闭合管6100随后可回缩以打开端部执行器2100。
外科器械组件4000(图31)还包括手动操作的击发应急系统11400。主要参考图50和图71，击发应急系统11400被构造成能够在击发驱动系统11000变得不可操作的情况下回缩击发构件2610。例如，当击发构件2610和击发驱动系统11000上的负载超过阈值负载时，外科器械组件4000附接到的外科机器人可能无法向输入驱动盘11110提供足够的扭矩来克服该负载。在此类情况下，临床医生可使用击发应急系统11400来手动回缩击发构件2610。击发构件2610的此类手动回缩还允许端部执行器2100的钳口打开，尤其是在击发构件2610包括将端部执行器2100的钳口锁定在一起的I型梁构型的情况下。
参考图50、图51和图71，击发应急系统11400包括回缩杠杆11410、凸轮凸角11420、销11430和棘轮部分11440。回缩杠杆11410能够穿过上部壳体5200的使用者可移除的窗口5420(图40)触及。回缩杠杆11410和凸轮凸角11420通过销11430可枢转地联接到内部壳体5300。回缩杠杆11410被构造成能够使凸轮凸角11420围绕销11430旋转以推动凸轮板11432。凸轮板11432定位在击发驱动系统11000的小齿轮11160的顶部上，如上所讨论。当凸轮板11432被向下推动时，小齿轮11160被推动成与齿条齿轮部分11210脱离接合，使得小齿轮11160可不平移击发构件11200。值得注意的是，在不存在击发应急系统11400的情况下，小齿轮11160由弹簧11164偏压成与击发构件11200接合。
在回缩杠杆11410的回缩行程期间，回缩杠杆11410被构造成能够将棘轮部分11440定位成与限定在击发构件11200的顶部中的一系列齿11220接合。棘轮部分11440围绕相对于销11430偏心的轴线11441可枢转地联接到回缩杠杆11410。棘轮部分11440的远侧端部11445经由弹簧11450连接到回缩杠杆11410。弹簧11450促使棘轮部分11440的近侧端部11443朝齿11220向下旋转。为了防止棘轮部分11440的齿11444与击发构件11200的齿11220之间的过早接合，凸台5340定位在壳体5300中击发构件11200上方。棘轮部分11440的近侧端部11443坐置在凸台5340的顶部上并且向下推动该凸台，直到近侧端部11443通过杠杆11410的足以越过凸台5340的旋转朝远侧运动。一旦近侧端部11443越过凸台5340，弹簧11450就促使棘轮部分11440相对于棘轮杠杆11410围绕轴线11441旋转。此类旋转致使齿11444与齿11220啮合接合。
回缩杠杆11410的进一步致动朝近侧驱动棘轮部分11440，这继而朝近侧拉动击发构件11200。在各种情况下，杠杆11410的单个行程足以使击发构件11200完全回缩。在一些情况下，需要杠杆11410的多于一个行程来完全回缩击发构件11200。在此类情况下，回缩杠杆11410被向下推动以使杠杆11410复位，使得杠杆11410可被再次启动。当杠杆11410复位时，齿11444朝远侧滑动跨过齿11220的顶部，而不驱动击发构件11200。此时，棘轮部分11440重新接合击发构件11200的齿11220，并且执行回缩杠杆11410的附加回缩行程将进一步朝近侧拉动击发构件11200。使用者能够执行完全回缩击发构件2610所需的多个回缩行程。
参考图72至图77，外科器械组件4000还包括可手动致动的闭合覆写系统10300。如下文进一步所讨论，闭合覆写系统10300可打开端部执行器2100的钳口。当外科器械组件4000与外科机器人可操作地联接时并且/或者当外科器械组件4000未与外科机器人联接时，可使用闭合覆写系统10300。参考图37和图50，闭合覆写系统10300包括除其他项外的杠杆10301和锁10310。为了使用闭合覆写系统10300，临床医生必须通过相对于覆写杠杆10301侧向向外滑动锁10310来解锁锁10310。锁10310包括从其延伸的销10311，该销被接收在限定在杠杆10301中的凹陷部10303内。一旦销10311被拉出凹陷部10303，杠杆10301就可旋转出其未致动位置。
主要参考图73，覆写杠杆10301通过销10195可枢转地联接到上部壳体5200(图40)，并且被构造成能够利用闭合驱动系统10000的部件来独立于闭合主体10150致动闭合管6100。覆写杠杆10301包括从其延伸的销突起10194。销突起10194定位在限定于闭合驱动系统10000的第一轭10160中的一对狭槽10162内。当杠杆10301被向上拉动到图73所示的位置中时，销突起10194从狭槽10162的近侧端部10163朝狭槽10162的远侧端部10164运动。当销10194接触狭槽10162的侧壁时，杠杆10301可向上拉动第一轭10160并致使第一轭10160围绕销10191旋转。第一轭10160的此类旋转致使第一轭10160向上拉动第二轭10170，从而致使第二轭10170围绕销10193旋转。共同地，第一轭10160和第二轭10170的这种旋转朝近侧拉动闭合管梭动件10180和闭合管6100(图35)。在这种情况下，闭合管梭动件10180独立于闭合主体10150运动。如上所讨论，闭合管梭动件10180和闭合管6100的近侧运动允许端部执行器2100的钳口打开。图74示出了处于完全致动位置的杠杆10301，在该完全致动位置中销突起10194邻接狭槽10162的远侧端部10164，并且闭合管梭动件10180以及因此闭合管6100回缩到其最近侧位置中。
现在转到图75至图77，闭合管6100和闭合管梭动件10180被构造成能够由闭合驱动系统10000或闭合覆写系统10300致动。图76为图75的剖面图，并且示出了由闭合覆写系统10300引起的处于回缩位置的闭合管6100和闭合管梭动件10180。如从图76中可见，轴联接器10190联接闭合管6100和闭合管梭动件10180，使得闭合管梭动件10180朝近侧或朝远侧的运动被传送到闭合管6100。
如图36所示，轴组件6000的脊6700嵌套在壳体5100、5200和5300内。可旋转地支撑在壳体5100、5200和5300(图40)内的轴组件6000的脊6700延伸穿过闭合管6100。可相对于脊6700平移的击发杆6200延伸穿过脊6700。
图77为图75的剖面图，并且示出了处于未致动位置的闭合管6100和闭合管梭动件10180。如上所讨论，齿轮10130沿相反方向的旋转使主驱动齿轮10140旋转。主驱动齿轮10140的旋转使闭合主体10150由于限定在主驱动齿轮10140中的螺旋凸轮狭槽10144(图55至图57)和从闭合主体10150延伸到螺旋凸轮狭槽10144中的销10152而使该闭合主体朝近侧或远侧平移。如从图77中可见，闭合主体10150沿近侧方向的平移使闭合管6100和闭合管梭动件10180朝近侧平移，并且闭合主体10150沿远侧方向的平移使闭合管6100和闭合管梭动件10180朝远侧平移。
主要参考图70，外科器械组件4000还包括在控制组件5000的外部使用者可触及的辅助闭合驱动致动器10600。例如，当外科器械组件4000未附接到外科机器人时，辅助闭合驱动致动器10600允许临床医生手动驱动闭合驱动系统10000。辅助闭合驱动致动器10600定位在上部壳体5200上并且包括可移除地附接到闭合驱动轴10120(图72)的旋钮10610。旋钮10610通过从旋钮10610延伸的驱动突片和限定在闭合驱动轴10120中的被构造成能够在其中接收驱动突片的接收狭槽10126而可移除地附接到闭合驱动轴10120。当闭合驱动系统10000由外科机器人操作时，辅助闭合驱动致动器10600与闭合驱动轴10120一起旋转。在另选的实施方案中，第二闭合驱动致动器10600被构造成能够通过滑动接头相对于闭合驱动轴10120保持静止，直到临床医生选择使闭合驱动轴10120与辅助闭合驱动致动器10600一起旋转。当闭合驱动系统10000由外科机器人操作时，此类布置结构可消除旋钮10610的不必要动作。当外科器械组件4000未附接到外科机器人时，辅助闭合驱动致动器10600可尤其适用于临床医生。具有经由辅助闭合驱动致动器10600打开和闭合端部执行器的钳口的能力可消除当通过抓住钳口本身打开和闭合端部执行器的钳口时对内部部件施加无意应力的需要。临床医生能够用辅助闭合驱动致动器10600完全夹持和完全非夹持端部执行器的钳口。
主要参考图70，旋钮10610能够可移除地联接到控制组件5000。在临床医生想要当器械仍附接到外科机器人时手动打开钳口的情况下，临床医生可旋转旋钮10610以试图在采用闭合覆写系统10300之前打开端部执行器2100。在例示的实施方案中，闭合覆写系统10300的杠杆10301定位在旋钮10610下方。因此，可能需要在致动闭合覆写系统10300之前移除旋钮10610。在某些情况下，杠杆10301可自动地提升旋钮10610并使其与控制组件5000的壳体5200脱离。如上所述，当将外科器械组件4000与外科机器人拆离时，临床医生还可致动旋钮10610和/或闭合覆写系统10300。在此类情况下，临床医生能够例如打开端部执行器2100并安装新的钉仓。
如上所讨论，外科器械组件4000包括两个闭合驱动输入件。这两个闭合驱动输入件可用于通过使每个输入驱动齿轮10130与主驱动齿轮10140之间的齿轮齿数比不同来监测端部执行器的可旋转钳口的位置。使输入齿轮与主驱动齿轮之间的齿轮齿数比不同需要输入齿轮旋转不同的量以驱动主驱动齿轮给定量的旋转。因此，两个输入齿轮之间的旋转量的差值限定了主驱动齿轮的旋转量。主驱动齿轮的旋转量直接对应于可旋转钳口的位置。因此，由外科机器人监测两个输入齿轮之间的旋转量的差值以识别可旋转钳口的位置。下文详细讨论图78至图81所示的闭合驱动系统12100、12200利用相异驱动输入布置结构并且可与外科器械组件4000一起使用以监测端部执行器的可旋转钳口旋转的角度。上述讨论的不同的齿轮齿数比系统还可适于与外科器械组件4000的其他驱动系统中的任一者一起使用以监测其相应的输出。例如，击发驱动系统可使用具有两个不同齿轮齿数比的两个驱动输入件以及共同的驱动输出件来监测击发构件的位置。
除上述之外，闭合驱动系统12100、12200可用于确定外科器械组件附接到外科机器人的瞬间可旋转钳口旋转的角度。为了实现这一点，外科机器人在附接期间监测其驱动盘。外科机器人的驱动盘可在原位置或参考位置处起始，并且在控制组件5000附接到机器人期间，机器人可旋转其驱动盘以将外科机器人的驱动盘与外科器械组件的驱动盘对准。在该对准阶段期间，外科机器人监测其驱动盘经历的旋转量，以确定外科器械组件的对应驱动盘的位置。外科机器人和/或外科机器人接口可包含编码器以监测其驱动盘的位置。一旦识别出外科器械组件的驱动盘的位置，外科机器人就可评估驱动盘之间的旋转量的差值，以及因此确定端部执行器的可旋转钳口旋转的角度。
图78和图79描绘了闭合驱动系统12100。根据至少一个另选的实施方案，闭合驱动系统12100包括可单独地或同时地驱动螺旋凸轮齿轮12140的两个不同的驱动输入布置结构。闭合驱动系统12100包括具有第一齿数的第一输入齿轮12110和具有第二齿数的第二输入齿轮12120。第一齿数和第二齿数是不同的。两个齿轮12110、12120均与螺旋凸轮齿轮12140可操作地啮合。第一输入齿轮12110与螺旋凸轮齿轮12140直接啮合，同时第二输入齿轮12120经由双面齿条齿轮12130与螺旋凸轮齿轮12140啮合。提供双面齿条齿轮12130以保持输入齿轮12110、12120与螺旋凸轮齿轮12140之间的相等中心至中心距离。中心至中心距离限定在输入齿轮12110、12120的中心与螺旋凸轮齿轮12140的中心之间，如图78所示。此类布置结构允许闭合驱动系统12100在第一输入齿轮12110与螺旋凸轮齿轮12140以及第二输入齿轮12120与螺旋凸轮齿轮12140之间具有两个不同的齿轮齿数比。螺旋凸轮齿轮12140包括螺旋凸轮狭槽12142，该螺旋凸轮狭槽例如被构造成能够接合闭合主体，诸如闭合主体10150(图75)，以使闭合主体10150朝近侧和朝远侧运动。在各种情况下，齿条齿轮12130是柔性的，以在壳体诸如壳体5100、5200和5300(图40)内卷曲。
图80和图81描绘了包括可单独地或同时地驱动主驱动齿轮12240的两个不同的驱动输入布置结构的闭合驱动系统12200。闭合驱动系统12200包括具有第一输入齿数的第一输入齿轮12210和具有第二输入齿数的第二输入齿轮12220。第一输入齿数和第二输入齿数是不同的。第一输入齿轮12210与辅助驱动齿轮12230可操作地啮合。第二输入齿轮12220与主驱动齿轮12240可操作地啮合。主驱动齿轮12240包括第一数目的驱动齿，并且辅助驱动齿轮12230包括不同于第一数目的驱动齿的第二数目的驱动齿。在一些情况下，第一数目的驱动齿和第二数目的驱动齿是相同的。在任一种情况下，第一输入齿轮12210和辅助驱动齿轮12230具有第一齿轮齿数比，并且第二输入齿轮12220和主驱动齿轮12240具有不同于第一齿轮齿数比的第二齿轮齿数比。
主驱动齿轮12240和辅助驱动齿轮12230共用共同的驱动轴线。因此，闭合驱动系统12200具有共用共同驱动轴线的两个单独且不同的齿轮齿数比。螺旋凸轮齿轮12240包括螺旋凸轮狭槽12242，该螺旋凸轮狭槽例如被构造成能够接合闭合主体，诸如闭合主体10150(图75)，以使闭合主体朝近侧和朝远侧运动。
如上所讨论，驱动输入件与主驱动输出件之间的不同齿轮齿数比导致不同的输入旋转与共同的输出旋转的量。这种关系在图82所示的曲线图12300中示出。为了驱动主驱动齿轮(诸如主驱动齿轮12140)例如给定的旋转量，第一输入齿轮的旋转量不同于第二输入齿轮的旋转量。如上所讨论，使输入齿轮12110和12120将主驱动齿轮12140旋转一定量所需的旋转量不同会导致两个输入齿轮12110、12120之间的旋转量不同。
例如，两个输入齿轮之间的旋转量的差值对应于主驱动齿轮(诸如主驱动齿轮12140)的限定旋转量。这种关系可见于图83可见的曲线图12310中，并且可用于验证或评价主驱动齿轮12140已旋转的量，如下文更详细地讨论。主驱动齿轮12140的输出旋转量然后用于从查找表获得数据。查找表将对应于输入齿轮的计算的旋转差的范围与旋转输出量的范围相关。查找表还将对应于输入齿轮的计算的旋转差的范围与端部执行器的可旋转钳口旋转的角度相关。
主驱动齿轮12140、12240的旋转输出角直接对应于闭合管6100的位置。此外，闭合管6100的位置显示出端部执行器2100的可旋转钳口旋转的角度。主驱动齿轮的旋转输出角与可旋转钳口的角度之间的这种直接关系也包含在查找表内。因此，在外科器械组件附接到外科机器人的瞬间，外科机器人可确定端部执行器2100是否被夹持、非夹持、部分夹持以及被夹持多少。然后，如果需要，外科机器人可确定在外科手术的下一个步骤中调整可旋转钳口的位置的量。例如，外科机器人可确定端部执行器2100未被完全夹持并且端部执行器2100需要被完全夹持以将端部执行器2100插入穿过套管针。外科机器人还可评估可旋转钳口需要旋转多少以及使其运动到完全夹持或完全非夹持位置的方向。在某些情况下，外科机器人可确定完全非夹持可旋转钳口，以允许临床医生将钉仓插入端部执行器2100中和/或确保端部执行器2100准备好插入套管针中。例如，在此类情况下，临床医生可替换定位在端部执行器2100内的钉仓。
除上述之外，输入驱动齿轮与主驱动齿轮之间的齿轮齿数比不必明显不同。事实上，保持类似但仍然不同的比率可防止输入齿轮在旋转输入中产生较大差异，在一些情况下，这可能使机器人控制器感到困惑，尤其是当输入齿轮在闭合行程期间进行多于一次的完整旋转时。在此类情况下，单个不同的旋转角度可对应于两个不同的端部执行器构型，在这些构型中，可旋转钳口以两个不同的角度成角度。保持类似但不同的比率将增加对应于一组唯一钳口角度的唯一不同旋转角度的量。
当外科器械组件(诸如外科器械组件4000)未可操作地联接到外科机器人的外科机器人接口时，用于打开和闭合端部执行器的钳口的方法中的一个方法可包括手动打开和闭合钳口。例如，临床医生可在将外科器械组件附接到外科机器人之前夹紧闭合的钳口以将端部执行器2100(图30)插入套管针中。以此类方式手动闭合钳口致使闭合管以及因此闭合管梭动件10180朝远侧运动。当钳口手动闭合时，图84至图86所示的闭合驱动系统13000可反向驱动闭合驱动盘，如下文更详细地讨论。
闭合驱动组件13000包括图30的外科器械组件4000的闭合驱动系统10000的各种部件。闭合驱动组件13000还包括壳体部分13100和安装到壳体部分13100的突起13108的扭转弹簧13110。参考图86，壳体部分13100还包括限定于其中的孔口13102，该孔口包括近侧端部13104和远侧端部13106。弹簧13110被构造成能够将主驱动齿轮10140'以及因此从其延伸的安装突起10141'朝孔口13102的近侧端部13104偏压。由扭转弹簧13110施加的偏压力抵消了由组织穿过闭合管6100施加的反作用负载，从而朝远侧推动主驱动齿轮10140'。当主驱动齿轮10140'处于图84至图86所示的近侧位置时，由输入驱动盘10110'驱动并附接到驱动轴10120的输入驱动齿轮10130与主驱动齿轮10140'可操作地啮合，使得输入驱动齿轮10130当由驱动盘10110'旋转时使主驱动齿轮10140'旋转。
当夹紧钳口闭合时，闭合管梭动件10180将朝远侧拉动闭合主体，而不是使主驱动齿轮10140'与从闭合主体延伸到凸轮狭槽10142'中的销10152一起旋转，闭合主体和主驱动齿轮10140'克服由扭转弹簧13110施加的弹簧力并朝远侧运动。该远侧运动致使主驱动齿轮10140'与齿轮10130脱离接合，并且致使销10141'在孔口13102内朝远侧向孔口13102的远侧端部13106运动。当将外科器械组件4000与外科机器人拆离时，闭合驱动系统13000提供足够的灵活性，以允许临床医生在外科机器人的操作者在移除之前未夹持钳口的情况下将端部执行器穿过套管针拉出。
本文所述的许多外科器械系统由电动马达促动；但是本文所述的外科器械系统可以任何合适的方式促动。在各种实例中，例如，本文所述的外科器械系统可由手动操作的触发器促动。在某些实例中，本文公开的马达可包括机器人控制系统的一部分或多个部分。此外，本文公开的任何端部执行器和/或工具组件可与机器人外科器械系统一起使用。例如，名称为“SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS”的美国专利申请序列号13/118,241(现为美国专利9,072,535)更详细地公开了机器人外科器械系统的若干示例。
已结合钉的部署和变形描述了本文所述的外科器械系统；然而，本文所述的实施方案不限于此。例如，设想了部署除钉之外的紧固件诸如夹具或大头钉的各种实施方案。此外，还设想了利用用于密封组织的任何合适装置的各种实施方案。例如，根据各种实施方案的端部执行器可包括被构造成能够加热和密封组织的电极。另外，例如，根据某些实施方案的端部执行器可施加振动能量来密封组织。
实施例
实施例1—一种外科器械，包括轴。该轴包括近侧端部、远侧端部以及在该近侧端部和该远侧端部之间延伸的纵向轴线。该外科器械还包括：端部执行器，该端部执行器包括围绕关节运动枢轴而可旋转地联接到轴的端部执行器框架，其中该关节运动枢轴限定固定的关节运动轴线，并且其中该固定的关节运动轴线被定位成相对于纵向轴线侧向偏移；第一关节运动驱动器，该第一关节运动驱动器能够响应于对其所施加的对应第一关节运动控制动作而在第一中立位置、第一远侧位置和第一近侧位置之间选择性地运动；以及第一关节运动连接件，该第一关节运动连接件可操作地联接到第一关节运动驱动器，该第一关节运动连接件横向于纵向轴线延伸并且在第一附接位置处联接到端部执行器框架。该外科器械还包括：第二关节运动驱动器，该第二关节运动驱动器能够响应于对其所施加的对应第二关节运动控制动作而在第二中立位置、第二远侧位置和第二近侧位置之间选择性地运动；以及第二关节运动连接件，该第二关节运动连接件可操作地联接到第二关节运动驱动器并且横向于纵向轴线和第一关节运动连接件延伸以在第二附接位置处联接到端部执行器框架。
实施例2—根据实施例1所述的外科器械，其中，当第一关节运动驱动器从第一中立位置运动到第一远侧位置时，第二关节运动驱动器运动到第二近侧位置，以使端部执行器围绕关节运动枢轴旋转到第一完全关节运动位置，并且当第二关节运动驱动器从第二中立位置运动到第二远侧位置时，第一关节运动驱动器运动到第一近侧位置，以使端部执行器围绕关节运动枢轴旋转到第二完全关节运动位置。
实施例3—根据实施例1或2所述的外科器械，其中，当第一关节运动驱动器处于第一中立位置并且第二关节运动驱动器处于第二中立位置时，端部执行器在非关节运动位置与纵向轴线轴向对准。
实施例4—根据实施例1、2或3所述的外科器械，其中，第一中立位置和第一远侧位置限定第一关节运动驱动器的第一远侧关节运动行程，第一中立位置和第一近侧位置限定第一关节运动驱动器的第一近侧关节运动行程，第二中立位置和第二远侧位置限定第二关节运动驱动器的第二远侧关节运动行程，第二中立位置和第二近侧位置限定第二关节运动驱动器的第二近侧关节运动行程，并且第一远侧关节运动行程不等于第二远侧关节运动行程。
实施例5—根据实施例4所述的外科器械，其中，第一远侧关节运动行程小于第二远侧关节运动行程。
实施例6—根据实施例4或5所述的外科器械，其中，第一近侧关节运动行程不等于第二近侧关节运动行程。
实施例7—根据实施例4、5或6所述的外科器械，其中，第一近侧关节运动行程大于第二近侧关节运动行程。
实施例8—根据实施例1、2、3、4、5、6或7所述的外科器械，其中，第一关节运动连接件包括第一连接件长度，并且其中第二关节运动连接件包括不同于第一连接件长度的第二连接件长度。
实施例9—根据实施例1、2、3、4、5、6、7或8所述的外科器械，其中，第一附接位置从纵向轴线偏移第一偏移距离，并且其中第二附接位置从纵向轴线偏移不同于第一偏移距离的第二偏移距离。
实施例10—根据实施例9所述的外科器械，其中，第一偏移距离大于第二偏移距离。
实施例11—根据实施例1、2、3、4、5、6、7、8、9或10所述的外科器械，其中，第一关节运动连接件在第一连接件附接位置处枢转地附接到第一关节运动驱动器，其中第二关节运动连接件在第二连接件附接位置处枢转地附接到第二关节运动驱动器，并且其中当第一关节运动驱动器处于第一中立位置并且第二关节运动驱动器处于第二中立位置时，第一连接件附接位置从第二连接件附接位置轴向偏移。
实施例12—根据实施例11所述的外科器械，其中，第一连接件附接位置从纵向轴线侧向偏移第一侧向距离，并且其中第二连接件附接位置从纵向轴线侧向偏移不同于第一侧向距离的第二侧向距离。
实施例13—根据实施例12所述的外科器械，其中，第二侧向距离小于第一侧向距离。
实施例14—一种外科器械，包括控制器，该控制器包括第一关节运动控制动作的源、第二关节运动控制动作的源以及击发控制动作的源。该外科器械还包括能够可操作地联接到该控制器的外科工具，其中该外科工具包括轴，该轴包括近侧端部、远侧端部以及在该近侧端部和该远侧端部之间延伸的纵向轴线。该外科工具还包括：端部执行器，该端部执行器包括围绕关节运动枢轴而可旋转地联接到轴的端部执行器框架，其中该关节运动枢轴限定固定的关节运动轴线，并且其中该固定的关节运动轴线被定位成相对于纵向轴线侧向偏移；第一关节运动驱动器，该第一关节运动驱动器能够响应于第一关节运动控制动作的源对其所施加的对应第一关节运动控制动作而在第一中立位置、第一远侧位置和第一近侧位置之间选择性地运动；以及第一关节运动连接件，该第一关节运动连接件可操作地联接到第一关节运动驱动器，该第一关节运动连接件横向于纵向轴线延伸并且在第一附接位置处联接到端部执行器框架。该外科工具还包括：第二关节运动驱动器，该第二关节运动驱动器能够响应于第二关节运动控制动作的源对其所施加的对应第二关节运动控制动作而在第二中立位置、第二远侧位置和第二近侧位置之间选择性地运动；第二关节运动连接件，该第二关节运动连接件可操作地联接到第二关节运动驱动器并且横向于纵向轴线和第一关节运动连接件延伸以在第二附接位置处联接到端部执行器框架；以及击发构件，该击发构件被支撑用于响应于击发控制动作的源对其所施加的击发控制动作而在端部执行器内于起始位置和结束位置之间选择性轴向行进，其中第一关节运动控制动作的源将对应于端部执行器的期望关节运动位置的一定量的第一关节运动控制动作施加到第一关节运动驱动器，并且其中第二关节运动控制动作的源将对应于期望关节运动位置的另一定量的第二关节运动控制动作施加到第二关节运动驱动器，同时击发控制动作被施加到击发构件。
实施例15—根据实施例14所述的外科器械，其中，该控制器包括手持壳体。
实施例16—根据实施例14或15所述的外科器械，其中，该控制器包括机器人系统的工具安装部分。
实施例17—根据实施例14、15或16所述的外科器械，其中，该端部执行器还包括钉仓，该钉仓包含可移除地储存在其中的钉。
实施例18—一种外科器械，包括轴，该轴包括近侧端部、远侧端部以及在该近侧端部和该远侧端部之间延伸的纵向轴线。该外科器械还包括：端部执行器，该端部执行器包括围绕关节运动枢轴而可旋转地联接到轴的端部执行器框架，其中该关节运动枢轴限定固定的关节运动轴线，并且其中该固定的关节运动轴线被定位成相对于纵向轴线侧向偏移；第一关节运动驱动器，该第一关节运动驱动器能够响应于对其所施加的对应第一关节运动控制动作而选择性地运动通过第一中立位置和第一远侧位置之间的第一远侧关节运动行程以及第一中立位置和第一近侧位置之间的第一近侧关节运动行程，该第一关节运动驱动器在位于纵向轴线的相对侧上的第一附接位置处可操作地联接到端部执行器框架，该第一关节运动驱动器从该第一附接位置被可运动地支撑；以及第二关节运动驱动器，该第二关节运动驱动器能够响应于对其所施加的对应第二关节运动控制动作而选择性地运动通过第二中立位置和第二远侧位置之间的第二远侧关节运动行程以及第二中立位置和第二近侧位置之间的第二近侧关节运动行程，该第二关节运动驱动器在位于纵向轴线的另一相对侧上的第二附接位置处可操作地联接到端部执行器框架，该第二关节运动驱动器从该第二附接位置被可运动地支撑，并且其中该第一远侧关节运动行程包括第一长度，所述第一长度不同于该第二远侧关节运动行程的第二长度。
实施例19—根据实施例18所述的外科器械，其中，第一近侧关节运动行程不等于第二近侧关节运动行程。
实施例20—根据实施例18或19所述的外科器械，其中，第一关节运动驱动器通过第一关节运动连接件联接到端部执行器框架，该第一关节运动连接件包括第一连接件长度并且相对于纵向轴线横向延伸，并且其中第二关节运动驱动器通过第二关节运动连接件联接到端部执行器框架，该第二关节运动连接件包括不同于第一连接件长度的第二连接件长度并且相对于纵向轴线和第一关节运动连接件横向延伸。
实施例21—一种外科工具，该外科工具被构造成能够与手持控制器和机器人系统的工具保持器可互换地且可操作地交接。该外科工具包括：轴，该轴包括近侧端部和远侧端部；端部执行器，该端部执行器可操作地联接到该轴的远侧端部；多个可运动的驱动构件，该多个可运动的驱动构件由该轴可操作地支撑并且被构造成能够将控制动作施加到该端部执行器的对应部分，每个可运动的驱动构件包括近侧联接器部分；以及对接壳体，该对接壳体联接到该轴的近侧端部，该对接壳体被构造成能够可互换地附接到手持控制器和工具保持器中的任一者，当该对接壳体附接到手持控制器和机器人系统的工具保持器时，该对接壳体将每个可运动的驱动构件的近侧联接器部分可操作地支撑在对应中立联接位置中，以使每个近侧联接器部分能够与手持控制器和机器人系统的工具保持器的对应驱动系统可操作地交接。
实施例22—根据实施例21所述的外科工具，其中，该多个可运动的驱动构件包括：第一可轴向运动的驱动构件，该第一可轴向运动的驱动构件包括第一近侧联接器部分；第二可轴向运动的驱动构件，该第二可轴向运动的驱动构件包括第二近侧联接器部分；第三可轴向运动的驱动构件，该第三可轴向运动的驱动构件包括第三近侧联接器部分；以及第四可轴向运动的驱动构件，该第四可轴向运动的驱动构件包括第四近侧联接器部分。
实施例23—根据实施例22所述的外科工具，其中，该对接壳体将第一近侧联接器部分可操作地支撑在第一中立联接位置中，将第二近侧联接器部分可操作地支撑在第二中立联接位置中，将第三近侧联接器部分可操作地支撑在第三中立联接器位置中，并且将第四近侧联接器部分可操作地支撑在第四中立联接器位置中，其中第一中立联接位置、第二中立联接位置、第三中立联接位置和第四中立联接器位置通过该对接壳体以预先确定的串联轴向对准而间隔开。
实施例24—根据实施例23所述的外科工具，其中，该对接壳体包括能够在锁定位置和解锁位置之间运动的锁定构件，在锁定构件处于锁定位置时，该锁定构件将第一近侧联接器部分保持在第一中立联接位置中，将第二近侧联接器部分保持在第二中立联接器位置中，将第三近侧联接器部分保持在第三中立联接器位置中，并且将第四近侧联接器部分保持在第四中立联接器位置中，此时该外科工具与手持控制器和机器人系统的工具保持器中的任一者拆离，在锁定构件处于解锁位置时，此时该对接壳体可操作地附接到手持控制器和机器人系统的工具保持器中的任一者，由此允许第一近侧联接器部分、第二近侧联接器部分、第三近侧联接器部分和第四近侧联接器部分的轴向运动。
实施例25—根据实施例24所述的外科工具，其中，当该对接壳体与手持控制器和工具保持器中的任一者拆离时，该锁定构件被偏压到锁定位置中，并且当该对接壳体可操作地联接到手持壳体和工具保持器中的任一者时，该锁定构件自动地运动到解锁位置。
实施例26—根据实施例21、22、23、24或25所述的外科工具，其中，手持控制器和机器人系统中的每一者包括电功率的源，并且其中对接壳体被构造成能够当该对接壳体可操作地联接到手持控制器和机器人系统的工具保持器中的任一者时有利于将电功率传输到外科工具。
实施例27—根据实施例21、22、23、24、25或26所述的外科工具，其中，手持控制器和工具保持器中的每一者限定致动轴线，并且其中对接壳体能够在正交于致动轴线的安装方向上可互换地且可操作地联接到手持控制器和工具保持器中的任一者。
实施例28—根据实施例21、22、23、24、25、26或27所述的外科工具，其中，该手持控制器包括柄部壳体，其中该工具保持器包括工具保持器壳体，并且其中对接壳体被构造成能够可释放地且可互换地附接到该柄部壳体和该工具保持器壳体中的任一者。
实施例29—根据实施例21、22、23、24、25、26、27或28所述的外科工具，还包括在近侧端部和远侧端部之间的纵向轴线，其中轴和多个可运动的驱动构件由对接壳体支撑，以当该对接壳体可操作地附接到手持控制器和工具保持器中的任一者时有利于该端部执行器围绕纵向轴线的旋转。
实施例30—根据实施例21、22、23、24、25、26、27、28或29所述的外科工具，其中，该端部执行器被构造成能够切割和缝合组织。
实施例31—一种外科工具，该外科工具被构造成能够与手持控制器和机器人系统的工具保持器中的任一者可操作地交接。该外科工具包括：轴，该轴包括近侧端部和远侧端部；端部执行器，该端部执行器围绕关节运动枢轴而可旋转地联接到该轴；以及关节运动驱动器布置结构，该关节运动驱动器布置结构由该轴可操作地支撑并且联接到该端部执行器以用于使该端部执行器围绕关节运动枢轴进行关节运动，该关节运动驱动器布置结构包括近侧关节运动联接器布置结构。该外科工具还包括：击发构件，该击发构件被支撑用于在该端部执行器内于起始位置和结束位置之间选择性轴向行进；击发驱动器，该击发驱动器由该轴支撑并且被构造成能够使该击发构件在起始位置和结束位置之间运动，该击发驱动器包括近侧击发联接器；以及对接壳体，该对接壳体联接到该轴的近侧端部并且被构造成能够可互换地且可操作地附接到手持控制器和工具保持器中的任一者，当该对接壳体可操作地附接到手持控制器和机器人系统的工具保持器时，该对接壳体将近侧关节运动联接器布置结构支撑在中立关节运动联接器位置中并且将近侧击发联接器支撑在中立击发联接器位置中，该处于中立关节运动联接器位置中的近侧关节运动联接器布置结构被取向成与手持控制器和机器人系统的工具保持器的关节运动控制系统可操作地交接，该处于中立击发联接器位置中的近侧击发联接器被取向成与手持控制器和机器人系统的工具保持器的击发控制系统可操作地交接。
实施例32—根据实施例31所述的外科工具，其中，该关节运动驱动器布置结构还包括第一可轴向运动的关节运动驱动器和第二可轴向运动的关节运动驱动器。该近侧关节运动联接器布置结构包括：第一关节运动联接器，该第一关节运动联接器处于第一关节运动驱动器的第一近侧端部上并且被构造成能够与手持控制器和工具保持器中任一者的第一关节运动控制系统可操作地交接；以及第二关节运动联接器，该第二关节运动联接器处于第二关节运动驱动器的第二近侧端部上并且被构造成能够与手持控制器和工具保持器中任一者的第二关节运动控制系统可操作地交接。
实施例33—根据实施例32所述的外科工具，其中，当第一关节运动驱动器沿第一方向运动时，第二关节运动驱动器沿与第一方向相反的第二方向运动。
实施例34—根据实施例31、32或33所述的外科工具，其中，该端部执行器包括：第一钳口，该第一钳口围绕关节运动枢轴而可旋转地联接到轴；以及第二钳口，该第二钳口相对于该第一钳口而被可运动地支撑，其中该外科工具还包括闭合组件，该闭合组件由轴支撑并且被构造成能够使该第一钳口和该第二钳口中的至少一者在打开位置和闭合位置之间选择性地运动，该闭合组件包括由该对接壳体支撑在中立闭合联接器位置中的近侧闭合联接器，该由对接壳体支撑在中立闭合联接器位置中的近侧闭合联接器被取向成与手持控制器和工具保持器中任一者中的闭合控制系统可操作地交接。
实施例35—根据实施例34所述的外科工具，其中，第一钳口和第二钳口中的一者被构造成能够可操作地支撑钉仓，所述钉仓包含可移除地储存在其中的钉。
实施例36—根据实施例31、32、33、34或35所述的外科工具，还包括在轴的近侧端部和远侧端部之间的纵向轴线，其中轴以及关节运动驱动器布置结构和击发驱动器由对接壳体支撑，以当该对接壳体可操作地附接到手持控制器和工具保持器中的任一者时有利于该端部执行器围绕纵向轴线的旋转。
实施例37—根据实施例31、32、33、34、35或36所述的外科工具，其中，该对接壳体将近侧关节运动联接器布置结构可操作地支撑在中立关节运动联接位置中并且将近侧击发联接器可操作地支撑在中立击发联接位置中，并且其中中立击发联接位置、中立关节运动联接位置和中立闭合联接位置通过该对接壳体以预先确定的串联轴向对准而间隔开。
实施例38—根据实施例37所述的外科工具，其中，该对接壳体包括能够在锁定位置和解锁位置之间运动的锁定构件，在锁定构件处于锁定位置时，该锁定构件将近侧击发联接器保持在中立击发联接位置中，将近侧关节运动联接器布置结构保持在中立关节运动联接位置中，并且将近侧闭合联接器保持在中立闭合联接器位置中，此时外科工具与手持控制器和机器人系统的工具保持器中的任一者拆离，在锁定构件处于解锁位置时，此时该对接壳体可操作地附接到手持控制器和机器人系统的工具保持器中的任一者，由此允许近侧击发联接器、近侧关节运动联接器布置结构和近侧闭合联接器的轴向运动。
实施例39—一种外科工具，该外科工具被构造成能够与手持控制器和机器人系统的工具保持器中的任一者可互换地且可操作地交接。该外科工具包括：轴，该轴包括近侧端部和远侧端部；端部执行器，该端部执行器可操作地联接到该轴的远侧端部；多个可轴向运动的驱动构件，该多个可轴向运动的驱动构件由该轴可操作地支撑并且被构造成能够将轴向控制动作施加到该端部执行器的对应部分，每个可轴向运动的驱动构件包括近侧联接器部分；以及对接装置，该对接装置联接到该轴的近侧端部以用于将外科工具可互换地联接到手持控制器和机器人系统的工具保持器中的任一者，并且当该对接装置附接到手持控制器和机器人系统的工具保持器时将每个可运动的驱动构件的近侧联接器部分可操作地支撑在对应中立联接位置中，以使每个近侧联接器部分能够与手持控制器和机器人系统的工具保持器的对应驱动系统可操作地交接。
实施例40—根据实施例39所述的外科工具，其中，该端部执行器被构造成能够切割和缝合组织。
实施例41—一种外科器械组件，包括端部执行器，该端部执行器包括：钉仓，该钉仓包含可移除地储存在其中的多个钉；砧座；第一钳口；以及能够相对于第一钳口运动的第二钳口。该外科器械组件还包括轴组件，该轴组件包括：远侧端部，其中该端部执行器从远侧端部延伸；闭合构件，该闭合构件被构造成能够使第二钳口相对于第一钳口运动；以及击发构件，该击发构件被构造成能够从钉仓射出钉。该外科器械组件还包括：闭合驱动系统，该闭合驱动系统被构造成能够致动闭合构件通过闭合行程，其中该闭合行程包括近侧闭合行程位置和远侧闭合行程位置，在闭合构件处于近侧闭合行程位置时，第二钳口处于非夹持构型，在闭合构件处于远侧闭合行程位置时，第二钳口处于夹持构型；击发驱动系统，该击发驱动系统被构造成能够致动击发构件通过击发行程，其中该击发行程包括近侧击发行程位置和远侧击发行程位置，在击发构件处于近侧击发行程位置时，钉均未从钉仓射出，在击发构件处于远侧击发行程位置时，所有钉均已从钉仓射出；以及双锁，该双锁与闭合构件和击发构件接合，其中该双锁被构造成能够在闭合构件处于远侧闭合行程位置之前防止击发构件被从近侧击发行程位置朝远侧推进，并且其中该双锁被构造成能够在击发构件在击发行程之后返回到近侧击发行程位置之前防止闭合构件从远侧闭合行程位置回缩。
实施例42—根据实施例41所述的外科器械组件，还包括脊部分，其中该双锁可旋转地联接到该脊部分。
实施例43—根据实施例41或42所述的外科器械组件，其中，该闭合构件包括被构造成能够接收双锁的第一部分的第一孔口以及被构造成能够接收双锁的第二部分的第二孔口，并且其中当双锁的第二部分被接收在第二孔口内时，该击发构件被解锁。
实施例44—根据实施例43所述的外科器械组件，其中，第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中当双锁的第一部分与近侧孔口边缘接触时，该击发构件被解锁。
实施例45—根据实施例41、42、43或44所述的外科器械组件，其中，该闭合构件包括被构造成能够接收双锁的第一部分的第一孔口以及被构造成能够接收双锁的第二部分的第二孔口，其中第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中该击发构件包括凸台，该凸台被构造成能够接合双锁以防止当双锁的第一部分与远侧孔口边缘接触时该击发构件被从近侧击发行程位置推进。
实施例46—根据实施例41、42、43、44或45所述的外科器械组件，其中，该闭合构件被构造成能够在该闭合构件运动到远侧闭合行程位置中时同时解锁击发构件并锁定闭合构件。
实施例47—根据实施例41、42、43、44、45或46所述的外科器械组件，其中，该击发驱动系统包括旋转击发输入件，并且其中该外科器械组件还包括击发驱动系统锁，该击发驱动系统锁被构造成能够当该闭合驱动系统使该闭合构件运动到近侧闭合行程位置中时锁定该旋转击发输入件。
实施例48—根据实施例41、42、43、44、45、46或47所述的外科器械组件，其中，该轴组件限定纵向器械轴线，并且其中该双锁包括能够围绕横向于该纵向器械轴线的锁定轴线旋转的锁定棘爪。
实施例49—根据实施例41、42、43、44、45、46、47或48所述的外科器械组件，其中，该闭合构件和该击发构件能够相对于该双锁运动。
实施例50—一种外科器械附接装置，该外科器械附接装置被构造成能够附接到外科机器人以及与该外科机器人拆离。该外科器械附接装置包括
端部执行器，该端部执行器包括：钉仓，该钉仓包含可移除地储存在其中的多个钉；砧座；第一钳口；以及能够相对于第一钳口运动的第二钳口。该外科器械附接装置还包括轴组件，该轴组件包括：框架；远侧端部，其中该端部执行器从远侧端部延伸；闭合构件，该闭合构件被构造成能够使第二钳口相对于第一钳口运动；以及击发构件，该击发构件被构造成能够从钉仓射出钉。该外科器械附接装置还包括：闭合驱动系统，该闭合驱动系统被构造成能够致动闭合构件通过闭合行程，其中该闭合行程包括第一闭合行程位置和第二闭合行程位置，在闭合构件处于第一闭合行程位置时，第二钳口处于打开构型，在闭合构件处于第二闭合行程位置时，第二钳口处于闭合构型；击发驱动系统，该击发驱动系统被构造成能够致动击发构件通过击发行程，其中该击发行程包括第一击发行程位置和第二击发行程位置，在击发构件处于第一击发行程位置时，钉均未从钉仓射出，在击发构件处于第二击发行程位置时，所有钉均已从钉仓射出；以及锁定机构，该锁定机构联接到该框架，其中该锁定机构被构造成能够在闭合构件处于第二闭合行程位置之前防止击发构件被从第一击发行程位置朝向第二击发行程位置朝远侧推进，并且其中该锁定机构被构造成能够在击发构件在击发行程之后返回到第一击发行程位置之前防止闭合构件从第二闭合行程位置朝向第一闭合行程位置回缩。
实施例51—根据实施例50所述的外科器械附接装置，其中，该锁定机构可旋转地联接到该框架。
实施例52—根据实施例50或51所述的外科器械附接装置，其中，该闭合构件包括被构造成能够接收锁定机构的第一部分的第一孔口以及被构造成能够接收锁定机构的第二部分的第二孔口，并且其中当锁定机构的第二部分被接收在第二孔口内时，该击发构件被解锁。
实施例53—根据实施例52所述的外科器械附接装置，其中，第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中当锁定机构的第一部分与近侧孔口边缘接触时，该击发构件被解锁。
实施例54—根据实施例50、51、52或53所述的外科器械附接装置，其中，该闭合构件包括被构造成能够接收锁定机构的第一部分的第一孔口以及被构造成能够接收锁定机构的第二部分的第二孔口，其中第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中该击发构件包括凸台，该凸台被构造成能够接合锁定机构以防止当锁定机构的第一部分与远侧孔口边缘接触时该击发构件被从第一击发行程位置推进。
实施例55—根据实施例50、51、52、53或54所述的外科器械附接装置，其中，该闭合构件被构造成能够在该闭合构件运动到第二闭合行程位置中时同时解锁击发构件并锁定闭合构件。
实施例56—根据实施例50、51、52、53、54或55所述的外科器械附接装置，其中，该击发驱动系统包括旋转击发输入件，并且其中该外科器械附接装置还包括击发驱动系统锁，该击发驱动系统锁被构造成能够当该闭合驱动系统使该闭合构件运动到第一闭合行程位置中时锁定该旋转击发输入件。
实施例57—根据实施例50、51、52、53、54、55或56所述的外科器械附接装置，其中，该轴组件限定纵向器械轴线，并且其中该锁定机构包括能够围绕横向于该纵向器械轴线的锁定轴线旋转的锁定棘爪。
实施例58—根据实施例50、51、52、53、54、55、56或57所述的外科器械附接装置，其中，该闭合构件和该击发构件能够相对于该锁定机构运动。
实施例59—一种外科器械组件，包括端部执行器，该端部执行器包括：钉仓，该钉仓包含可移除地储存在其中的多个钉；第一钳口；以及能够相对于第一钳口运动的第二钳口。该外科器械组件还包括：轴组件，该轴组件包括被构造成能够使第二钳口相对于第一钳口运动的闭合构件以及被构造成能够从钉仓射出钉的击发构件；闭合驱动系统，该闭合驱动系统被构造成能够致动闭合构件通过闭合行程，其中该闭合行程包括近侧闭合行程位置和远侧闭合行程位置，在闭合构件处于近侧闭合行程位置时，第二钳口处于非夹持构型，在闭合构件处于远侧闭合行程位置时，第二钳口处于夹持构型；以及击发驱动系统，该击发驱动系统被构造成能够致动击发构件通过击发行程，其中该击发行程包括近侧击发行程位置和远侧击发行程位置，在击发构件处于近侧击发行程位置时，钉均未从钉仓射出，在击发构件处于远侧击发行程位置时，所有钉均已从钉仓射出。该外科器械组件还包括用于将击发构件自动地锁定在近侧击发行程位置直到闭合构件运动到远侧闭合行程位置以及用于将闭合构件自动地锁定在远侧闭合行程位置直到击发构件在击发行程之后返回到近侧击发行程位置的装置。
实施例60—根据实施例59所述的外科器械组件，还包括脊部分，其中该装置包括可旋转地联接到该脊部分的锁定棘爪。
实施例61—一种外科器械组件，该外科器械组件被构造成能够可操作地附接到外科机器人接口以及与该外科机器人接口拆离。该外科器械组件包括轴组件，该轴组件包括端部执行器，该端部执行器包括：钉仓；砧座；第一钳口；以及第二钳口，该第二钳口能够相对于第一钳口在非夹持构型和夹持构型之间运动。该轴组件还包括：远侧端部，其中该端部执行器从该轴组件的远侧端部延伸；以及闭合驱动构件，该闭合驱动构件被构造成能够使第二钳口相对于第一钳口运动。该外科器械组件还包括控制组件，其中该轴组件与该控制组件可操作地联接。该控制组件包括：壳体；闭合驱动系统，该闭合驱动系统被构造成能够致动闭合驱动构件，其中该闭合驱动系统包括旋转输入驱动装置，该旋转输入驱动装置被构造成能够在外科器械组件可操作地附接到外科机器人接口时由外科机器人接口的旋转驱动构件驱动；以及外部闭合驱动致动器，该外部闭合驱动致动器可操作地联接到输入驱动装置，其中该外部闭合驱动致动器在该壳体的外部，并且其中该外部闭合驱动致动器被构造成能够当外科器械组件未可操作地附接到外科机器人接口时由临床医生致动以手动旋转旋转输入驱动装置以使第二钳口在非夹持构型和夹持构型之间运动。
实施例62—根据实施例61所述的外科器械组件，还包括可操作地联接到闭合驱动构件的闭合驱动应急件，其中该闭合驱动应急件能够独立于旋转输入驱动装置而操作。
实施例63—根据实施例61或62所述的外科器械组件，其中，该端部执行器还包括切割构件，其中该轴组件还包括可操作地附接到该切割构件的击发驱动构件，并且其中该控制组件还包括被构造成能够致动该击发驱动构件的击发驱动系统。
实施例64—根据实施例61、62或63所述的外科器械组件，其中，该控制组件还包括击发应急件，该击发应急件被构造成能够由临床医生致动以手动致动击发驱动构件。
实施例65—根据实施例61、62、63或64所述的外科器械组件，其中，该闭合驱动系统还包括主驱动齿轮，该主驱动齿轮包括限定于其中的螺旋凸轮狭槽，并且其中该螺旋凸轮狭槽与该闭合驱动构件接合，使得旋转输入驱动装置对主驱动齿轮的旋转被构造成能够使该闭合驱动构件平移。
实施例66—根据实施例65所述的外科器械组件，其中，该旋转输入驱动装置包括第一旋转输入驱动装置，其中该第一旋转输入驱动装置包括与主驱动齿轮啮合的第一旋转输入驱动齿轮，其中该闭合驱动系统还包括第二旋转输入驱动装置，其中该第二旋转输入驱动装置包括与主驱动齿轮啮合的第二旋转输入驱动齿轮，并且其中该第一旋转输入驱动装置和该第二旋转输入驱动装置两者被构造成能够同时使主驱动齿轮旋转。
实施例67—根据实施例65或66所述的外科器械组件，其中，该主驱动齿轮包括固定的旋转轴线并且安装到壳体。
实施例68—根据实施例61、62、63、64、65、66或67所述的外科器械组件，还包括无菌适配器，该无菌适配器被构造成能够将旋转驱动动作从外科机器人接口的旋转驱动构件传送到闭合驱动系统的旋转输入驱动装置。
实施例69—一种外科器械组件，该外科器械组件被构造成能够可操作地联接到外科机器人以及与该外科机器人脱离。该外科器械组件包括轴组件，该轴组件包括端部执行器，该端部执行器包括：钉仓，该钉仓包含可移除地储存在其中的多个钉；砧座；第一钳口；以及第二钳口，该第二钳口能够相对于第一钳口在非夹持构型和夹持构型之间运动。该轴组件还包括远侧端部，其中该端部执行器与该轴组件的远侧端部可操作地联接；击发驱动构件，该击发驱动构件被构造成能够从钉仓射出钉；以及闭合驱动构件，该闭合驱动构件被构造成能够使第二钳口相对于第一钳口运动。该外科器械组件还包括控制组件，其中该轴组件与该控制组件可操作地联接。该控制组件包括：壳体，该壳体包括外表面；击发驱动系统，该击发驱动系统被构造成能够致动击发驱动构件；闭合驱动系统，该闭合驱动系统被构造成能够致动闭合驱动构件，其中该闭合驱动系统包括主旋转输入驱动装置，该主旋转输入驱动装置被构造成能够当外科器械组件可操作地附接到外科机器人时由外科机器人的旋转驱动致动器驱动，其中在致动主旋转输入驱动装置时，该闭合驱动构件在轴组件内纵向平移；以及辅助闭合驱动致动器，该辅助闭合驱动致动器可操作地联接到主旋转输入驱动装置，其中该辅助闭合驱动致动器延伸穿过该壳体的外表面，其中该辅助闭合驱动致动器被构造成能够当外科器械组件未联接到外科机器人时由临床医生致动以手动致动主旋转输入驱动装置以使第二钳口在非夹持构型和夹持构型之间运动。
实施例70—根据实施例69所述的外科器械组件，还包括可操作地联接到闭合驱动构件的闭合驱动应急件，其中该闭合驱动应急件能够独立于主旋转输入驱动装置而操作。
实施例71—根据实施例69或70所述的外科器械组件，其中，该端部执行器还包括切割构件，其中该轴组件还包括可操作地附接到该切割构件的击发驱动构件，并且其中该控制组件还包括被构造成能够致动该击发驱动构件的击发驱动系统。
实施例72—根据实施例69、70或71所述的外科器械组件，其中，该控制组件还包括击发应急件，该击发应急件被构造成能够由临床医生致动以手动致动击发驱动构件。
实施例73—根据实施例69、70、71或72所述的外科器械组件，其中，该闭合驱动系统还包括主驱动齿轮，该主驱动齿轮包括限定于其中的螺旋凸轮狭槽，并且其中该螺旋凸轮狭槽与该闭合驱动构件接合，使得主旋转输入驱动装置对主驱动齿轮的旋转被构造成能够使该闭合驱动构件平移。
实施例74—根据实施例73所述的外科器械组件，其中，该主旋转输入驱动装置包括第一主旋转输入驱动装置，其中该第一主旋转输入驱动装置包括与主驱动齿轮啮合的第一输入驱动齿轮，其中该闭合驱动系统还包括第二主旋转输入驱动装置，其中该第二主旋转输入驱动装置包括与主驱动齿轮啮合的第二输入驱动齿轮，并且其中该第一主旋转输入驱动装置和该第二主旋转输入驱动装置两者被构造成能够同时使主驱动齿轮旋转。
实施例75—根据实施例73或74所述的外科器械组件，其中，该主驱动齿轮包括固定的旋转轴线并且安装到壳体。
实施例76—根据实施例69、70、71、72、73、74或75所述的外科器械组件，还包括无菌适配器，该无菌适配器被构造成能够将旋转驱动动作从外科机器人的旋转驱动致动器传送到闭合驱动系统的主旋转输入驱动装置。
实施例77—一种外科机器人附接装置，该外科机器人附接装置被构造成能够附接到外科机器人以及与该外科机器人拆离。该外科机器人附接装置包括：轴组件，该轴组件包括端部执行器，其中该端部执行器包括闭合机构和可运动钳口，该可运动钳口被构造成能够通过闭合机构在非夹持构型和夹持构型之间运动；以及附接接口。该附接接口包括：壳体；第一闭合驱动系统，该第一闭合驱动系统包括机器人输入件，该机器人输入件被构造成能够当外科机器人附接装置附接到外科机器人时与外科机器人的对应驱动装置可操作地联接，其中该机器人输入件被构造成能够由外科机器人的对应驱动装置驱动以致动闭合机构；以及第二闭合驱动系统，该第二闭合驱动系统包括不同于机器人输入件且与该机器人输入件隔开的使用者可触及输入件，并且其中当外科机器人附接装置未附接到外科机器人时，该使用者可触及输入件能够被手动致动以致动闭合机构。
实施例78—根据实施例77所述的外科机器人附接装置，其中，该附接接口还包括主驱动齿轮，该主驱动齿轮包括限定于其中的螺旋凸轮狭槽，并且其中该螺旋凸轮狭槽与闭合连接件接合，使得第一闭合驱动系统对主驱动齿轮的旋转被构造成能够使闭合连接件平移。
实施例79—根据实施例78所述的外科机器人附接装置，其中，该机器人输入件包括第一机器人输入件，其中该第一机器人输入件包括与主驱动齿轮啮合的第一输入驱动齿轮，其中附接接口还包括第二机器人输入件，其中该第二机器人输入件包括与主驱动齿轮啮合的第二输入驱动齿轮，并且其中该第一机器人输入件和该第二机器人输入件两者被构造成能够同时使主驱动齿轮旋转。
实施例80—根据实施例77、78或79所述的外科机器人附接装置，还包括钉仓，该钉仓包含可移除地储存在其中的多个钉。
下述专利的全部公开内容据此以引用方式并入本文：
-公布于1995年4月4日的名称为“ELECTROSURGICAL HEMOSTATIC DEVICE”的美国专利5,403,312；
-公布于2006年2月21日的名称为“SURGICAL STAPLING INSTRUMENT HAVINGSEPARATE DISTINCT CLOSING AND FIRING SYSTEMS”的美国专利7,000,818；
-公布于2008年9月9日的名称为“MOTOR-DRIVEN SURGICAL CUTTING ANDFASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK”的美国专利7,422,139；
-公布于2008年12月16日的名称为“ELECTRO-MECHANICAL SURGICAL INSTRUMENTWITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS”的美国专利7,464,849；
-公布于2010年3月2日的名称为“SURGICAL INSTRUMENT HAVING ANARTICULATING END EFFECTOR”的美国专利7,670,334；
-公布于2010年7月13日的名称为“SURGICAL STAPLING INSTRUMENTS”的美国专利7,753,245；
-公布于2013年3月12日的名称为“SELECTIVELY ORIENTABLE IMPLANTABLEFASTENER CARTRIDGE”的美国专利8,393,514；
-名称为“SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES”的美国专利申请序列号11/343,803(现为美国专利7,845,537)；
-提交于2008年2月14日的名称为“SURGICAL CUTTING AND FASTENINGINSTRUMENT HAVING RF ELECTRODES”的美国专利申请序列号12/031,573；
-提交于2008年2月15日的名称为“END EFFECTORS FOR A SURGICAL CUTTING ANDSTAPLING INSTRUMENT”的美国专利申请序列号12/031,873(现为美国专利7,980,443)；
-名称为“MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”的美国专利申请序列号12/235,782，现为美国专利8,210,411；
-名称为“POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLYRETRACTABLE FIRING SYSTEM”的美国专利申请序列号12/249,117，现为美国专利8,608,045；
-提交于2009年12月24日的名称为“MOTOR-DRIVEN SURGICAL CUTTINGINSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY”的美国专利申请序列号12/647,100，现为美国专利8,220,688；
-提交于2012年9月29日的名称为“STAPLE CARTRIDGE”的美国专利申请序列号12/893,461，现为美国专利8,733,613；
-提交于2011年2月28日的名称为“SURGICAL STAPLING INSTRUMENT”的美国专利申请序列号13/036,647，现为美国专利8,561,870；
-名称为“SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS”的美国专利申请序列号13/118,241，现为美国专利9,072,535；
-于2012年6月15日提交的标题为“ARTICULATABLE SURGICAL INSTRUMENTCOMPRISING A FIRING DRIVE”的美国专利申请序列号13/524,049，现为美国专利No.9,101,358；
-提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,025，现为美国专利9,345,481；
-提交于2013年3月13日的名称为“STAPLE CARTRIDGE TISSUE THICKNESS SENSORSYSTEM”的美国专利申请序列号13/800,067，现为美国专利申请公布2014/0263552；
-提交于2006年1月31日的名称为“SURGICAL CUTTING AND FASTENINGINSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM”的美国专利申请公布2007/0175955；以及
-提交于2010年4月22日的名称为“SURGICAL STAPLING INSTRUMENT WITH ANARTICULATABLE END EFFECTOR”的美国专利申请公布2010/0264194，现为美国专利8,308,040。
虽然本文已结合某些实施方案描述了各种装置，但也可实施对这些实施方案的许多修改和变型。在一个或多个实施方案中，具体特征、结构或特性可以任何合适的方式进行组合。因此，在无限制的情况下，结合一个实施方案示出或描述的具体特征、结构或特性可全部或部分地与一个或多个其他实施方案的特征、结构或特性组合。另外，在公开了用于某些部件的材料时，也可使用其他材料。此外，根据多种实施方案，单个部件可被替换为多个部件，并且多个部件也可被替换为单个部件，以执行给定的一种或多种功能。上述具体实施方式和下述权利要求旨在涵盖所有此类修改和变型。
本文所公开的装置可被设计成在单次使用之后废弃，或者其可被设计成多次使用。然而无论是哪种情况，该装置都可在至少使用一次后经过修复再行使用。修复可包括以下步骤的任意组合，这些步骤包括但不限于拆卸装置、之后进行装置具体部件的清洁或替换、以及随后重新组装装置。具体地，修复设施和/或外科团队可拆卸装置，并且在清洁和/或替换装置的特定部件之后，可重新组装装置以供后续使用。本领域的技术人员将会理解，修复装置可利用各种技术来进行拆卸、清洁/替换和重新组装。此类技术的使用以及所得的修复装置均在本申请的范围内。
本文所公开的装置可在手术之前进行处理。首先，可获得新的或用过的器械，并且根据需要进行清洁。然后，可对器械进行消毒。在一种灭菌技术中，将所述器械放置在密闭且密封的容器(诸如，塑料或TYVEK袋)中。然后可将容器和器械置于可穿透容器的辐射场，诸如γ辐射、X射线和/或高能电子。辐射可杀死器械上和容器中的细菌。经消毒的器械随后可被储存在无菌容器中。密封容器可将器械保持为无菌的，直至在医疗设施中将该容器打开。还可使用本领域已知的任何其他技术对装置进行消毒，所述技术包括但不限于β辐射、γ辐射、环氧乙烷、等离子过氧化物和/或蒸汽。
尽管本发明已被描述为具有示例性设计，但可在本公开的实质和范围内进一步修改本发明。因此，本申请旨在涵盖使用本发明的一般原理的本发明的任何变型、用途或改型。
以引用方式全文或部分地并入本文的任何专利、公布或其他公开材料均仅在所并入的材料不与本发明所述的现有定义、陈述或其他公开材料相冲突的范围内并入本文。因此，并且在必要的程度下，本文明确列出的公开内容代替以引用方式并入本文的任何冲突材料。据称以引用方式并入本文但与本文列出的现有定义、陈述或其他公开材料相冲突的任何材料或其部分，将仅在所并入的材料与现有的公开材料之间不产生冲突的程度下并入。
Claims (18)
1.一种外科器械组件，包括：
端部执行器，所述端部执行器包括：
钉仓，所述钉仓包含可移除地储存在其中的多个钉；
砧座；
第一钳口；以及
能够相对于所述第一钳口运动的第二钳口；
轴组件，所述轴组件包括：
远侧端部，其中所述端部执行器从所述远侧端部延伸；
闭合构件，所述闭合构件被构造成能够使所述第二钳口相对于所述第一钳口运动；以及
击发构件，所述击发构件被构造成能够从所述钉仓射出所述钉；
闭合驱动系统，所述闭合驱动系统被构造成能够致动所述闭合构件通过闭合行程，其中所述闭合行程包括近侧闭合行程位置和远侧闭合行程位置，在所述闭合构件处于所述近侧闭合行程位置时，所述第二钳口处于非夹持构型，在所述闭合构件处于所述远侧闭合行程位置时，所述第二钳口处于夹持构型；
击发驱动系统，所述击发驱动系统被构造成能够致动所述击发构件通过击发行程，其中所述击发行程包括近侧击发行程位置和远侧击发行程位置，在所述击发构件处于所述近侧击发行程位置时，所述钉均未从所述钉仓射出，在所述击发构件处于所述远侧击发行程位置时，所述钉均已从所述钉仓射出；以及
双锁，所述双锁与所述闭合构件和所述击发构件接合，其中所述双锁被构造成能够在所述闭合构件处于所述远侧闭合行程位置之前防止所述击发构件从所述近侧击发行程位置朝远侧推进，并且其中所述双锁被构造成能够在所述击发构件在所述击发行程之后返回到所述近侧击发行程位置之前防止所述闭合构件从所述远侧闭合行程位置回缩；
其中，所述闭合构件包括被构造成能够接收所述双锁的第一部分的第一孔口以及被构造成能够接收所述双锁的第二部分的第二孔口，并且其中，当所述双锁的所述第二部分被接收在所述第二孔口内时，所述击发构件被解锁。
2.根据权利要求1所述的外科器械组件，还包括脊部分，其中所述双锁可旋转地联接到所述脊部分。
3.根据权利要求1所述的外科器械组件，其中，所述第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中当所述双锁的所述第一部分与所述近侧孔口边缘接触时，所述击发构件被解锁。
4.根据权利要求1所述的外科器械组件，其中，所述第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中所述击发构件包括凸台，所述凸台被构造成能够接合所述双锁以防止当所述双锁的所述第一部分与所述远侧孔口边缘接触时所述击发构件被从所述近侧击发行程位置推进。
5.根据权利要求1所述的外科器械组件，其中，所述闭合构件被构造成能够在所述闭合构件运动到所述远侧闭合行程位置中时同时解锁所述击发构件并锁定所述闭合构件。
6.根据权利要求1所述的外科器械组件，其中，所述击发驱动系统包括旋转击发输入件，并且其中所述外科器械组件还包括击发驱动系统锁，所述击发驱动系统锁被构造成能够当所述闭合驱动系统使所述闭合构件运动到所述近侧闭合行程位置中时锁定所述旋转击发输入件。
7.根据权利要求1所述的外科器械组件，其中，所述轴组件限定纵向器械轴线，并且其中所述双锁包括能够围绕横向于所述纵向器械轴线的锁定轴线旋转的锁定棘爪。
8.根据权利要求1所述的外科器械组件，其中，所述闭合构件和所述击发构件能够相对于所述双锁运动。
9.一种外科器械附接装置，所述外科器械附接装置被构造成能够附接到外科机器人以及与该外科机器人拆离，其中所述外科器械附接装置包括：
端部执行器，所述端部执行器包括：
钉仓，所述钉仓包含可移除地储存在其中的多个钉；
砧座；
第一钳口；以及
能够相对于所述第一钳口运动的第二钳口；
轴组件，所述轴组件包括：
框架；
远侧端部，其中所述端部执行器从所述远侧端部延伸；
闭合构件，所述闭合构件被构造成能够使所述第二钳口相对于所述第一钳口运动；以及
击发构件，所述击发构件被构造成能够从所述钉仓射出所述钉；
闭合驱动系统，所述闭合驱动系统被构造成能够致动所述闭合构件通过闭合行程，其中所述闭合行程包括第一闭合行程位置和第二闭合行程位置，在所述闭合构件处于所述第一闭合行程位置时，所述第二钳口处于打开构型，在所述闭合构件处于所述第二闭合行程位置时，所述第二钳口处于闭合构型；
击发驱动系统，所述击发驱动系统被构造成能够致动所述击发构件通过击发行程，其中所述击发行程包括第一击发行程位置和第二击发行程位置，在所述击发构件处于所述第一击发行程位置时，所述钉均未从所述钉仓射出，在所述击发构件处于所述第二击发行程位置时，所述钉均已从所述钉仓射出；以及
锁定机构，所述锁定机构联接到所述框架，其中所述锁定机构被构造成能够在所述闭合构件处于所述第二闭合行程位置之前防止所述击发构件被从所述第一击发行程位置朝向所述第二击发行程位置朝远侧推进，并且其中所述锁定机构被构造成能够在所述击发构件在所述击发行程之后返回到所述第一击发行程位置之前防止所述闭合构件从所述第二闭合行程位置朝向所述第一闭合行程位置回缩；
其中，所述闭合构件包括被构造成能够接收所述锁定机构的第一部分的第一孔口以及被构造成接收所述锁定机构的第二部分的第二孔口，并且其中，当所述锁定机构的所述第二部分被接收在所述第二孔口内时，所述击发构件被解锁。
10.根据权利要求9所述的外科器械附接装置，其中，所述锁定机构可旋转地联接到所述框架。
11.根据权利要求9所述的外科器械附接装置，其中，所述第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中当所述锁定机构的所述第一部分与所述近侧孔口边缘接触时，所述击发构件被解锁。
12.根据权利要求9所述的外科器械附接装置，其中，所述第一孔口包括近侧孔口边缘和远侧孔口边缘，并且其中，所述击发构件包括凸台，所述凸台被构造成能够接合所述锁定机构以防止当所述锁定机构的所述第一部分与所述远侧孔口边缘接触时所述击发构件被从所述第一击发行程位置推进。
13.根据权利要求9所述的外科器械附接装置，其中，所述闭合构件被构造成能够在所述闭合构件运动到所述第二闭合行程位置中时同时解锁所述击发构件并锁定所述闭合构件。
14.根据权利要求9所述的外科器械附接装置，其中，所述击发驱动系统包括旋转击发输入件，并且其中所述外科器械附接装置还包括击发驱动系统锁，所述击发驱动系统锁被构造成能够当所述闭合驱动系统使所述闭合构件运动到所述第一闭合行程位置中时锁定所述旋转击发输入件。
15.根据权利要求9所述的外科器械附接装置，其中，所述轴组件限定纵向器械轴线，并且其中所述锁定机构包括能够围绕横向于所述纵向器械轴线的锁定轴线旋转的锁定棘爪。
16.根据权利要求9所述的外科器械附接装置，其中，所述闭合构件和所述击发构件能够相对于所述锁定机构运动。
17.一种外科器械组件，包括：
端部执行器，所述端部执行器包括：
钉仓，所述钉仓包含可移除地储存在其中的多个钉；
第一钳口；以及
能够相对于所述第一钳口运动的第二钳口；
轴组件，所述轴组件包括被构造成能够使所述第二钳口相对于所述第一钳口运动的闭合构件以及被构造成能够从所述钉仓射出所述钉的击发构件；
闭合驱动系统，所述闭合驱动系统被构造成能够致动所述闭合构件通过闭合行程，其中所述闭合行程包括近侧闭合行程位置和远侧闭合行程位置，在所述闭合构件处于所述近侧闭合行程位置时，所述第二钳口处于非夹持构型，在所述闭合构件处于所述远侧闭合行程位置时，所述第二钳口处于夹持构型；
击发驱动系统，所述击发驱动系统被构造成能够致动所述击发构件通过击发行程，其中所述击发行程包括近侧击发行程位置和远侧击发行程位置，在所述击发构件处于所述近侧击发行程位置时，所述钉均未从所述钉仓射出，在所述击发构件处于所述远侧击发行程位置时，所述钉均已从所述钉仓射出；以及
用于将所述击发构件自动地锁定在所述近侧击发行程位置直到所述闭合构件运动到所述远侧闭合行程位置以及用于将所述闭合构件自动地锁定在所述远侧闭合行程位置直到所述击发构件在所述击发行程之后返回到所述近侧击发行程位置的装置；
其中，所述闭合构件包括被构造成能够接收所述装置的第一部分的第一孔口以及被构造成能够接收所述装置的第二部分的第二孔口，并且其中，当所述装置的所述第二部分被接收在所述第二孔口内时，所述击发构件被解锁。
18.根据权利要求17所述的外科器械组件，还包括脊部分，其中，所述装置包括可旋转地联接到所述脊部分的锁定棘爪。
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| US15/847,293 US10729509B2 (en) | 2017-12-19 | 2017-12-19 | Surgical instrument comprising closure and firing locking mechanism |
| US15/847,293 | 2017-12-19 | ||
| PCT/IB2018/060061 WO2019123155A2 (en) | 2017-12-19 | 2018-12-13 | Surgical instrument comprising closure and firing locking mechanism |
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| US (1) | US10729509B2 (zh) |
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| WO2019123155A2 (en) | 2019-06-27 |
| EP3501412B1 (en) | 2023-06-14 |
| WO2019123155A3 (en) | 2019-08-08 |
| EP3501412A2 (en) | 2019-06-26 |
| BR112020012152A2 (pt) | 2020-11-24 |
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| US10729509B2 (en) | 2020-08-04 |
| EP3501412A3 (en) | 2019-08-14 |
| US20190183597A1 (en) | 2019-06-20 |
| CN111491573A (zh) | 2020-08-04 |
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