JP2019506271A - Articulation mechanism of surgical instruments using slot-type secondary constraints - Google Patents

Abstract

  The surgical instrument includes an elongate shaft assembly that defines a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis. First and second articulated drivers are supported for selective longitudinal movement relative to the elongated shaft assembly. A first end effector link is movably coupled to the surgical end effector and is coupled to the first joint driver for axial and pivotal movement relative to the first joint driver. . A second end effector link is movably coupled to the surgical end effector and is coupled to the second joint driver for axial and pivotal movement relative to the second joint driver. .

Description

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

  The stapling instrument can include a pair of cooperating elongate jaw members that are adapted to be inserted into the patient and positioned relative to the tissue to be stapled and / or incised. it can. In various embodiments, one of the jaw members can support a staple cartridge having at least two rows of laterally spaced staples therein, the other jaw member being a staple in the staple cartridge. An anvil having staple forming pockets aligned with the rows can be supported. In general, the stapling instrument further includes a push bar and a knife blade that are slidable relative to the jaw members, the cam surface on the push bar and / or the cam surface on the wedge sled that is pushed by the push bar. The staples can be continuously discharged from the staple cartridge. In at least one embodiment, the staples are held by the cartridge to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue grasped between the jaw members, The cam surface can be configured to actuate a plurality of associated staple drivers. In at least one embodiment, the knife blade can follow the cam surface and cut tissue along a line between staple rows.

  The above discussion is intended only to illustrate various aspects of the related art in the field of the present invention at that time and should not be construed as denying the scope of the claims.

Various features of the embodiments described herein, together with their advantages, can be understood by the following description in conjunction with the accompanying drawings.
1 is a perspective view of an embodiment of a surgical instrument and an elongated shaft assembly. FIG. FIG. 2 is an exploded view of the handle or housing portion of the surgical instrument of FIG. FIG. 3 is an exploded view of a portion of an elongate shaft assembly. FIG. 4 is another exploded view of another portion of the elongate shaft assembly of FIG. 3. FIG. 5 is an exploded view of a portion of a surgical end effector embodiment and a closure sleeve embodiment. FIG. 6 is a partial cross-sectional view of a portion of the surgical end effector and closure sleeve configuration of FIG. FIG. 7 is a perspective view of the surgical end effector and closure sleeve configuration of FIGS. 5 and 6 with the anvil in an open position or configuration. FIG. 8 is another perspective view of the surgical end effector and closure sleeve configuration of FIGS. 5-7 with the anvil in the closed position or configuration. FIG. 5 is a perspective view of an embodiment of a surgical end effector and elongate shaft assembly, part of which has been omitted for clarity. FIG. 10 is a top view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIG. 9 with the surgical end effector in an articulated position or configuration. FIG. 11 is a partially exploded view of a portion of the surgical end effector and elongate shaft assembly of FIGS. 9 and 10. FIG. 12 is a top view of a portion of the surgical end effector and elongated shaft assembly of FIGS. 9-11. FIG. 13 is a perspective view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 9-12 with the surgical end effector in an articulated position or configuration. The surgical end effector and elongate shaft assembly embodiment of FIGS. 9-13, wherein the surgical end effector is in an articulating configuration and some of its components are shown in cross-sectional view for clarity. It is a top view of a part. FIG. 6 is a perspective view of a portion of another elongate shaft assembly embodiment. FIG. 16 is another perspective view of the embodiment of the elongate shaft assembly of FIG. 15 with the closure sleeve and closure sleeve components omitted for clarity. FIG. 17 is a top view of a portion of the embodiment of the elongated shaft assembly of FIGS. 15 and 16. FIG. 18 is a cross-sectional side view of the embodiment of the elongate shaft assembly of FIGS. 15-17 with a surgical staple cartridge attached to the surgical end effector portion. FIG. 19 is another cross-sectional side view of the elongate shaft assembly of FIGS. 15-18 with a surgical staple cartridge attached to the surgical end effector portion. FIG. 20 is a top view of a portion of the surgical end effector and elongate shaft assembly of FIGS. 15-19, with the surgical end effector in an articulated position or configuration. FIG. 10 is a side view of a portion of another surgical end effector and closure sleeve embodiment. FIG. 10 is a perspective view of another surgical end effector and elongate shaft assembly embodiment, part of which has been omitted for clarity. FIG. 22 is an exploded view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIG. 21; FIG. 23 is a top view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 21 and 22. FIG. 24 is another top view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIGS. 21-23, with portions omitted for clarity. FIG. 25 is another top view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 21-24, with the surgical end effector in an articulated position or configuration. FIG. 6 is an exploded perspective view of a portion of another elongate shaft assembly embodiment. FIG. 5 is an exploded view of a portion of another surgical end effector and elongate shaft assembly embodiment. FIG. 28 is a partial perspective view of a portion of the embodiment of the elongate shaft assembly of FIG. 27, with portions omitted for clarity. FIG. 29 is another partial perspective view of a portion of the embodiment of the elongated shaft assembly of FIGS. 27 and 28, a portion of which has been omitted for clarity. FIG. 30 is another partial perspective view of a portion of the embodiment of the elongate shaft assembly of FIGS. 27-29, a portion of which has been omitted for clarity. FIG. 31 is another top view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 27-30, a portion of which has been omitted for clarity. FIG. 32 is another top view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIGS. 27-31 with a portion omitted for clarity and the surgical end effector in an articulated position or configuration. FIG. 33 is a side view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 27-32, a portion of which has been omitted for clarity. FIG. 34 is a perspective view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 27-33, part of which has been omitted for clarity. FIG. 35 is another partial perspective view of a portion of the embodiment of the surgical end effector and elongate shaft assembly of FIGS. 27-34, part of which has been omitted for clarity. FIG. 6 is an exploded view of a portion of an embodiment of a distal firing beam assembly and an embodiment of a side load support member. FIG. 37 is a perspective view of the distal firing beam assembly and side load support member of FIG. 36. FIG. 38 is an enlarged cross-sectional view of a portion of the distal firing beam assembly and side load support member of FIGS. 36 and 37; FIG. 39 is another cross-sectional view of the distal firing beam assembly and side load support member of FIGS. FIG. 6 is a side view of a portion of an embodiment of a distal firing beam assembly attached to an embodiment of a firing member. FIG. 41 is a top view of a portion of the distal firing beam assembly embodiment and firing member embodiment of FIG. 40; FIG. 43 is a cross-sectional view of a portion of the embodiment of the distal firing beam assembly of FIGS. 40 and 41 with a lateral load support member pivoted thereon and the distal firing beam assembly embodiment in a bent position or configuration. . 43 is a perspective view of the embodiment of the distal firing beam assembly and side load support member of FIG. 42. FIG. FIG. 10 is a perspective view of a portion of another surgical end effector embodiment and an elongated shaft assembly embodiment, some of which have been omitted for clarity and the surgical end effector is in an articulated position or configuration. FIG. 45 is a top view of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 44; FIG. 46 is another top view of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 45 with a portion of the pivot link shown in cross-sectional view. FIG. 9 is a partial perspective view of a portion of another surgical end effector embodiment and an elongated shaft assembly embodiment, a portion of which has been omitted for clarity. FIG. 48 is another top view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIG. 47, a portion of which has been omitted for clarity. FIG. 49 is another top view of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 48; 47 is a top perspective view of a portion of the embodiment of the surgical end effector and of the elongate shaft assembly of FIGS. 47-49, part of which has been omitted for clarity and the surgical end effector is in an articulated position or configuration. FIG. is there. FIG. 52 is another top perspective view of a portion of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 50; FIG. 52 is an enlarged perspective view of a portion of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 51; Part of another surgical end effector embodiment and elongate shaft assembly embodiment showing a surgical end effector in a non-articulated position or configuration and in an articulated position or configuration, omitted for clarity. FIG. FIG. 54 is a top view of a portion of the embodiment of the elongate shaft assembly of FIG. 53 with the articulation system in a neutral or non-articulated position or configuration, with a portion of the elongate shaft assembly omitted for clarity. FIG. 57 is another top view of a portion of the embodiment of the elongate shaft assembly of FIG. 54 with the articulation system in a first articulation position or configuration. FIG. 56 is another top view of a portion of the embodiment of the elongate shaft assembly of FIGS. 54 and 55 with the articulation system in a second articulation position or configuration. FIG. 57 is a partial perspective view of another portion of the elongate shaft assembly embodiment of FIGS. 53-56 and a portion of the surgical end effector embodiment in a non-articulated position or configuration, some of which are shown for clarity. It is omitted. FIG. 58 is another partial perspective view of the surgical end effector embodiment and elongate shaft assembly embodiment of FIG. 57, with portions omitted for clarity. FIG. 10 is a top view of a portion of another elongate shaft assembly embodiment, a portion of which has been omitted for clarity. FIG. 6 is a top view of a portion of another articulation system embodiment in a neutral or non-articulated position. FIG. 61 is a top view of an embodiment of a driver joint disk of the articulation system of FIG. 60. FIG. 61 is a top view of an embodiment of a driven joint disk of the articulation system of FIG. 60. FIG. 61 is another top view of the embodiment of the articulation system of FIG. 60 in a position or configuration after an articulation control motion is initially applied. FIG. 64 is another top view of the embodiment of the articulation system of FIG. 63 in a first articulation position or configuration. FIG. 65 is another top view of the embodiment of the articulation system of FIGS. 63 and 64 in a second articulation position or configuration. FIG. 10 is a perspective view of another surgical end effector and closure sleeve embodiment with its jaws in a closed position or configuration. FIG. 67 is another perspective view of the embodiment of the surgical end effector and closure sleeve of FIG. 66 with its jaws in an open position or configuration. FIG. 68 is a side view of the embodiment of the surgical end effector and closure sleeve of FIGS. 66 and 67 with the closure sleeve shown in cross-sectional view and its jaws in an open position or configuration. FIG. 69 is a side view of the embodiment of the surgical end effector and closure sleeve of FIGS. 66-68, shown in cross-section, with its jaws in an open position or configuration. FIG. 70 is an exploded view of the embodiment of the surgical end effector and closure sleeve of FIGS. 66-69. FIG. 10 is an exploded view of another surgical end effector and closure sleeve embodiment. FIG. 12 is a perspective view of another surgical end effector and closure sleeve embodiment with its jaws in an open position or configuration. FIG. 73 is another perspective view of the embodiment of the surgical end effector and closure sleeve of FIG. 72 with its jaws in a closed position or configuration. FIG. 74 is an exploded perspective assembly view of the embodiment of the surgical end effector and closure sleeve of FIGS. 72 and 73; FIG. 75 is a side view of the embodiment of the surgical end effector and closure sleeve of FIGS. 72-74 with its jaws in a closed position or configuration. FIG. 76 is a rear perspective view of the embodiment of the surgical end effector of FIGS. 72-75, with the closure sleeve embodiment shown in phantom for clarity. FIG. 77 is a side cross-sectional view of the embodiment of the surgical end effector and closure sleeve of FIGS. 72-76 with its jaws in a closed position or configuration. FIG. 78 is another side cross-sectional view including one of the surgical end effector and closure sleeve embodiment cam plates of FIGS. 72-77 with its jaws in a closed position or configuration; FIG. 79 is another side cross-sectional view including one of the surgical end effector and closure sleeve embodiment cam plates of FIGS. 72-78 with its jaws in an open position or configuration. FIG. 12 is a partial perspective view of another surgical end effector and closure sleeve embodiment with its jaws in an open position or configuration. FIG. 81 is a partial perspective view of the embodiment of the surgical end effector and closure sleeve of FIG. 80 with its jaws in a closed position or configuration. FIG. 82 is an exploded perspective assembly view of the embodiment of the surgical end effector and closure sleeve of FIGS. 80 and 81; FIG. 83 is a side view of the embodiment of the surgical end effector and closure sleeve of FIGS. 80-82 with its jaws in a closed position or configuration. FIG. 84 is a side view of the embodiment of the surgical end effector and closure sleeve of FIGS. 80-83 with a portion of the closure sleeve shown in cross-sectional view and its jaws in an open position or configuration. FIG. 10 is an exploded perspective assembly view of another surgical end effector and closure sleeve embodiment. FIG. 88 is a side view of the embodiment of the surgical end effector and closure sleeve of FIG. 85 with its jaws in a closed position or configuration. FIG. 87 is a side view of the surgical end effector and closure sleeve embodiment of FIGS. 85 and 86 with its jaws in an open position or configuration and a portion of the closure sleeve shown in cross-sectional view. FIG. 6 is a perspective view of a portion of another elongate shaft assembly embodiment. FIG. 89 is another perspective view of the embodiment of the elongate shaft assembly of FIG. 88, with some of its components omitted for clarity. FIG. 90 is another perspective view of the elongate shaft assembly of FIGS. 88 and 89 with the surgical end effector in an articulated position or configuration. FIG. 91 is an exploded view of the elongated shaft assembly of FIGS. 88-90. FIG. 92 is a top view of the elongate shaft assembly of FIGS. 88-91 with some components omitted for clarity and its surgical end effector articulated in a direction. FIG. 93 is another top view of the elongate shaft assembly of FIGS. 88-92 with some of its components omitted for clarity and the surgical end effector articulated in another direction. 1 is a perspective view of an embodiment of a surgical staple cartridge. FIG. FIG. 10 is a perspective view of another surgical staple cartridge embodiment. FIG. 10 is a perspective view of a portion of another elongate shaft assembly coupled to a surgical end effector. FIG. 97 is another perspective view of the elongate shaft assembly and surgical end effector of FIG. 96 in a non-articulating orientation and with portions omitted for clarity. FIG. 98 is a top view of a portion of the surgical end effector embodiment and the elongate shaft assembly embodiment of FIGS. 96 and 97 with the surgical end effector in an articulation orientation. FIG. 99 is another top view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIGS. 96-98, part of which has been omitted for clarity. FIG. 100 is another top view of a portion of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 99 in an articulation orientation. FIG. 100 is another top view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIG. 100 in a non-articulating orientation. FIG. 102 is another top view of a portion of the embodiment of the surgical end effector and elongated shaft assembly of FIG. 101 with the surgical end effector articulated in a first articulation direction. FIG. 102 is another top view of a portion of the embodiment of the surgical end effector and the elongated shaft assembly of FIG. 102 with the surgical end effector articulated in a second articulation direction. FIG. 12 is another top view of a portion of another surgical end effector embodiment and another elongate shaft assembly embodiment in a non-articulating orientation. FIG. 105 is another top view of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 104 with the surgical end effector in an articulation orientation. FIG. 10 is a top view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulated orientation, a portion of which has been omitted for clarity. FIG. 107 is another top view of the surgical end effector and elongate shaft assembly of FIG. 106 in a first articulation orientation. FIG. 108 is another top view of the surgical end effector and elongate shaft assembly of FIG. 107 in a second articulation orientation. FIG. 10 is a top view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulated orientation, a portion of which has been omitted for clarity. FIG. 110 is another top view of the surgical end effector and elongate shaft assembly of FIG. 109 in a first articulation orientation. FIG. 111 is another top view of the surgical end effector and elongate shaft assembly of FIG. 110 in a second articulation orientation. FIG. 10 is a top view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulated orientation, a portion of which has been omitted for clarity. 113 is another top view of the surgical end effector and elongate shaft assembly of FIG. 112 in a first articulation orientation. FIG. FIG. 114 is another top view of the surgical end effector and elongate shaft assembly of FIG. 113 in a second articulation orientation. FIG. 10 is a top view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulated orientation, a portion of which has been omitted for clarity. FIG. 116 is another top view of the surgical end effector and elongate shaft assembly of FIG. 115 in a first articulation orientation. FIG. 117 is another top view of the surgical end effector and elongate shaft assembly of FIG. 116 in a second articulation orientation. FIG. 10 is a top view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulated orientation, a portion of which has been omitted for clarity. FIG. 119 is another top view of the surgical end effector and elongate shaft assembly of FIG. 118 in a first articulation orientation. FIG. 10 is a partial perspective view of another surgical end effector embodiment and an elongate shaft assembly embodiment in a non-articulating orientation, a portion of which has been omitted for clarity. FIG. 121 is a top view of the surgical end effector and elongate shaft assembly of FIG. 120 in a non-articulating orientation. FIG. 122 is another top view of the surgical end effector and elongate shaft assembly of FIG. 121 in a first articulation orientation. FIG. 10 is a partial perspective view of another surgical end effector embodiment and an elongate shaft assembly embodiment in a non-articulating orientation, a portion of which has been omitted for clarity. 124 is another perspective view of the surgical end effector embodiment and elongated shaft assembly embodiment of FIG. 123 in a non-articulating orientation. FIG. FIG. 123 is an exploded perspective view of the surgical end effector embodiment and elongated shaft assembly embodiment of FIGS. 123 and 124; FIG. 126 is a top view of the surgical end effector embodiment and the elongated shaft assembly embodiment of FIGS. 123-125 in a non-articulating orientation. FIG. 127 is another top view of the surgical end effector and elongate shaft assembly of FIGS. 123-126 in a first articulation orientation. FIG. 129 is another top view of the surgical end effector and elongate shaft assembly of FIGS. 123-128 in a second articulation orientation. FIG. 10 is a partial perspective view of another surgical end effector embodiment and an elongate shaft assembly embodiment in a non-articulating orientation, a portion of which has been omitted for clarity. 129 is a top view of the surgical end effector and elongate shaft assembly of FIG. 129 in a non-articulating orientation. FIG. FIG. 132 is another top view of the surgical end effector and elongate shaft assembly of FIGS. 129 and 130 in a first articulation orientation; FIG. 6 is a partial perspective view of a portion of an embodiment of an elongate shaft assembly spine and firing beam coupler. FIG. 5 is a partial cross-sectional view of a portion of an elongate shaft assembly spine and another firing beam coupler and locking arrangement. FIG. 132 is a top view of the embodiment of the spine and launch beam coupler of FIG. 132 with the launch beam embodiment introduced therein. FIG. 6 is a top view of the proximal end of an embodiment of a firing beam. FIG. 6 is a top view of the proximal end of another firing beam embodiment. FIG. 9 is a top view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulating orientation and with various components omitted for clarity. FIG. 137 is another top view of the surgical end effector and elongate shaft assembly of FIG. 136 in a first articulation orientation. FIG. 10 is a partial perspective view of another surgical end effector and elongate shaft assembly embodiment in a non-articulating orientation and with components omitted for clarity. FIG. 138 is an exploded perspective view of the surgical end effector and elongate shaft assembly of FIG. 138; FIG. 140 is another exploded perspective view of a portion of the surgical end effector and elongate shaft assembly of FIG. 139; FIG. 141 is another perspective view of the surgical end effector and elongate shaft assembly of FIGS. 138-140 in a first articulation orientation. FIG. 142 is another perspective view of the surgical end effector and elongate shaft assembly of FIGS. 138-141 in a second articulation orientation. FIG. 6 is a top view of a portion of another elongate shaft assembly. FIG. 143 is a partially exploded view of a portion of the elongate shaft assembly and surgical end effector of FIG. 143; FIG. 10 is a perspective view of another surgical end effector embodiment and an elongated shaft assembly embodiment in a non-articulating orientation. 146 is a top view of the cable member and pulley configuration of the surgical end effector and elongate shaft assembly of FIG. 145; FIG. FIG. 145 is an exploded view of a portion of the surgical end effector and elongate shaft assembly of FIG. 145; FIG. 6 is a side view of a portion of another elongate shaft assembly. FIG. 147 is an exploded view of the elongated shaft assembly of FIG. 148; FIG. 6 is a top view of a portion of another elongate shaft assembly, with its components omitted for clarity. FIG. 6 is a partial cross-sectional view of a cable member of an elongated shaft assembly and a portion of a tensioning screw configuration for introducing tension to the cable member. FIG. 6 is a cross-sectional perspective view of an embodiment of a closure sleeve. FIG. 6 is a cross-sectional view of another closure sleeve embodiment. FIG. 6 is a cross-sectional view of a portion of another closure sleeve embodiment. FIG. 6 is a cross-sectional view of a portion of another closure sleeve embodiment. FIG. 6 is a cross-sectional view of a portion of another closure sleeve embodiment. FIG. 6 is a cross-sectional perspective view of a portion of another elongate shaft assembly. FIG. 158 is another cross-sectional view of a portion of the elongate shaft assembly of FIG. 157;

  Corresponding reference characters indicate corresponding parts throughout the several views. The illustrations described herein are illustrative of various embodiments of the invention in one form, and such illustration should not be construed as limiting the scope of the invention in any way. Absent.

The applicant of this application owns the following patent applications filed on the same day as this application, each of which is hereby incorporated by reference in its entirety:
U.S. Patent Application No. ________________________________________________________________________ ,, "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTULATION ARRANGEMENTS", agent serial number END7851 USNP / 150530
U.S. Patent Application No. ______________________________________________ ,, “ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS”, agent reference number END7854USNP / 150533,
U.S. Patent Application No. _____________________________________________ ,, “ARTICULABLE TABLE SURGUMENT INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS”, Attorney Docket Number END7852USNP / 150531,
United States Patent Application No. __________________________________________________ Invention of "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULABLE RELATIVE TO AN ELONGATE SHAFTEN AS N NUMBER"
U.S. Patent Application No. ______________________________________________ ,, “SURGICAL INSTRUMENTS WITH MULTIIPLE LINK ARTICULATION ARRANGEMENTS”, Attorney Docket No.
U.S. Patent Application No. ___________________________________________________ ,, “SURGICAL INSTRUMENT WITH ARTURALING AND AXIALLY TRANSLATABLE END EFFECTOR”, Attorney Docket No. END7847USNP / 150526,
U.S. Patent Application No. __________ No., entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS", Attorney Docket No. END7853USNP / 150532, and U.S. Patent Application No. __________ No., entitled "SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS OF THE INVENTION "Agent reference number END7855 USNP / 150534.

The applicant of this application owns the following patent applications filed on June 18, 2015, each of which is hereby incorporated by reference in its entirety:
US Patent Application No. 14 / 742,925, title of invention “SURGICAL END EFFECTORS WITH POSITION JAW OPENING ARRANGEMENTS”,
U.S. Patent Application No. 14 / 742,941, title of invention "SURGICAL END EFFECTORS WITH DUAL CAM ACACTED JAW CLOSEING FEATURES",
U.S. Patent Application No. 14 / 742,933, Title of Invention "SURGICAL STAPLING INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRRING SYSTEM ACTIVATION WHEN A CARTRIDGE IS SPENSE"
U.S. Patent Application No. 14 / 742,914, title of the invention "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULABLE SURGICAL INSTRUMENTS",
U.S. Patent Application No. 14 / 742,900, Title of Invention "ARTICULABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH PUCENTER FIRIRING SUPPORT MEMUR FOR FOR14, U.S. Patent Application No. 14 / 742,900""ARTICULATION DRIVE SYSTEMS FOR ARTICULABLE SURGICAL INSTRUMENTS".

The applicant of this application owns the following patent applications filed on March 6, 2015, each of which is hereby incorporated by reference in its entirety:
-U.S. Patent Application No. 14 / 640,746, entitled "POWERED SURGICAL INSTRUMENT",
-U.S. Patent Application No. 14 / 640,795, title of invention "MULTIPLE LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 14 / 640,832, entitled "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSERATES FOR MULTIPLE TISSUE TYPES",
-U.S. Patent Application No. 14 / 640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUECY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION",
-U.S. Patent Application No. 14 / 640,831, entitled "MONITORING SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 14 / 640,859, title of invention "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREP, AND VISCOELISTIC ELEMENTS OF MEASURES",
-U.S. Patent Application No. 14 / 640,817, title of invention "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 14 / 640,844, title of invention "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITH MODULAR SHAFFT WITH SELECT CONTROL PROCESSING FROM HANDLE"
-US patent application No. 14 / 640,837, title of invention "SMART SENSORS WITH LOCAL SIGNAL PROCESSING",
-U.S. Patent Application No. 14 / 640,765, title of invention "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STATURE CARTRIDGE INTO A SURGICAL STAPLE",
-U.S. Patent Application No. 14 / 640,799, the title of the invention "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", and -U.S. Patent Application No. 14 / 640,780, the title of the invention "SURGICAL INSTRUME INSTRUME BATTERY HOUSING ".

The applicant of this application owns the following patent applications filed on February 27, 2015, each of which is hereby incorporated by reference in its entirety:
-U.S. Patent Application No. 14 / 633,576, title of invention "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSPETION STATION",
-U.S. Patent Application No. 14 / 633,546, Title of Invention "SURGICAL APPARATUS CONFIGURED TO ASSESS WHEHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITH BAND
-U.S. Patent Application No. 14 / 633,576, title of invention "SURGICAL CHARGING SYSTEM THET CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES",
-US Patent Application No. 14 / 633,566, title of invention "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY",
-US patent application No. 14 / 633,555, title of invention "SYSTEM FOR MONITORING WHERE A SURGICAL INSTRUMENT NEEDS TO BE SERVICED",
-U.S. Patent Application No. 14 / 633,542, entitled "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT",
-U.S. patent application No. 14 / 633,548, title of invention "POWER ADAPTER FOR A SURGICAL INSTRUMENT",
-US patent application No. 14 / 633,526, title of invention "ADAPTABLE SURGICAL INSTRUMENT HANDLE",
-US patent application No. 14 / 633,541, invention name "MODULAR STAPLING ASSEMBLY", and-US patent application No. 14 / 633,562, title of invention "SURGICAL APPARATUS CONFIGULED TO TRACK AN END-OF-LIFE PARAMETER""

The applicant of this application owns the following patent applications filed on December 18, 2014, each of which is hereby incorporated by reference in its entirety:
-US Patent Application No. 14 / 574,478, title of invention "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROG OFA"
-U.S. Patent Application No. 14 / 574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS",
-U.S. Patent Application No. 14 / 575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULABLE SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 14 / 575,148, title of invention "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFFT ASSEMBLIES WITH ARTULATABLE END FECTORS",
-U.S. Patent Application No. 14 / 575,130, Title of Invention "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCLE NON-MOVABLE AXIS RELATIVE TO ASTAGLE"
-U.S. Patent Application No. 14 / 575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSER ARRANGEMENTS",
-US patent application No. 14 / 575,117, title of invention "SURGICAL INSTRUMENTS WITH ARTULABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEENTS",
-U.S. Patent Application No. 14 / 575,154, entitled "SURGICAL INSTRUMENTS WITH ARTULABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEENTS",
-U.S. Patent Application No. 14 / 574,493, the title of the invention "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", SYSTEM ".

The applicant of this application owns the following patent applications filed on March 1, 2013, each of which is hereby incorporated by reference in its entirety:
-U.S. Patent Application No. 13 / 782,295, title of the invention "Articulatable Surgical Instruments With Conductive Paths For Signal Communication", currently U.S. Patent Application Publication No. 2014/0246471,
-U.S. Patent Application No. 13 / 782,323, entitled "Rotary Powered Articulation Joints for Surgical Instruments", now U.S. Patent Application Publication No. 2014/0246472,
-U.S. Patent Application No. 13 / 782,338, title of invention "Thumbwheel Switch Arrangements For Surgical Instruments", currently U.S. Patent Application Publication No. 2014/0249557,
-U.S. Patent Application No. 13 / 782,499, the title of the invention "Electromechanical Device with Signal Relay Arrangement", currently U.S. Patent Application Publication No. 2014/0246474,
-U.S. Patent Application No. 13 / 782,460, entitled "Multiple Processor Motor Control for Modular Surgical Instruments", currently U.S. Patent Application Publication No. 2014/0246478,
-U.S. Patent Application No. 13 / 782,358, title of invention "Joystick Switch Assemblies For Surgical Instruments", now U.S. Patent Application Publication No. 2014/0246477,
-U.S. Patent Application No. 13 / 782,481, title of invention "Sensor Straightened End Effector Removing Removable Through Trocar", currently U.S. Patent Application Publication No. 2014/0246479,
-U.S. Patent Application No. 13 / 782,518, title of the invention "Control Methods for Surgical Instruments with Removable Implementation Portions", currently U.S. Patent Application Publication No. 2014/0246475,
-U.S. Patent Application No. 13 / 782,375, entitled "Rotary Powered Surgical Instruments With Multiple Degrees of Freedom", currently U.S. Patent Application Publication No. 2014/0246473, and
-U.S. Patent Application No. 13 / 782,536, Title of Invention "Surgical Instrument Soft Stop", currently U.S. Patent Application Publication No. 2014/0246476.

The Applicant also has the following patent applications filed on March 14, 2013, each of which is hereby incorporated by reference in its entirety:
-U.S. Patent Application No. 13 / 803,097, title of the invention "ARTICULABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", currently U.S. Patent Application Publication No. 2014/0263542,
-U.S. Patent Application No. 13 / 803,193, Title of Invention "CONTROL ARRANGEMENTS FOR A DRIVER MEMBER OF A SURGICAL INSTRUMENT", currently U.S. Patent Application Publication No. 2014/0263537,
-U.S. Patent Application No. 13 / 803,053, the name of the invention "INTERCHANGABLE SHAFTS ASEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", currently U.S. Patent Application Publication No. 2014/0263564,
-U.S. Patent Application No. 13 / 803,086, the title of the invention "ARTICULABLE SURGICAL INSTRUMENT COMPRISING AN ARTULATION LOCK", now U.S. Patent Application Publication No. 2014/0263541,
-US patent application No. 13 / 803,210, title of invention "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now US patent application publication 2014/0263538,
-U.S. Patent Application No. 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", currently U.S. Patent Application Publication No. 2014/0263554,
-U.S. Patent Application No. 13 / 803,066, the title of the invention "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2014/0263565,
-U.S. Patent Application No. 13 / 803,117, title of the invention "ARTICULATION CONTROL SYSTEM FOR ARTICULABLE SURGICAL INSTRUMENTS", currently U.S. Patent Application Publication No. 2014/0263553,
-U.S. Patent Application No. 13 / 803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2014/0263543, and
-U.S. Patent Application No. 13 / 803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0277017.

Applicant also owns the following patent application filed on March 7, 2014, the entire contents of which are hereby incorporated by reference:
-US patent application No. 14 / 200,111, title of the invention "CONTROL SYSTEMS FOR SURGITAL INSTRUMENTS", now US patent application publication 2014/0263539.

The Applicant also has the following patent applications filed on March 26, 2014, each of which is hereby incorporated by reference in its entirety:
U.S. Patent Application No. 14 / 226,106, title of invention "POWER MANAGENENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2015/0272582,
U.S. Patent Application No. 14 / 226,099, title of invention "STERILIZATION VERIFICATION CIRCUIT", currently U.S. Patent Application Publication No. 2015/0272581,
US patent application No. 14 / 226,094, title of invention “VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCEDURE COUNT”, currently US Patent Application Publication No. 2015/0272580,
US Patent Application No. 14 / 226,117, Title of Invention “POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL”, currently US Patent Application Publication No. 2015/0272574,
U.S. Patent Application No. 14 / 226,075, title of invention "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFFT ASSEMBLIES", currently U.S. Patent Application Publication No. 2015/0272579,
US patent application No. 14 / 226,093, title of invention “FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS”, currently US Patent Application Publication No. 2015/0272569,
US patent application No. 14 / 226,116, title of invention “SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION”, currently US Patent Application Publication No. 2015/0272571,
U.S. Patent Application No. 14 / 226,071, entitled “SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR”, currently U.S. Patent Application Publication No. 2015/0272578,
U.S. Patent Application No. 14 / 226,097, title of invention "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", now U.S. Patent Application Publication No. 2015/0272570,
U.S. Patent Application No. 14 / 226,126, title of invention "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2015/0272572,
US patent application No. 14 / 226,133, title of invention “MODULAR SURGICAL INSTRUMENT SYSTEM”, currently US Patent Application Publication No. 2015/0272557,
US Patent Application No. 14 / 226,081, title of invention “SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT,” currently US Patent Application Publication No. 2015/0277471,
US patent application No. 14 / 226,076, title of invention “POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION”, currently US Patent Application Publication No. 2015/0280424,
US Patent Application No. 14 / 226,111, title of invention “SURGICAL STAPLING INSTRUMENT SYSTEM”, currently US Patent Application Publication No. 2015/0272583,
US patent application No. 14 / 226,125, title of invention “SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT”, currently US Patent Application Publication No. 2015/0280384.

The Applicant also has the following patent applications filed on September 5, 2014, each of which is hereby incorporated by reference in its entirety:
-US patent application No. 14 / 479,103, title of invention "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE",
-U.S. Patent Application No. 14 / 479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION",
-U.S. Patent Application No. 14 / 478,908, title of invention "MONITORING DEVICE DEGRADATION BASIC ON COMPONENT EVALUATION",
-U.S. Patent Application No. 14 / 478,895, title of invention "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECONDS SENSOR'S OUTPUT OR INTERPRETATION",
-U.S. Patent Application No. 14 / 479,110, title of invention "USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE",
-US patent application No. 14 / 479,098, title of invention "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION",
-U.S. Patent Application No. 14 / 479,115, the title of the invention "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", and
-US patent application No. 14 / 479,108, title of invention "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION".

Applicant also owns the following patent applications filed on April 9, 2014, each of which is hereby incorporated by reference in its entirety:
-US patent application No. 14 / 248,590, title of invention "MOTOR DRIVER SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", currently US patent application publication No. 2014/03030587,
-U.S. Patent Application No. 14 / 248,581, title of invention "SURGICAL INSTRUMENT COMPRISING A CLOSEING DRIVE AND A FIRING DRIVER OPERATED FROM THE THE SAME ROTABLE TABLE OUTPUT", currently U.S. Pat.
-US patent application No. 14 / 248,595, title of invention "SURGICAL INSTRUMENT SHAFFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", currently US patent application no.
-US patent application No. 14 / 248,588, title of invention "POWERED LINEAR SURGICAL STAPLE", currently US patent application publication No. 2014/0309666,
-U.S. Patent Application No. 14 / 248,591, entitled "TRANSMISION ARRANGEMENT FOR A SURGICAL INSTRUMENT", currently U.S. Patent Application Publication No. 2014/0305991,
-U.S. Patent Application No. 14 / 248,584, Title of Invention "MODULAR MOTOR DRIVER SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVER SHAFTS publishing U.S. Patent No. 305
-U.S. Patent Application No. 14 / 248,587, title of invention "POWERED SURGICAL STAPLER", currently U.S. Patent Application Publication No. 2014/0309665,
-U.S. Patent Application No. 14 / 248,586, the title of the invention "DRIVE SYSTEM DECOUPRING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0305990, and
-US patent application No. 14 / 248,607, title of invention "MODULAR MOTOR DRIVER SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", currently US Patent Application Publication No. 2014/0305992.

The applicant of this application also has the following patent applications filed on April 16, 2013, each of which is hereby incorporated by reference in its entirety:
-U.S. Provisional Patent Application No. 61 / 812,365, the title of the invention "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR",
-US Provisional Patent Application No. 61 / 812,376, title of invention "LINEAR CUTTER WITH POWER",
-US Provisional Patent Application No. 61 / 812,382, title of invention "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP",
-U.S. Provisional Patent Application No. 61 / 812,385, the title of the invention "SURGICAL INSTRUMENT HANDLE WITH MULTIIPLE ACTUATION MOTORS AND MOTOR CONTROL", and
-US Provisional Patent Application No. 61 / 812,372, title of invention "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR".

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

  The term “comprise” (any word form of complies, such as “comprises” and “comprising”), “have” (any word form in have, such as “has” and “having”), “including” include) "(arbitrary word forms such as" includes "and" inclusioning "), and" contain "(arbitrary word forms such as" contains "and" containing ") are open concatenations. It is a verb. As a result, a surgical system, device, or apparatus that “comprises”, “haves”, “includes”, or “contains” one or more elements may comprise one or more of them. Having elements, but not limited to having only one or more of those elements. Similarly, a system, device, or apparatus element “comprising”, “having”, “including”, or “containing” one or more features may be one or more of those However, the present invention is not limited to having only one or two or more features.

  The terms “proximal” and “distal” are used herein with reference to the clinician operating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician, and the term “distal” refers to the portion that is remote from the clinician. It will be further understood that for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “top”, and “bottom” may be used herein with respect to the drawings. Let's go. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

  Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including, for example, those associated with open surgical procedures. Will. By reading the “Mode for Carrying Out the Invention” herein, the reader will be able to see that the various instruments disclosed herein can be incised or punctured into tissue, eg, through natural openings. It will be further understood that it can be inserted into the body in any way, such as through a hole. The working or end effector portions of these instruments can be inserted directly into the patient's body or through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument can be advanced. You can also.

  The surgical stapling system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw includes a staple cartridge. The staple cartridge is insertable into the first jaw and removable from the first jaw, but the staple cartridge is not removable from the first jaw or at least not easily replaceable. Other embodiments are also envisioned. The second jaw includes an anvil configured to deform the staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about the closure axis, but the first jaw is pivotable relative to the second jaw, Embodiments are also recalled. The surgical stapling system further comprises an articulation joint configured to allow the end effector to rotate or articulate relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments that do not include articulated joints are also envisioned.

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

  Staples are supported by a staple driver in the cartridge body. The driver is movable between a first or unfired position and a second or fired position that ejects staples from the staple cavity. The driver includes an elastic member that is held within the cartridge body by a holder that extends around the bottom of the cartridge body and that is configured to grip the cartridge body and hold the holder against the cartridge body. . Drivers can be moved between their unfired positions and their fired positions by a sled. The sled is moveable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The sled includes a plurality of inclined surfaces configured to slide under the driver and lift the driver, with the staples supported thereon and toward the anvil.

  In addition to the above, the sled is moved distally by the firing member. The firing member is configured to contact the sled and push the sled toward the distal end. A longitudinal slot defined in the cartridge body is configured to receive a firing member. The anvil also includes a slot configured to receive the firing member. The firing member further includes a first cam that engages the first jaw and a second cam that engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance between the staple cartridge deck and the anvil, ie, the tissue gap. The firing member also includes a knife configured to incise tissue captured midway between the staple cartridge and the anvil. Desirably, the knife is positioned at least partially proximal to the ramp so that the staple is ejected forward of the knife.

  1-4 show a motor driven surgical cutting and fastening instrument 10 that may or may not be reused. In the illustrated embodiment, the instrument 10 includes a housing 12 that includes a handle 14 configured to be grasped, manipulated, and actuated by a clinician. The housing 12 is operably attached to an elongate shaft assembly 200 to which a surgical end effector 300 configured to perform one or more surgical tasks or procedures is operatively coupled. It is configured. The elongate shaft assembly 200 is, for example, U.S. Patent Application No. 14 / 226,075, the title of the invention "MODULAR POWERED SURGICAL INSTRUMENT WITH SHAFT AFT ASASSBLES", presently incorporated herein by reference in its entirety. It can be interchangeable with other shaft assemblies in a variety of ways as disclosed in US Patent Application Publication No. 2015/0272279. In other configurations, the elongate shaft assembly may not be interchangeable with other shaft assemblies and may basically comprise a dedicated non-removable portion of the instrument.

  As the form for practicing the invention is read, the various forms of interchangeable shaft assemblies disclosed herein may also be used effectively in conjunction with robotic controlled surgical systems. It will be understood. Accordingly, the term “housing” is also configured to generate and apply at least one control motion that can be used to operate the elongate shaft assemblies and their respective equivalents disclosed herein. May include a housing or similar portion of the robotic system that houses or otherwise operably supports at least one drive system. The term “frame” may refer to a portion of a hand-held surgical instrument. The term “frame” may also represent a portion of a robot-controlled surgical instrument and / or a portion of a robotic system that may be used to operably control the surgical instrument. For example, the shaft assembly disclosed herein is incorporated by reference herein in its entirety, U.S. Patent Application No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEENTS", currently U.S. Pat. No. 9,072,535 may be used with various robot systems, instruments, components, and methods.

  The housing 12 shown in FIG. 1 is shown with an elongate shaft assembly 200 that includes an end effector 300 with a surgical cutting and fastening device configured to operably support a surgical staple cartridge 304 therein. Yes. The housing 12 includes an end effector adapted to support various sizes and types of staple cartridges for use in conjunction with a shaft assembly having various shaft lengths, sizes, types, and the like. It may be configured. In addition, the housing 12 is also adapted to use other motions and forms of energy, such as radio frequency (RF) energy, ultrasonic energy and / or motion, in connection with various surgical applications and procedures. May be effectively used with a variety of other shaft assemblies, including assemblies configured to apply to configured end effector configurations. Further, the end effector, shaft assembly, handle, surgical instrument, and / or surgical instrument system may use any suitable fastener to fasten the tissue. For example, a fastener cartridge comprising a plurality of fasteners removably stored therein may be removably inserted and / or attached to the end effector of the shaft assembly.

  FIG. 1 shows the housing 12 or handle 14 of the surgical instrument 10 with an interchangeable elongated shaft assembly 200 operably coupled thereto. As can be seen in FIG. 1, the handle 14 may include a pair of interconnectable housing segments 16 and 18 that may be interconnected with screws, snap mechanisms, adhesives, and the like. In the illustrated configuration, the handle housing segments 16, 18 cooperate to form a pistol grip portion 19 that can be grasped and manipulated by a clinician. As will be described in more detail below, the handle 14 operably supports a plurality of drive systems therein, and these drive systems are connected to corresponding portions of the operably mounted interchangeable shaft assembly. On the other hand, various control motions are generated and applied.

  Referring now to FIG. 2, the handle 14 may further include a frame 20 that operably supports a plurality of drive systems. For example, the frame 20 can operably support a “first” or closed drive system, generally indicated at 30, which is operably mounted or coupled thereto. It may be used to apply a closing and opening motion to the shaft assembly 200. In at least one form, the closure drive system 30 may include an actuator in the form of a closure trigger 32 that is pivotally supported by the frame 20. More specifically, as shown in FIG. 2, the closure trigger 32 is pivotally coupled to the housing 14 by a pin 33. Such an arrangement allows the clinician to manipulate the closure trigger 32 so that when the clinician grips the pistol grip portion 19 of the handle 14, the closure trigger 32 is moved from the starting or “inoperative” position. It can be easily pivoted to the “actuated” position, and more particularly to the fully compressed or fully actuated position. The closure trigger 32 may be biased to a non-actuated position by a spring or other biasing device (not shown). In various forms, the closure drive system 30 further includes a closure linkage assembly 34 pivotally coupled to the closure trigger 32. As can be seen in FIG. 2, the closure link cage assembly 34 may include a first closure link 36 and a second closure link 38 that are pivotally coupled to the closure trigger 32 by pins 35. The second closure link 38, sometimes referred to herein as an “attachment member”, includes a lateral attachment pin 37.

  With continued reference to FIG. 2, the first closure link 36 has a locking wall or end 39 configured thereon to cooperate with a deocclusion assembly 60 that is pivotally coupled to the frame 20. You can observe that you may do. In at least one form, the closure release assembly 60 may comprise a release button assembly 62 having a locking claw 64 projecting distally formed thereon. Release button assembly 62 may be pivoted counterclockwise by a release spring (not shown). When the clinician depresses the closure trigger 32 from its non-actuated position toward the pistol grip portion 19 of the handle 14, toward the point where the locking pawl 64 reaches a retaining engagement with the locking wall 39 on the first closure link 36. Thus, the first closing link 36 is pivoted upward, thereby preventing the closing trigger 32 from returning to the inoperative position. Accordingly, the closure release assembly 60 serves to lock the closure trigger 32 in the fully activated position. If the clinician wants to unlock the closure trigger 32 so that it can be urged to a non-actuated position, the clinician simply pivots the closure release button assembly 62 and thereby locks the pawl. 64 is moved out of engagement with the lock wall 39 on the first closure link 36. When the lock pawl 64 is moved out of engagement with the first closure link 36, the closure trigger 32 may pivot to return to the inoperative position. Other closure trigger lock and release configurations may be used.

  When the closure trigger 32 is moved from the non-actuated position to the activated position, the closure release button 62 is pivoted between the first position and the second position. Although the rotation of the closure release button 62 may be referred to as an upward rotation, at least a portion of the closure release button 62 is rotated toward the circuit board 100. With continued reference to FIG. 2, the closure release button 62 may include an arm 61 extending therefrom and a magnetic element 63, such as a permanent magnet, attached to the arm 61. When the closure release button 62 is rotated from the first position to the second position, the magnetic element 63 can move toward the circuit board 100. The circuit board 100 can include at least one sensor configured to detect movement of the magnetic element 63. In at least one embodiment, a “Hall Effect” sensor can be mounted on the bottom surface of the circuit board 100. The Hall effect sensor can be configured to detect a change in the magnetic field surrounding the Hall effect sensor caused by the movement of the magnetic element 63. The Hall effect sensor can be in signal communication with, for example, a microcontroller so that the closure release button 62 is in a first position associated with the inoperative position of the closure trigger 32 and the open configuration of the end effector. Is in a second position associated with the actuation position of the closure trigger 32 and the end effector closure configuration, and / or is in any position between the first position and the second position Can be judged.

  Also in the illustrated configuration, the handle 14 and the frame 20 are separate, referred to herein as a firing drive system 80, configured to apply firing motion to corresponding portions of the attached interchangeable shaft assembly. Operatively support the drive system. The firing drive system 80 may also be referred to herein as a “second drive system”. The firing drive system 80 may use an electric motor 82 located within the pistol grip portion 19 of the handle 14. In various forms, the motor 82 may be, for example, a brushed DC drive motor having a maximum speed of about 25,000 RPM. In other configurations, the motor can include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 82 may be powered by a power source 90, which may include a removable power pack 92 in one form. For example, as can be seen in FIG. 2, the power pack 92 may include a proximal housing portion 94 configured to attach to the distal housing portion 96. Proximal housing portion 94 and distal housing portion 96 are configured to operably support a plurality of batteries 98 therein. Each battery 98 may include, for example, lithium ion (“LI”) or other suitable battery. Distal housing portion 96 is configured for removably and operably attached to control circuit board assembly 100, which is also operably coupled to motor 82. A number of batteries 98 that may be connected in series may be used as a power source for the surgical instrument 10. In addition, the power source 90 may be replaceable and / or rechargeable.

  As outlined above in connection with various other configurations, the electric motor 82 is a gear reducer that is mounted in meshing engagement with a set or rack of drive teeth 122 on the longitudinally movable drive member 120. A rotating shaft (not shown) that operatively interfaces with assembly 84 is included. In use, the voltage polarity provided by the power supply 90 can cause the electric motor 82 to operate clockwise, but the voltage polarity applied to the electric motor by the battery causes the electric motor 82 to operate counterclockwise. Can be reversed. When the electric motor 82 is rotated in one direction, the drive member 120 will be axially driven in the distal direction DD. When the motor 82 is driven in the opposite rotational direction, the drive member 120 will be axially driven in the proximal direction PD. The handle 14 can include a switch that can be configured to reverse the polarity applied to the electric motor 82 by the power supply 90. As with the other forms described herein, the handle 14 also includes a sensor configured to detect the position of the drive member 120 and / or the direction in which the drive member 120 is moved. Can do.

  Operation of the motor 82 is controlled by a firing trigger 130 that is pivotally supported on the handle 14. Firing trigger 130 may be pivoted between an inoperative position and an activated position. The firing trigger 130 may be biased to a non-actuated position by a spring 132 or other biasing device so that when the clinician releases the firing trigger 130, it is inactivated by the spring 132 or biasing device. It may be pivoted to a position or otherwise returned. In at least one form, the firing trigger 130 can be positioned “outside” the closure trigger 32 as described above. In at least one form, a firing trigger safety button 134 may be pivotally attached to the closure trigger 32 by a pin 35. The safety button 134 may have a pivot arm 136 positioned between and projecting from the firing trigger 130 and the closure trigger 32. Please refer to FIG. When the closure trigger 32 is in the non-actuated position, the safety button 134 is housed in the handle 14 and is not easily accessible by the clinician and prevents the firing trigger 130 from operating and the firing trigger 130 It cannot be moved between launch positions that may be fired. When the clinician depresses the closure trigger 32, the safety button 134 and firing trigger 130 pivot down and then the clinician can operate them.

  As described above, the handle 14 includes a closure trigger 32 and a firing trigger 130. The firing trigger 130 can be pivotally mounted to the closure trigger 32. When the closure trigger 32 is moved from its inoperative position to the activated position, the firing trigger 130 can be lowered downward as described above. After safety button 134 has been moved to its firing position, firing trigger 130 can be depressed to operate the motor of the surgical instrument firing system. In various instances, the handle 14 can include a tracking system configured to determine the position of the closure trigger 32 and / or the position of the firing trigger 130.

  As described above, in at least one form, the longitudinally movable drive member 120 includes a rack of drive teeth 122 formed thereon for mating engagement with a corresponding drive gear 86 of the gear reducer assembly 84. Have. At least one form is also a manually actuated “emergency” configured to allow the clinician to manually retract the longitudinally movable drive member 120 if the motor 82 is disabled. A "detachment" assembly 140. The emergency disengagement assembly 140 may include a lever or emergency disengagement handle assembly 142 that is configured to manually pivot to ratchet engagement with the teeth 124 also provided on the drive member 120. Accordingly, the clinician can manually retract the drive member 120 by using the emergency release handle assembly 142 to drive the drive member 120 with a ratchet in the proximal direction PD. U.S. Patent Application Publication No. 2010/0089970, current U.S. Pat. No. 8,608,045, is an emergency detachment device that can be used in conjunction with various devices disclosed herein, as well as other components. , Apparatus and system are disclosed. U.S. Patent Application No. 12 / 249,117, title of invention "POWERED SURGICAL COUNTING AND STAPLING APPARATUS WITH MANUALLY RETRATABLE SYSTEM", current U.S. Patent No. 8,608,045 is hereby incorporated by reference in its entirety Incorporated.

  Referring now to FIGS. 1 and 3, the elongate shaft assembly 200 includes a surgical end effector 300 that includes an elongate channel 302 configured to operably support a staple cartridge 304 therein. The end effector 300 may further include an anvil 310 that is pivotally supported relative to the elongated channel 302. As discussed in more detail below, surgical end effector 300 can be articulated relative to the elongated shaft assembly about articulation joint 270. As can be seen in FIGS. 3 and 4, the shaft assembly 200 can further include a proximal housing or nozzle 201 comprised of nozzle portions 202 and 203. The shaft assembly 200 further includes a closure sleeve 260 that can be utilized to close and / or open the anvil 310 of the end effector 300. As can be seen in FIG. 4, the shaft assembly 200 includes a spine 210 that can be configured to fixably support the shaft frame portion 212 of the articulation lock 350. Details regarding the construction and operation of the joint lock 350 can be found in US patent application Ser. No. 13 / 803,086, entitled “ARTICULABLE SURGICAL INSTRUMENTING AN ARTICULATION LOCK”, the entire disclosure of which is incorporated herein by reference. It is described in current US Patent Application Publication No. 2014/0263541. The spine 210 is first configured to slidably support the firing member 220 therein and secondly to slidably support a closure sleeve 260 extending around the spine 210. Spine 210 also slidably supports proximal joint driver 230. Proximal joint driver 230 has a distal end 231 configured to operably engage joint lock 350. In one configuration, articulation lock 350 interfaces with articulation frame 352 adapted to operably engage drive pins (not shown) on an end effector frame (not shown).

  In the illustrated configuration, the spine 210 includes a proximal end 211 that is rotatably supported within the chassis 240. In one configuration, for example, the proximal end 211 of the spine 210 is formed with a thread 214 to be screwed onto a spine bearing 216 that is configured to be supported within the chassis 240. Please refer to FIG. With this configuration, the spine 210 can be easily attached to the chassis 240 so as to be rotatable. Therefore, the spine 210 can be selectively rotated with respect to the chassis 240 about the shaft axis SA-SA. The shaft assembly 200 also includes a closure shuttle 250 that is slidably supported within the chassis 240 so that it can be moved axially relative to the chassis 240. As can be seen in FIG. 3, the closure shuttle 250 includes a pair of proximally protruding hooks 252 that attach to a mounting pin 37 attached to the second closure link 38, as will be described in more detail below. Configured to attach. Please refer to FIG. The proximal end 261 of the closure sleeve 260 is coupled to the closure shuttle 250 for relative rotation. For example, the U-shaped connector 263 is inserted into the annular slot 262 at the proximal end 261 of the closure sleeve 260 and is retained within the vertical slot 253 of the closure shuttle 250. Please refer to FIG. Such a configuration serves to attach the closure sleeve 260 to the axial movement with the closure shuttle 250 while the closure sleeve 260 rotates relative to the closure shuttle 250 about the shaft axis SA-SA. to enable. The closure spring 268 is pivotally supported on the closure sleeve 260 and serves to bias the closure sleeve 260 in the proximal direction PD so that when the shaft assembly 200 is operably coupled to the handle 14, the closure trigger Can be pivoted to a non-actuated position.

  As also described above, the elongate shaft assembly 200 further includes a firing member 220 that is supported for axial movement within the shaft spine 210. Firing member 220 includes an intermediate firing shaft portion 222 configured to attach to a distal cutting portion or firing beam 280. Firing member 220 may also be referred to herein as a “second shaft” and / or a “second shaft assembly”. As can be seen in FIG. 4, the intermediate firing shaft portion 222 may include a longitudinal slot 223 at its distal end, which is a tab at the proximal end 282 of the distal firing beam 280. 284 can be configured to be received. The longitudinal slot 223 and the proximal end 282 can be sized and configured to allow relative movement therebetween and can include a slip joint 286. Slip joint 286 moves articulation end effector 300 by moving intermediate firing shaft portion 222 of firing drive 220 without moving, or at least substantially, without moving firing bar 280. Can be possible. When surgical end effector 300 is suitably oriented, the proximal side wall of longitudinal slot 223 contacts tab 284 to advance firing beam 280 and fire a staple cartridge that can be supported within end effector 300. Until then, the intermediate firing shaft portion 222 can be advanced distally. As can be further seen in FIG. 4, the shaft spine 210 has an elongated opening or window 213 to facilitate assembly and insertion of the intermediate firing shaft portion 222 into the shaft frame 210. As the intermediate firing shaft portion 222 is inserted into the shaft frame 210, the top frame segment 215 can be engaged with the shaft frame 212 to encapsulate the intermediate firing shaft portion 222 and the firing beam 280 therein. Further descriptions regarding the operation of the firing member 220 can be found in US patent application Ser. No. 13 / 803,086, current US Patent Application Publication No. 2014/0263541.

  In addition to the above, the illustrated shaft assembly 200 includes a clutch assembly 400 that can be configured to selectively and releasably couple the articulation driver 230 to the firing member 220. In one form, the clutch assembly 400 includes a locking collar or sleeve 402 positioned about the firing member 220, which is in an engaged position where the locking sleeve 402 couples the articulation driver 360 to the firing member 220. The joint driver 360 can be rotated between disengaged positions that are not operably coupled to the firing member 200. When the locking sleeve 402 is in its engaged position, the distal movement of the firing member 220 can cause the joint driver 360 to move distally, correspondingly by the proximal movement of the firing member 220. The proximal joint driver 230 can be moved proximally. When the lock sleeve 402 is in its disengaged position, movement of the firing member 220 is not transmitted to the proximal joint driver 230, and as a result, the firing member 220 moves independently of the proximal joint driver 230. Can do. Under various circumstances, the proximal joint driver 230 can be held in place by the joint lock 350 when the proximal joint driver 230 is not moved proximally or distally by the firing member 220.

  As can further be seen in FIG. 4, the locking sleeve 402 comprises a cylindrical, or at least substantially cylindrical body having a longitudinal aperture 403 configured to receive the firing member 220 defined therein. be able to. The lock sleeve 402 may include a diametrically opposed inward lock protrusion 404 and an outward lock member 406. Lock protrusion 404 may be configured to be selectively engaged with firing member 220. More specifically, when the locking sleeve 402 is in its engaged position, the locking protrusion 404 is disposed within the drive notch 224 defined in the firing member 220 so that the distal pushing force and / or proximal A tensile force can be transmitted from the firing member 220 to the lock sleeve 402. When the lock sleeve 402 is in its engaged position, the second lock member 406 is received in the drive notch 232 defined in the proximal joint driver 230, so that the distal pushing force applied to the lock sleeve 402 and A proximal tensile force can be transmitted to the proximal joint driver 230. In effect, firing member 220, locking sleeve 402, and proximal joint driver 230 will move relative to each other when locking sleeve 402 is in its engaged position. On the other hand, when the locking sleeve 402 is in its disengaged position, the locking protrusion 404 cannot be disposed within the drive notch 224 of the firing member 220, resulting in a distal push force and / or a proximal tensile force. Cannot be transmitted from the firing member 220 to the lock sleeve 402. Correspondingly, distal pushing force and / or proximal pulling force may not be transmitted to the proximal joint driver 230. Under such circumstances, the firing member 220 can be slid proximally and / or distally relative to the lock sleeve 402 and the proximal joint driver 230.

  As can also be seen in FIG. 4, the elongate shaft assembly 200 further includes a switch drum 500 that is rotatably received on the closure sleeve 260. The switch drum 500 includes a hollow shaft segment 502 formed with a shaft boss 504 for receiving an outwardly projecting actuating pin 410 therein. In various situations, the actuation pin 410 extends through the slot 267 into a longitudinal slot 408 provided in the lock sleeve 402 when the lock sleeve 402 is engaged with the proximal joint driver 230. The axial movement of the locking sleeve 402 is facilitated. The torsion spring 420 is configured to engage the shaft boss 504 on the switch drum 500 and a portion of the nozzle housing 203 to apply a biasing force to the switch drum 500. The switch drum 500 can further comprise at least partially circumferential openings 506 defined therein, the openings extending from the nozzle portions 202, 203 with reference to FIGS. It can be configured to receive an existing circumferential mount and allow relative rotation between the switch drum 500 and the proximal nozzle 201 but not translation. The mount also extends through the opening 266 in the closure sleeve 260 and is seated in a recess in the shaft spine 210. However, when the nozzle 201 is rotated to the point where the mount reaches the end of each slot 506 in the switch drum 500, the switch drum 500 rotates about the shaft axis SA-SA. When the switch drum 500 is rotated, the operation pin 410 and the lock sleeve 402 are finally rotated between the engagement position and the engagement release position. Thus, in essence, the nozzle 201 can be used in conjunction with the articulation system and firing in various ways as described in more detail in US patent application Ser. No. 13 / 803,086, current US Pat. It may be used to operably engage and disengage the drive system.

  As also shown in FIGS. 3 and 4, the elongate shaft assembly 200 is configured to conduct power to and / or communicate signals to and / or the surgical end effector 300, for example. The resulting slip ring assembly 600 may be provided. The slip ring assembly 600 includes a proximal connector flange 604 that is attached to a chassis flange 242 that extends from the chassis 240 and a distal connector flange 601 that is positioned in a slot defined in the shaft housings 202, 203. it can. The proximal connector flange 604 can comprise a first surface, and the distal connector flange 601 is positioned adjacent to the first surface and is movable relative to the first surface. Can be provided. The distal connector flange 601 can rotate relative to the proximal connector flange 604 about the shaft axis SA-SA. Proximal connector flange 604 can comprise a plurality of concentric or at least substantially concentric conductors 602 defined on a first surface thereof. The connector 607 can be attached to the proximal side of the distal connector flange 601 and may have a plurality of contacts (not shown), each contact corresponding to one of the conductors 602 and electrically connected thereto. Touch. Such a configuration allows the proximal connector flange 604 and the distal connector flange 601 to rotate relative to each other while maintaining electrical contact therebetween. The proximal connector flange 604 can include an electrical connector 606 that can place the conductor 602 in signal communication with, for example, a shaft circuit board 610 mounted to the shaft chassis 240. In at least one example, a wiring harness comprising a plurality of conductors can extend between the electrical connector 606 and the shaft circuit board 610. The electrical connector 606 may extend proximally through a connector opening 243 defined in the chassis mounting flange 242. Please refer to FIG. US Patent Application No. 13 / 800,067, filed March 13, 2013, entitled “STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM”, current US Patent Application Publication No. 2014/0263552 Which is incorporated herein by reference. Reference is made to US Patent Application No. 13 / 800,025, filed March 13, 2013, title of the invention "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", and current US Patent Application Publication No. 2014/0263555. Is incorporated herein by reference. Further details regarding the slip ring assembly 600 can be found in US Patent Application No. 13 / 803,086, current US Patent Application Publication No. 2014/0263541.

  As described above, the elongate shaft assembly 200 can include a proximal portion that is fixedly mounted to the handle 14 and a distal portion that is rotatable about the longitudinal shaft axis SA-SA. The rotatable distal shaft portion can be rotated relative to the proximal portion about the slip ring assembly 600 as described above. The distal connector flange 601 of the slip ring assembly 600 can be positioned within the rotatable distal shaft portion. In addition to the above, the switch drum 500 can also be positioned within the rotatable distal shaft portion. When the rotatable distal shaft portion is rotated, the distal connector flange 601 and the switch drum 500 can be rotated in synchronization with each other. In addition, the switch drum 500 can be rotated between a first position and a second position relative to the distal connector flange 601. When the switch drum 500 is in the first position, the joint drive system (ie, the proximal joint driver 230) can be operably disengaged from the firing drive system, and therefore the operation of the firing drive system can be controlled by the shaft assembly. 200 end effectors 300 cannot be articulated. When the switch drum 500 is in its second position, the joint drive system (ie, the proximal joint driver 230) can be operatively engaged with the firing drive system, and therefore the operation of the firing drive system can be controlled by the shaft assembly. 200 end effectors 300 may be articulated. When the switch drum 500 is moved between its first and second positions, the switch drum 500 is moved relative to the distal connector flange 601. In various instances, the shaft assembly 200 can include at least one sensor configured to detect the position of the switch drum 500.

  Referring again to FIG. 4, the closure sleeve assembly 260 includes a double pivot closure sleeve assembly 271. According to various configurations, the double pivot closure sleeve assembly 271 includes an end effector closure sleeve 272 that includes tongues 273, 274 that project upper and lower distally. The upper double pivot link 277 protrudes upwardly to engage the upper distal pinhole of the upper proximal protruding tongue 273 and the upper proximal pinhole of the upper distal protruding tongue 264, respectively, on the closure sleeve 260. Includes distal and proximal pivot pins. The lower double pivot link 278 engages the lower distal pinhole of the lower proximal protruding tongue 274 and the lower proximal pinhole of the lower distal protruding tongue 265, respectively, projecting upwardly distal and proximal Includes pivot pin. See also FIG.

  5-8 generate a control motion for axially moving a surgical instrument of the type described above, or a closure member configured to apply a closing and opening motion to a portion of a surgical end effector. FIG. 6 illustrates one form of surgical end effector 300 configured to be operably attached to an elongated shaft assembly of another surgical instrument configuration including a closure system configured as described above. In the illustrated example, the surgical end effector is configured to be articulated relative to the proximal portion of the elongate shaft assembly about an articulation joint 339, indicated generally at 339, as discussed in more detail below. Yes. Other configurations, however, may not allow articulation. As can be seen in FIG. 6, articulation joint 339 defines an articulation axis BB through which surgical end effector 300 can be selectively articulated. In the illustrated example, articulation axis BB substantially traverses shaft axis SA-SA of the elongated shaft assembly.

  The illustrated surgical end effector 300 includes a first jaw 308 and a second jaw 309, which is in an open position (FIG. 7) relative to the first jaw 308. It can be selectively moved between various closed positions (FIG. 8). In the illustrated embodiment, the first jaw 308 includes an elongate channel 302 configured to operably support a surgical staple cartridge 304 therein, and the second jaw 309 includes an anvil 310. Yes. However, other surgical jaw configurations may be used without departing from the spirit and scope of the present invention. As can be seen in FIG. 5, used to provide additional support to the surgical staple cartridge 304 as well as a staple driver (not shown) supported in a staple pocket 306 formed in the surgical staple cartridge 304. A support pan 305 may be attached to the surgical staple cartridge 304 to prevent it from being previously removed from the surgical staple cartridge. As can be seen in FIG. 5, the elongate channel 302 has a proximal end portion 320 that includes two upstanding outer walls 322. Anvil 310 includes an anvil body 312 having a staple forming lower surface 313 formed thereon. The proximal end 314 of the anvil body is bifurcated by a firing member slot 315 that defines a pair of anvil attachment arms 316. Each anvil mounting arm 316 includes a sloped upper surface 321 and includes a side protruding anvil trunnion 317 and a cam slot 318 defining a cam surface or “slotted cam surface” 319. Please refer to FIG. One of the cam slots 318 may be referred to herein as a “first cam slot” and its cam surface is referred to as a “first cam surface”. Similarly, the other cam slot 318 may be referred to as a “second cam slot” and its cam surface is referred to herein as a “second cam surface”. A trunnion hole 324 is provided in each outer wall 322 of the elongate channel 302 for receiving a corresponding one of the anvil trunnions 317 therein. Such a configuration can move the anvil 310 into the elongated channel 302 for selective pivotable movement about the anvil axis AA defined by the trunnion hole 324 and across the shaft axis SA-SA. Helps to stick to. See FIG.

  In the illustrated configuration, the anvil 310 is pivotally moved to an open position by a pair of release cams 354 relative to the elongated channel 302 and the surgical staple cartridge 304 supported therein, the pair of release cams 354 being , Detachably supported in the anvil actuator member, detachably attached to the anvil actuator member, permanently attached to the anvil actuator member, or integrally formed in the anvil actuator member Good. In the illustrated embodiment, the anvil actuator member includes an end effector closure sleeve 272. Please refer to FIG. Each open cam 354 includes an outer body portion 356 that has a cam tab 358 projecting inwardly therefrom. The outer body portion 356 is configured to be snapped into and detachably engaged in a corresponding cam hole 355 formed in the end effector closure sleeve 272 in at least one configuration. For example, the outer body portion 356 may include a chamfer stop portion 357 configured to snap into a corresponding portion of the end effector closure sleeve wall that defines the cam hole 355. Another portion of the outer body portion 356 may form a dog leg feature 359 configured to be received inside a portion of the end effector closure sleeve 272 adjacent to the cam hole 355. Other snap tab configurations can also be used to detachably attach the outer body portion 356 to the end effector closure sleeve 272. In other configurations, for example, the outer body portion may not be configured to snap into engagement with the end effector closure sleeve 272. In such a configuration, the outer body portion can be held in place and crimped in place by an annular crimp ring that extends over the outer body portion of the end effector closure sleeve over the outer body portion of the release cam. The crimp ring serves to capture the outer body portion against the outer surface of the end effector closure sleeve. In order to provide the end effector closure sleeve with a relatively smooth or continuous outer surface that can advantageously avoid damage to adjacent tissue and / or accumulation of tissue / fluid between these components, It can actually be crimped into an annular recess formed in the end effector closure sleeve.

  When the release cam 350 is introduced into the end effector closure sleeve 272, each cam tab 358 extends through the elongated slot 326 in the corresponding outer wall 322 of the elongated channel 302 and is received in the corresponding cam slot 318 of the anvil 310. The See FIG. In such a configuration, the release cams 350 are diametrically opposite each other within the end effector closure sleeve. In use, closure sleeve 260 is translated distally (direction DD) to close anvil 310, for example, in response to actuation of closure trigger 32. The anvil 310 is closed when the closure sleeve 260 is translated in the distal direction DD so that the distal end 275 of the end effector closure sleeve 272 contacts the closure lip 311 on the anvil body 312. Specifically, the distal end 275 of the end effector closure sleeve 272 is positioned on the top surface of the anvil attachment arm 316 when the closure sleeve 260 is moved distally to begin pivoting the anvil 310 to the closed position. Get on 321. For example, in one configuration, closure of the anvil 310 occurs only by contact between the end effector closure sleeve 272 and the anvil 310 and not by interaction of the opening cam and the anvil. In other configurations, however, the opening cam can be configured to also apply a closing motion to the anvil when the closing sleeve 260 is moved distally. The anvil 310 is opened by translating the closure sleeve 260 proximally in the proximal direction PD, which translates the cam tab 358 into the cam slot 318 on the cam surface 319 as shown in FIGS. It is moved in the proximal direction “PD” to pivot the anvil 310 to the open position.

  Surgical end effector embodiment 300 uses two opening cams to provide reliable opening of the end effector jaws even under load. Other configurations could contemplate using only one release cam or using more than two release cams without departing from the spirit and scope of the present invention. In the illustrated example, the release cam is removably attached to an end effector closure sleeve that facilitates easy assembly or attachment of the surgical end effector component to the elongate shaft assembly and disassembly thereof. Such a configuration also allows the use of smaller or shorter articulation configurations that further facilitate better manipulation of the surgical end effector within the limited space within the patient's body. To facilitate easy removal of the open cam snapped into place, an intentionally placed additional hole is provided in the end effector closure sleeve, through which the ply member is inserted for end effector closure It may be possible to remove the release cam from the sleeve. In yet other configurations, the release cam may be integrally formed within the anvil actuator member or end effector closure sleeve. For example, the release cams may each comprise tabs that are cut into or otherwise formed in the wall of the anvil actuator member or end effector closure sleeve, and then the second jaw It is bent, crimped or permanently deformed inward to engage a corresponding cam surface on the part. For example, the tab may be bent inward at an angle of 90 degrees (90 °) with respect to the outer wall of the end effector closure sleeve. Such a configuration avoids the need for a separate open cam component. In other variations, one or more pins may be used, but those pins are attached to the second jaw and are configured to ride over a corresponding cam surface on the first jaw It is. The pin can be pressed, for example, knitted into the first jaw and then pressed and / or welded to the first jaw. The open cam configuration described above is described in the context of a surgical end effector that includes an anvil that is configured to support a surgical staple cartridge and that is configured to move relative to the surgical staple cartridge. However, it will be apparent to the reader that the open cam configuration can also be used with other end effector configurations having jaws that are movable relative to one another.

  9 and 10 show an elongate shaft assembly labeled 200 'that incorporates many of the features of the elongate shaft assembly 200 described above. In the illustrated example, the elongate shaft assembly 200 ′ includes a dual articulated link configuration labeled 800 using an articulation lock 810 similar to the articulation lock 350 described above. The components of the joint lock 810 that are different from the components of the joint lock 350 and that may be necessary to understand the operation of the joint lock 350 will be described in more detail below. Various details regarding the joint lock 350 are described in US patent application Ser. No. 13 / 803,086, entitled “ARTICULABLE SURGICAL INSTRUMENT COMPANISTING AN ARTICULATION LOCK”, the current disclosure of which is incorporated herein by reference in its entirety. U.S. Patent Application Publication No. 2014/0263541. The articulation lock 810 may be configured and operated to selectively lock the surgical end effector 300 in various articulation positions. Such a configuration allows the surgical end effector 300 to rotate or articulate relative to the shaft closure sleeve 260 when the joint lock 810 is in the unlocked state.

  As described above, when the proximal joint driver 230 is operatively engaged with the firing member 220 via the clutch system 400, the firing member 220 causes the proximal joint driver 230 to be proximal and / or It can be moved distally. For example, moving the firing member 220 proximally can cause the proximal joint driver 230 to move proximally, and similarly, moving the firing member 220 distally causes the proximal joint to move. The driver 230 can be moved distally. Regardless of whether it is proximal or distal, movement of the proximal joint driver 230 can unlock the joint lock 810 as described in more detail below. For example, as can be seen in FIG. 9, the elongate shaft assembly 200 ′ includes a shaft frame 812 that has an extent that is somewhat equivalent to the first distal joint driver 820. The first distal joint driver 820 is selectively moved longitudinally in the distal direction DD and the proximal direction PD in response to a corresponding articulation control motion applied thereto. 'Supported within. The shaft frame 812 includes a distal end portion 814 having a downwardly projecting pivot pin (not shown) thereon, the downwardly projecting pivot pin being a pivot formed in the proximal end portion 320 of the elongate channel 302. It is adapted to be pivotally received within the motion hole 328. For example, see the similar configuration shown in FIG. Such a configuration facilitates pivotal movement of the elongate channel 302 of the surgical end effector 300 relative to the shaft frame 812 about the articulation axis BB defined by the pivot hole 328. As indicated above, the articulation axis BB crosses the shaft axis SA-SA defined by the elongated shaft assembly 200 '.

  Referring again to FIG. 9, the first distal joint driver 820 includes a first or distal locking cavity 822 and a second or proximal locking cavity 824, The second lock cavity 824 can be separated by an intermediate frame member 825. The articulation lock 810 can further include at least one first locking element 826 disposed at least partially within the first locking cavity 822, which first locking element 826 includes a first distal element. The distal joint driver 820 may be configured to inhibit or prevent proximal movement. For example, in the embodiment shown in FIG. 9, there are three first locking elements 826 disposed within the first locking cavity 822, all of which operate in a similar parallel manner. And can act cooperatively as a single locking element. Other embodiments are possible in which more than four or less than two first locking elements 826 can be utilized. Similarly, the articulation lock 810 can further include at least one second locking element 828 disposed at least partially within the second locking cavity 824, wherein the second locking element 824 includes the first locking element 824. One distal joint driver 820 may be configured to inhibit or prevent distal movement. With respect to the particular embodiment shown in FIG. 9, there are three second locking elements 828 disposed within the second locking cavity 824, all of which operate in a similar parallel fashion. And can act cooperatively as a single locking element. Other embodiments that can utilize more or less than two second locking elements 828 are also contemplated.

  In addition to the above, referring primarily to FIG. 9, each first locking element 826 is slidably supported on the frame rail 830 and includes a lock tongue 827. Each of the first locking elements 826 has a locking aperture (not shown) therein for receiving the frame rail 830 therethrough. The lock tongue 827 can be disposed within the first lock cavity 822 and the lock aperture can be slidably engaged with a frame rail 830 attached to the shaft frame 812. The first locking element 826 is not oriented in a vertical configuration with the frame rail 830; rather, the first locking element 826 is configured and aligned at an angle that is not perpendicular to the frame rail 830. Therefore, the edge or side wall of the lock aperture is engaged with the frame rail 830. Further, the interaction of the lock aperture sidewall and the frame rail 830 can create a resistance or friction force between them, which resistance or friction force is applied to the first locking element 826 and the frame rail 830. As a result, the proximal push force P applied to the first distal joint driver 820 can be resisted. In other words, the first locking element 826 can prevent or at least inhibit the surgical end effector 300 from rotating in the direction indicated by arrow 821. If torque is applied to the end effector 300 in the direction of arrow 821, the proximal push force P will be transmitted to the distal joint driver 820. The proximal pushing force P will only serve to enhance the locking engagement between the first locking element 826 and the frame rail 830. More specifically, the proximal pushing force P can be transmitted to the tongue 827 of the first locking element 826, which rotates the first locking element 826, and the first locking element 826 and the frame rail. The angle defined between the frame 830 and the frame rail 830 can be increased as a result. Finally, the first locking element 826 can then lock the movement of the first distal joint driver 820 in one direction.

  In order to release the first locking element 826 and rotate the surgical end effector 300 in the direction indicated by arrow 821, the proximal joint driver 230 causes the first locking element 826 to be vertical, or at least substantially. It can be pulled proximally to straighten to a vertical position or at least substantially straighten. In such a position, the bite or resistance between the side wall of the lock aperture and the frame rail 830 can be sufficiently reduced or eliminated so that the first distal joint driver 820 can be moved proximally. To realign the first locking element 826, the proximal joint driver 230 can be pulled proximally so that the distal arm 233 of the proximal joint driver 230 contacts the first locking element 826. Pull the first locking element 826 to the correct position and rotate. In various situations, the proximal joint driver 230 has a proximal arm 235 extending therefrom that contacts or abuts the proximal drive wall 832 of the first distal joint driver 820, causing the distal joint driver 820 to be proximal. It can continue to be pulled proximally until it pulls and articulates the surgical end effector 300. In essence, a proximal tensile force can be applied from the proximal joint driver 230 to the distal joint driver 820 through the interaction of the proximal arm 235 and the proximal drive wall 832, such a tensile force being the first Transmitted to the end effector 300 through the distal joint driver 820, the end effector 300 may be articulated in the direction indicated by arrow 821, as further described below. After the surgical end effector 300 is suitably articulated in the direction of arrow 821, the joint lock 810 can re-lock the first distal joint driver 820 and the surgical end effector 300 in place. One distal joint driver 820 can be released in various situations.

  At the same time as above, referring again to FIG. 9, the second locking element 828 can still remain in the angled position while the first locking element 826 is locked and unlocked as described above. It should be appreciated by the reader that the second locking element 828 is arranged and aligned in an angular position with respect to the shaft rail 830, but the second locking element 828 is not included in the first distal joint driver 820. It is not configured to block or at least substantially block proximal motion. When the first distal joint driver 820 and the joint lock 810 are slid proximally as described above, the second locking element 828 is angled alignment relative to the frame rail 830 in various situations. Can be slid distally along the frame rail 830 without changing, or at least substantially changing. The second locking element 828 allows the first distal joint driver 820 and the joint lock 810 to move proximally, but the second locking element 828 is further discussed in more detail below. The first distal joint driver 820 may be configured to selectively prevent or at least inhibit distal movement.

  Each second locking element 828 may comprise a lock aperture (not shown) and a lock tongue 829. The lock tongue 829 can be disposed within the second lock cavity 824 and the lock aperture can be slidably engaged with a frame rail 830 attached to the shaft frame 812. The frame rail 830 extends through the aperture of the second locking element 828. The second locking element 828 is not oriented in a vertical configuration with the frame rail 830; rather, the second locking element 828 is configured and aligned at a non-perpendicular angle with respect to the frame rail 830. Therefore, the edge or side wall of the lock aperture is engaged with the frame rail 830. Further, the interaction of the lock aperture side wall and the frame rail 830 can create a resistance or friction force between them, which resistance or friction force is applied to the second locking element 828 and the frame rail 830. As a result, the distal force D applied to the first distal joint driver 820 can be resisted. In other words, the second locking element 828 can prevent or at least inhibit the surgical end effector 300 from rotating in the direction indicated by arrow 823. If torque is applied to the end effector 300 in the direction of arrow 823, a distal tensile force D will be transmitted to the first distal joint driver 820. The distal tensile force D will only serve to enhance the locking engagement between the second locking element 828 and the frame rail 830. More specifically, the distal tensile force D can be transmitted to the tongue 829 of the second locking element 828, which rotates the second locking element 828, and the second locking element 828 and The angle defined between the frame rail 830 can be reduced and, as a result, the bite between the side wall of the lock aperture and the frame rail 830 can be increased. Eventually, the second locking element 828 can then lock the movement of the first distal joint driver 820 in one direction.

  In order to release the second locking element 828 and articulate the surgical end effector 300 in the direction indicated by arrow 823, the proximal joint driver 230 causes the second locking element 828 to be vertical or at least substantially Can be pushed distally to align or at least substantially align. In such a position, the bite or resistance between the side wall of the lock aperture and the frame rail 830 can be sufficiently reduced or eliminated so that the first distal joint driver 820 can be moved distally. To trim the second locking element 828, the proximal joint driver 230 can be pushed distally so that the proximal arm 235 of the proximal joint driver 230 contacts the second locking element 828. The second locking element 828 is pushed into the aligned position and rotated. In various situations, the proximal joint driver 230 has a distal arm 233 extending therefrom that contacts or abuts the distal drive wall 833 of the first distal joint driver 820 to disengage the first distal joint driver 820. It can continue to be pushed distally until it is pushed distally to articulate the surgical end effector 300. In essence, a distal pushing force can be applied from the proximal joint driver 230 to the first distal joint driver 820 through the interaction of the distal arm 233 and the distal drive wall 833, and such pushing Force can be transmitted through the first distal joint driver 820 to articulate the end effector 300 in the direction indicated by arrow 823. After the surgical end effector 300 is preferably articulated in the direction of arrow 823, the joint lock 810 can re-lock the first distal joint driver 820 and the surgical end effector 300 in place. One distal joint driver 820 can be released in various situations.

  At the same time, the first locking element 826 can still remain in the angled position while the second locking element 828 is locked and unlocked as described above. It should be understood by the reader that although the first locking element 826 is arranged and aligned in an angular position with respect to the shaft rail 830, the first locking element 826 is not connected to the first distal joint driver 820. It is not configured to obstruct or at least substantially obstruct distal motion. When the first distal joint driver 820 and the joint lock 810 are slid distally as described above, the first locking element 826 is angled with respect to the frame rail 830 in various situations. Can be slid distally along the frame rail 830 without changing, or at least substantially changing. Although the first locking element 826 allows the first distal joint driver 820 and the joint lock 810 to move distally, the first locking element 826 has a first locking element as described above. The distal joint driver 820 is configured to selectively prevent or at least inhibit proximal movement.

  In view of the above, the joint lock 810 may be configured to resist proximal and distal movement of the first distal joint driver 820 in the locked state. With regard to resistance, the joint lock 810 may be configured to prevent or at least substantially prevent the proximal and distal movement of the first distal joint driver 820. In general, as described above, the proximal motion of the first distal joint driver 820 is resisted by the first locking element 826 when the first locking element 826 is in the locking direction, and the first The distal motion of one distal joint driver 820 is resisted by the second locking element 828 when the second locking element 828 is in the locking direction. In other words, the first locking element 826 includes a first one-way lock and the second locking element 828 includes a second one-way lock that locks in the opposite direction.

  Although discussed in connection with the exemplary embodiment shown in FIGS. 9 and 10, the initial proximal movement of the proximal joint driver 230 causes the first distal joint driver 820 and the joint lock 810 to move closer together. While the distal movement can be unlocked, further proximal movement of the proximal joint driver 230 drives the first distal joint driver 820 and the joint lock 810 proximally. be able to. Similarly, the initial distal movement of the proximal joint driver 230 can unlock the distal movement of the first distal joint driver 820 and joint lock 810, while the proximal Further distal movement of the joint driver 230 can drive the first distal joint driver 820 and the joint lock 810 distally. Such an overall concept is discussed in connection with some further exemplary embodiments disclosed below. To the extent that such discussions are the same as, or generally overlap with, those discussed above, such discussions are not reproduced for the sake of brevity.

  Still referring to FIGS. 9 and 10, the dual articulated link configuration 800 is configured to establish a “push / pull” configuration when articulation force is applied through the first distal joint driver 820. . As can be seen in these figures, the first distal joint driver 820 has a first drive rack 842 formed therein. A first articulation rod 844 projects distally from the first distal joint driver 820 and is attached to a first movable coupler 850 that is attached to the first distal joint driver 820 by a first ball joint 852. It has been. The first coupler 850 is also pivotally pinned to the proximal end portion 320 of the elongate channel 302 by a first pin 854, as can be seen in FIG. The double articulated linkage configuration 800 further includes a second distal articulated driver 860 formed in the second drive rack 862. The second distal joint driver 860 is movably supported within the elongate shaft assembly 200 'for longitudinal movement in the distal direction DD and the proximal direction PD. A second articulation rod 864 projects distally from the second distal joint driver 860 and is attached to a second movable coupler 870 that is attached to the second distal joint driver 860 by a second ball joint 872. It has been. The second coupler 870 is also pivotally pinned to the proximal end portion 320 of the elongate channel 302 by a second pin 874, as can be seen in FIG. As can be seen in FIG. 9, the first coupler 850 is attached to the elongate channel 302 on one outer side of the shaft axis SA, and the second coupler 870 is attached to the elongate channel 302 on the opposite outer side of the shaft axis. It has been. Thus, by pulling one of the couplers 850, 870 and simultaneously pushing the other coupler 850, 870, the surgical end effector 300 is articulated relative to the elongated shaft assembly 200 ′ about the articulation axis BB. Will be exercised. In the illustrated configuration, the couplers 850, 870 and elongate channel 302 that facilitate relative movement of the first distal joint driver 820 and the second distal joint driver 860, respectively, are fabricated from relatively rigid components. However, other configurations may use relatively “soft” coupler configurations. For example, a cable or the like extends through one or both of the distal joint drivers 820, 860, couplers 850, 870 and ball joints 852, 872 such that the articulation motion is transmitted to them such that the cable is coupled to the elongated channel. It may be promoted.

  Similarly, as can be seen in FIGS. 9 and 10, a proximal pinion gear 880 and a distal pinion gear 882 are disposed in the center between the first drive rack 842 and the second drive rack 862 and engage with them. It ’s good. In alternative embodiments, only one pinion gear or more than two pinion gears may be used. Therefore, at least one pinion gear is used. The proximal pinion gear 880 and the distal pinion gear 882 are rotatably supported for free rotation relative to them within the shaft frame 812 so that the first distal joint driver 820 is in the distal direction DD. When moved, the pinion gears 870, 872 serve to drive the second distal joint driver 860 in the proximal direction PD. Similarly, when the first distal joint driver 820 is pulled in the proximal direction PD, the pinion gears 880, 882 drive the second distal joint driver 860 in the distal direction DD. Thus, in order to articulate the end effector 300 in the direction of arrow 821 about the articulation axis BB, the joint driver 230 is operatively engaged with the firing member 220 via the clutch system 400, thereby The firing member 220 moves or pulls the proximal joint driver 230 in the proximal direction PD. As the proximal joint driver 230 moves in the proximal direction, the first distal joint driver 820 similarly moves in the proximal direction. As the first distal joint driver 820 moves in the proximal direction, the pinion gears 880, 882 serve to drive the second distal joint driver 860 in the distal direction DD. As the first and second distal joint drivers 820, 860 move in this manner, the surgical end effector 300, more specifically, the elongated channel 302 of the surgical end effector 300, can move the articulation axis B-. It pivots around B in the direction of articulation indicated by arrow 821. Conversely, to articulate end effector 300 in the direction of arrow 823, firing member 220 is actuated to push first distal joint driver 820 in distal direction DD. As the first distal joint driver 820 moves in the distal direction, the pinion gears 880, 882 serve to drive the second distal joint driver 860 in the proximal direction PD. As the first and second distal joint drivers 820, 860 move in this manner, the surgical end effector 300, more specifically, the elongated channel 302 of the surgical end effector 300, can move the articulation axis B-. It pivots about B in the direction of the joint movement indicated by an arrow 823.

  The double integral link articulation configuration 800 and variations thereof can provide a wider range of articulation to the surgical end effector compared to other articulated surgical end effector configurations. Specifically, the integral link articulation configuration disclosed herein facilitates an articulation range exceeding the range of 45 ° to 50 ° typically achieved by other articulating end effector configurations. obtain. Using at least one pinion gear to interface between the distal joint drivers so that the end effector can be “pushed” and “pulled” into place is also in use. This can reduce the amount of end effector “slop” or unwanted or unintentional movement. The double integral link articulation configuration disclosed herein also includes an articulation system with improved strength characteristics compared to other articulation system configurations.

  As briefly described above, the intermediate firing shaft portion 222 is configured to operatively interface with the distal cutting or firing beam 280. The distal firing beam 280 may comprise a laminated structure. Such a configuration allows the distal firing beam 280 to bend sufficiently when the surgical end effector 300 is articulated about the articulation axis BB. Distal firing beam 280 is supported for axial movement within shaft assembly 200 ′ and is slidably supported by two upstanding side support walls 330 formed on the proximal end of elongated channel 302. Is done. Referring to FIG. 11, the distal firing beam 280 is attached to a firing member 900 that includes a vertically extending firing member body 902 that has a tissue cutting surface or blade 904 thereon. Yes. In addition, a wedge thread 910 may be mounted within the surgical staple cartridge 304 for driving contact with the firing member 900. When the firing member 900 is driven distally through the cartridge body 304, the wedge surface 912 of the wedge sled 910 contacts the staple driver, and the driver and the surgical staple supported thereon are within the surgical staple cartridge 304. Operate upward with.

  End effectors that use firing beams or firing members and are articulatable over a range, for example 45 degrees (45 °), can have many challenges to overcome. In order to facilitate operable articulation of such end effectors, the firing member or firing beam must be sufficiently flexible to accommodate such ranges of articulation. However, the launch beam or launch member must also avoid buckling during compressive launch loads. Various “support” or “blowing” plate configurations have been developed to provide additional support for the launch beam or launch member. Some such configurations are described in US Pat. No. 6,964,363, the title of “SURGICAL STAPLING INSTRUMENT HAVING ARTICULATION JOINT SUPPORT PLATES FOR SUPPORTING A FIRING BAR” and the seventh R 213 G IC STAPLING INSTRUMENT INCORPORATEING AN ELECTROACTIVE POLYMER ACTUATED FIRING BAR TRACK THROUGH AN ARTICULATION JOINT, each of which is incorporated herein by reference in its entirety. Blow plates that provide substantial buckling resistance are also generally difficult to bend, thereby applying forces that the articulation system must accommodate. Other launch beam support configurations are incorporated herein by reference in their entirety, U.S. Patent Application No. 14 / 575,117, entitled "SURGICAL INSTRUMENTS WITH LIFE ULTURATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPANG STEEL Is disclosed.

  Referring to FIGS. 11-15, the elongate shaft assembly 200 ′ includes a plurality for laterally supporting the distal firing beam 280 when the surgical end effector 300 is articulated about the articulation axis BB. The support link assembly 920 is further provided. As can be seen in FIG. 11, the plurality of support link assemblies 920 include a central support member 922 that is movably coupled to the surgical end effector 300 as well as the elongate shaft assembly 200 '. For example, the central support member 922 is pivotally pinned to the proximal end 320 of the elongate channel 302 so that it can pivot relative to the proximal end 320 about the pivot axis PA. . As can be seen in FIG. 11, the central support member 922 includes a distal protruding tab 923 that receives an upright support pin 332 formed on the proximal end portion 320 of the elongate channel 302. With a distal pivot hole 924 therein. As further seen in FIG. 11, the central support member 922 further includes a proximal protruding tab 926 having an elongated proximal slot 928 therein. The proximal slot 928 is configured to slidably receive a central support pin 816 formed on the frame portion 812. Such a configuration allows, for example, the central support member 922 to pivot and move axially relative to the elongate shaft assembly 200 '. As can be seen in FIGS. 11-13, the central support member 922 further includes a centrally disposed slot 930 for movably receiving the distal firing beam 280 therethrough.

  Still referring to FIGS. 11-15, the plurality of support link assemblies 920 further comprises a proximal support link 940 and a distal support link 950. Proximal support link 940 includes an elongated proximal body 942 having a round proximal nose portion 943 and a round distal nose portion 944. Proximal support link 940 further includes a pair of downwardly projecting opposed proximal support walls 945, 946 defining a proximal slot 947 therebetween. Similarly, distal support link 950 includes an elongated distal body 952 having a round proximal nose portion 953 and a round distal nose portion 954. The distal support link 950 further includes a pair of downwardly projecting opposing distal support walls 955, 956 that define a distal slot 957 therebetween. As can be seen in FIG. 14, the soft distal firing beam 280 extends between the proximal support walls 945, 946 of the proximal support link 940 and the distal support walls 955, 956 of the distal support link 950. It is configured. Proximal support wall 945 includes an inwardly proximal arcuate surface 948, and proximal support wall 946 includes an inwardly proximal arcuate support surface 949 that faces the inwardly proximal arcuate surface 948. Proximal arcuate support surfaces 948, 949 are the outer portions of the proximal portion of the soft distal firing beam 280 when the soft distal firing beam 280 bends during articulation of the end effector and traverses the joint joint. Works to support the sideways. The rounded surface may adapt to the outer diameter of the distal firing beam 280 depending on the direction of articulation. Similarly, the distal support wall 955 includes an inwardly distal arcuate surface 958 and the distal support wall 956 includes an inwardly distal arcuate support surface 959 opposite the distal arcuate surface 958. The distal arcuate support surfaces 958, 959 cause the outer portion of the distal portion of the distal firing beam 280 to bend when the distal firing beam 280 bends during articulation of the surgical end effector 300 and traverses the joint joint. Work to support in the lateral direction. The distal arcuate surfaces 958, 959 can be adapted to the outer diameter of the distal firing beam 280 depending on the direction of articulation. As can be seen in FIGS. 12 and 13, the distal end 217 of the shaft spine 210 includes a distal-facing arcuate spine pocket 218 into which the round proximal nose portion 943 of the proximal support link 940 extends. The round distal nose portion 944 of the proximal support link 940 is pivotally received within the arcuate proximal pocket 932 of the central support member 922. In addition, the round proximal nose portion 953 of the distal support link is received within the arcuate distal support member pocket 934 at the distal end of the central support member 922. The round distal nose portion 954 of the distal support link 950 moves into a V-shaped channel cavity 334 formed in an upstanding side support wall 330 formed on the proximal end 320 of the elongated channel 302. Accepted possible.

  Multiple support linkage assemblies can provide a high degree of lateral support with a flexible firing beam stack when the beam bends over a higher articulation angle. Such a configuration will also prevent the firing beam from buckling over a relatively high articulation angle under high firing loads. The elongated support link, in conjunction with the central support member, serves to provide improved lateral support to the firing beam throughout the articulation zone as compared to many conventional support configurations. In alternative configurations, the support link may be configured to actually interlock with the central support member at various articulation angles. The U-shaped support link facilitates easy introduction and supports a soft support beam not only at the outer side but also at the upper part of the firing beam so that it is raised upward while the firing beam is articulated during firing. To prevent it.

  In embodiments in which the firing member includes a tissue cutting surface, such a manner as to prevent the firing member from advancing inadvertently if the unused staple cartridge is not properly supported within the elongated channel 302 of the surgical end effector 300. Thus, it may be desirable to configure an elongate shaft assembly. For example, if no staple cartridge is present and the firing member is advanced distally through the end effector, the tissue is cut but not stapled. Similarly, if a used staple cartridge (ie, a staple cartridge in which at least some of the staples have already been fired) is present in the end effector and the firing member is advanced, the tissue will be cut. If stapled, it may not be complete. It will be apparent that the occurrence of such a phenomenon can lead to undesirable catastrophic results during the surgical procedure. US Pat. No. 6,988,649, title of invention “SURGICAL STAPLING INSTRUMENT HAVING A Spent CARTRIDGE LOCKOUT”, US Pat. And US Pat. No. 7,380,695, the title of the invention “SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANSIM FOR PREVENTION OF FIRING”, each of which discloses various launch member lockout configurations. Is The entire contents of which are hereby incorporated by reference.

  Such a lockout configuration can be effectively used with a variety of surgical stapling instruments. Such a configuration, however, may not be particularly suitable for use in conjunction with the various surgical stapling instruments disclosed herein using a relatively small and short articulated joint configuration. For example, FIGS. 15-19 illustrate a surgical end effector 300 that is operatively attached to an elongate shaft assembly 200 'by an articulation joint 270'. The elongate shaft assembly 200 'defines a shaft axis SA-SA and the articulation joint 270' is a surgical end effector for the elongate shaft assembly 200 'about an articulation axis BB that traverses the shaft axis SA-SA. Promotes 300 selective articulations. In the illustrated embodiment, the double integral link articulation configuration 800 (as described above) can be used to selectively apply articulation motion to the surgical end effector 300. The elongate shaft assembly 200 'includes a distal firing beam 280 of the type described above, which distal firing beam 280 is surgical end effector from a start position to an end position when a firing motion is applied thereto. Within 300, it is selectively movable in the axial direction. Distal firing beam 280 extends through articulation joint 270 ′ and is centered about articulation axis BB to accommodate articulation of surgical end effector 300 in the various manners described herein. It is configured to bend. In the illustrated embodiment, the articulation joint 270 ′ includes a central support member 922 that is movably attached to the distal end 814 of the shaft frame 812 and the proximal end 320 of the elongate channel 302. As described above, the central support member 922 has a distal protruding tab 923 that receives an upstanding support pin 332 formed on the proximal end portion 320 of the elongate channel 302. It has a distal pivot hole 924 for it. The central support member 922 further includes a proximal protruding tab 926 having an elongated proximal slot 928. The proximal slot 928 is configured to slidably receive a central support pin 816 formed on the frame portion 812. Central support 922 further includes a centrally disposed slot 930 for axially receiving distal firing beam 280 therethrough. The central support member 922 facilitates the axial passage of the distal firing beam 280 during firing, while at the same time the distal firing beam during articulation of the surgical end effector 300 about the articulation axis BB. 280 is supported laterally.

  In the illustrated embodiment, the distal firing beam 280 is erroneously advanced from the start position to the end position unless an unfired surgical staple cartridge 304 is operably seated within the cartridge support member or elongate channel 302. In order to prevent this, a fire beam lock assembly 980 is used. As can be seen in FIGS. 15-19, the firing beam lock assembly 980 in one form includes a locking cam or detent 281 formed on the distal firing beam 280 so as to protrude upwardly from the upper surface of the distal firing beam 280. . A biasing member 984 is supported on and attached to the central support member 922. As can be seen in FIG. 16, for example, the biasing member 984 is substantially planar and includes a window 985 configured to receive the lock cam 281 therein during articulation of the surgical end effector 300. Yes. Thus, the biasing member 984 does not apply any biasing force or load to the distal firing beam 280 when the surgical end effector 300 is articulated about the articulation axis BB. This feature may avoid an increase in the amount of articulation force that must be generated to articulate the surgical end effector 300 about the articulation axis BB. The biasing member 984 may be tack welded to the central support member 922 or attached to the central support member by other fastening methods such as screws, pins, adhesives, and the like. The window 985 may also define a lock band or portion 986 that serves to contact the lock cam 281 when the distal firing beam 280 is in the starting position. Lock cam 281 is associated with distally inclined surface 283 and proximally inclined surface 285 so as to reduce the amount of firing and retracting force required to move distal firing beam 280 in the axial direction. Can be formed. See FIG.

  As described above, distal firing beam 280 is operably attached to firing member 900 that includes tissue cutting surface 904 on firing member body 902. In an alternative configuration, the tissue cutting surface may be attached to a portion of the distal firing beam 280, or otherwise formed on or directly supported by that portion. . In the illustrated configuration, a foot 905 extending laterally is formed at the bottom of the firing member body 902. The firing member body 902 further includes a wedge sled engagement member 906 that is configured to engage a wedge sled in the surgical staple cartridge 304, as discussed in more detail below. Has been.

  FIG. 18 shows an “unused” or “unfired” surgical staple cartridge 304 properly installed within the elongate channel 302. As can be seen in this figure, the wedge sled 910 is located in the “unfired” (most recent) position within the surgical staple cartridge 304. The wedge sled 910 is configured to engage a wedge sled engagement member 906 on the firing member 900, thereby biasing the firing member 900 in the upward direction represented by arrow 988. Including the surface 914, the bottom portion of the firing member 900 and the foot 905 are free to pass through the lock wall 307 formed by the lock opening 303 at the bottom of the elongated channel 302. When in that position, the distal firing beam 280 and firing member 900 are within the elongated channel 302, and more precisely within the surgical staple cartridge 304 mounted therein, from the starting position shown in FIG. The surgical staple cartridge 304 can be advanced distally to an end position in the surgical staple cartridge 304 where all of the operatively supported surgical staples have been ejected by the wedge sled 910. In such a configuration, after the firing member 900 is fully fired (ie, fully advanced from the start position to the end position within the surgical staple cartridge 304), the firing member 900 is shown in FIG. Back to position again. Since the wedge thread 910 has been advanced distally within the staple cartridge 304 by the firing member 900 to the end position and the firing member 900 is not attached to the wedge thread 910, the firing member 900 is again moved to the start position. When retracted, the wedge thread 910 is still in the end position within the surgical staple cartridge 304 and does not return the firing member 900 to the start position again. Accordingly, the surgical staple cartridge 304 is said to be in a “post-use”, “used”, or “fired” state. As can be seen in FIG. 19, when the wedge sled is not in the unfired state, the bottom of the body portion 902 as well as the foot 905 of the firing member 900 are attached to the locking cam 281 on the distal firing beam 280 by the locking band 986 of the biasing member 984. The applied biasing motion extends into the lock opening 303 at the bottom of the elongated channel 302. When in that position, the body portion 902 and / or foot 905 will come into contact with the wall 307 of the elongated channel 302 and start if the clinician attempts to re-fire the used surgical staple cartridge. The movement from the position to the end position is prevented. Thus, the firing beam lock assembly 980 can be used as a distal firing beam 280 as well as a firing member when an unfired or unused surgical staple cartridge is not properly / operably introduced into the elongated channel of the surgical end effector. Prevent 900 from moving from the start position to the end position. It will also be apparent that firing beam lock assembly 980 prevents advancement of distal firing beam 280 when no staple cartridge is introduced into elongate channel 302. Centering on the articulation axis BB without the application of additional loads on the distal firing beam, which may result in increasing the articulation force to articulate the surgical end effector In addition to adapting to the articulation of surgical end effector 300, firing beam lock assembly 980 is distally beyond the lockout wall, regardless of whether the end effector jaws are open or closed. When advanced, no additional load is applied to the firing member and / or the distal firing beam.

  FIG. 20A illustrates another articulated surgical end effector embodiment 300 ′ using a firing beam lock assembly 980 ′ that includes a biasing member 984 ′ mounted within the end effector closure sleeve 272. As can be seen in this figure, for example, the biasing member 984 'applies a biasing force to the inclined or tapered portion 283' of the distal firing beam 280 '. The launch beam lock assembly 980 'otherwise operates in the same manner as described above with respect to the launch beam lock assembly 980'. More specifically, biasing member 984 'applies a biasing force to distal firing beam 280' that pushes distal firing beam 280 'and the firing member attached thereto downward in the elongated channel. The firing member or firing beam is used to move the firing member / firing beam out of engagement with the lock wall with the unused surgical staple cartridge with the wedge sled or other staple ejector member in the unfired position. The firing member / fire beam is prevented from being axially advanced from the start position to the end position when not properly introduced into the elongate channel or cartridge support member to operably engage with Will be.

  FIGS. 21-25 illustrate a portion of another elongate shaft assembly 1200 that is similar to elongate shaft assembly 200 described above, except for various differences that will be described in further detail below. The components of the elongate shaft assembly 1200 described in detail above have been referred to by similar element numbers for the sake of brevity and, for example, when used with portions of the surgical instrument 10 described above, the shaft Further details will not be described beyond what may be necessary to understand the operation of the assembly 1200. As can be seen in FIG. 21, the elongated shaft assembly 1200 includes a joint lock 1810 that is substantially equivalent to the joint lock 810 and operates in an essentially similar manner. As can be seen in FIG. 22, the elongate shaft assembly 1200 includes a shaft frame 1812 that is configured to movably support a proximal portion 1821 of the first distal joint driver 1820 therein. It has a proximal cavity 1815. The first distal joint driver 1820 is within the elongated shaft assembly 1200 to selectively move longitudinally in the distal direction DD and the proximal direction PD in response to the applied articulation control motion. It is supported movably. The shaft frame 1812 further includes a distal end portion 1814 having a pivot pin 1818 formed thereon. The pivot pin 1818 is adapted to be pivotally received within a pivot hole (not shown) in the proximal end portion 1320 of the elongated channel 1302 of the surgical end effector 1300. Such a configuration provides for pivotal movement (ie, articulation) of the elongated channel 1302 of the surgical end effector 1300 relative to the shaft frame 1812 about the articulation axis BB defined by the pivot hole and pin 1818. Promoted. The shaft frame 1812 further includes a centrally disposed cavity 1817 and a distal notch 1819 that is disposed between the distal end 1814 and the centrally disposed cavity 1817.

  The shaft assembly 1200 further includes a second distal joint driver 1860 that includes a proximal pulley 1840 and an endless member 1862 that is rotatably supported on the distal pulley 1340. . Still referring to FIG. 22, the proximal pulley 1840 is rotatably supported on a pulley spindle 1842 and the pulley spindle 1842 is mounted in a centrally disposed cavity 1817 in the shaft frame 1812. The distal pulley 1340 is non-rotatably supported or formed on the proximal end 1320 of the elongated channel 1302 of the surgical end effector 1300. In one form, endless member 1862 comprises a cable made from, for example, stainless steel, tungsten, aluminum, or titanium. The cable may have a braid or multiple strand structure with various numbers of strands to obtain the desired level of tensile strength and flexibility. In various configurations, for example, cable 2382 may range from 0.08 centimeters to 0.2 centimeters (0.03 inches to 0.08 inches), more preferably from 0.1 centimeters to 0.2 centimeters. In the range (0.05 inch to 0.08 inch). Preferred cables can be made from, for example, semi-rigid to fully rigid 300 series stainless steel. In various configurations, the cable may also be coated with, for example, Teflon, copper, etc., for example, to improve lubricity and / or reduce stretch. For example, by crimping, the first lug 1863 is attached to one end of the cable and the second lug 1864 is attached to the other end of the cable. The cables are stretched under tension while the ends and / or lugs 1863, 1864 are welded together, bonded, and mechanically fastened to form an endless member 1862. The spindle 1842 can include a cam mount that engages the pulley 1840 to move the proximal pulley 1840 proximally. Other forms of tensioning configurations may also be used to tension endless member 1862, such as a belt tensioner, turnbuckle configuration, and the like.

  Still referring to FIG. 22, endless member 1862 is coupled to distal end 1821 of first distal joint driver 1820 by coupler assembly 1830. Coupler assembly 1830 includes an upper coupler portion 1832 and a lower coupler portion 1834 formed on the distal end 1822 of the first distal joint driver 1820. The lower coupler portion 1834 is formed with two cradle 1835 configured to receive lugs 1862, 1864 therein. A pair of mounting pins 1836 are configured to press into the holes 1837 of the upper coupler portion 1832 to secure the two coupler portions 1832 and 1834 together. Other fastening configurations, screws, rivets, adhesives, etc. may be used. When endless member 1862 is pivoted on pulleys 1840 and 1340, coupler assembly 1830 is pivoted within distal notch 1819 of shaft frame 1812 in response to axial movement of first distal joint driver 1820. Move freely in any direction. Articulation motion generated by the axial movement of the first distal joint driver 1820 is transmitted to the second distal joint driver 1860 or the endless member 1862. A mounting ball or lug 1866 is attached to the endless member 1862 and is received in a groove or pocket 1342 formed in the distal pulley 1340. Accordingly, movement of the endless member 1862 is transmitted to the surgical end effector 1300, more specifically to the elongated channel 1302 of the surgical end effector 1300, to articulate the end effector about the articulation axis BB. Thus, when the first distal joint driver 1820 is moved in the distal direction DD, the endless member 1862 moves the surgical end effector 1300 about the articulation axis BB in the articulation direction represented by arrow 823. To articulate. Refer to FIG. Similarly, when the first distal articulation driver 1820 is moved in the proximal direction PD, the endless member 1862 will move the surgical end effector about the articulation axis BB in the articulation direction represented by arrow 821. 1300 is articulated. Please refer to FIG. 21 and FIG. As shown in FIG. 21, the articulation direction 823 is opposite to the articulation direction 821.

  FIGS. 26-31 illustrate a portion of another elongate shaft assembly 2200 that is similar to elongate shaft assembly 200 described above, except for various differences described in more detail below. The components of the elongate shaft assembly 2200 described in detail above have been referred to by like element numbers for the sake of brevity and, for example, when used with portions of the surgical instrument 10 described above, elongate. Further details will not be described beyond what may be necessary to understand the operation of the shaft assembly 2200. As can be seen in FIG. 26, the elongate shaft assembly 2200 includes a proximal housing or nozzle 201 consisting of nozzle portions 202 and 203. The elongate shaft assembly 2200 further includes an anvil actuator member in the form of a closure sleeve 2260 that can be utilized to close and / or open the anvil 2310 of the surgical end effector 2300 operably attached thereto. As can be seen in FIG. 26, the elongate shaft assembly 2200 includes a proximal spine 2210 configured to operably interface with the articulation lock 2350. Proximal spine 2210 first slidably supports firing member 2220 therein and secondly slidably supports closure sleeve 2260 extending around proximal spine 2210. Composed. Proximal spine 2210 also slidably supports proximal joint driver 2230. Proximal joint driver 2230 has a distal end 2231 configured to operably engage joint lock 2350.

  In the illustrated configuration, the proximal spine 2210 includes a proximal end 2211 that is rotatably supported within the chassis 240. In one configuration, for example, the proximal end 2211 of the proximal spine 2210 is formed with a thread 2214 that is threadedly attached to a spine bearing configured to be supported within the chassis 240. Such a configuration facilitates rotatable attachment of the proximal spine 2210 to the chassis 240 such that the proximal spine 2210 can be selectively rotated relative to the chassis 240 about the shaft axis SA-SA. The proximal end of the closure sleeve 2260 is attached to a closure shuttle supported within the chassis, as described in detail above. When the elongate shaft assembly 2200 is operably coupled to the handle or housing of the surgical instrument 10, the closure sleeve 2260 is advanced distally by actuation of the closure trigger.

  As also described above, the elongate shaft assembly 2200 further includes a firing member 2220 that is supported for axial movement within the proximal spine 2210. Firing member 2220 includes an intermediate firing shaft portion 2222 configured to be attached to a distal cutting or firing beam assembly 2280. See FIG. Intermediate firing shaft portion 2222 may include a longitudinal slot 2223 at its distal end, which may be configured to receive a tab on the proximal end of distal firing beam assembly 2280. . The longitudinal slot 2223 and the proximal end of the distal firing beam assembly 2280 can be sized and configured to allow relative movement therebetween and can comprise a slip joint. The slip joint moves the intermediate firing shaft portion 2222 of the firing drive 2220 without articulating or at least substantially moving the distal firing beam assembly 2280 to articulate the end effector 300. Can be possible. When surgical end effector 2300 is suitably oriented, the proximal side wall of longitudinal slot 2223 is tabbed to advance distal firing beam assembly 2280 and fire a staple cartridge that can be supported within end effector 300. The intermediate firing shaft portion 2222 can be advanced distally until contact. Proximal spine 2210 is also coupled to distal spine 2212.

  Similar to the elongate shaft assembly 200, the illustrated elongate shaft assembly 2200 includes a clutch assembly 2400 that can be configured to selectively and releasably couple the proximal joint driver 2230 to the firing member 2220. In one form, the clutch assembly 2400 includes a locking collar or sleeve 2402 disposed about the firing member 2220, wherein the locking sleeve 2402 is in an engaged position where the locking sleeve 2402 couples the proximal joint driver 2230 to the firing member 2220. And the disengaged position where the proximal joint driver 2230 is not operably coupled to the firing member 2220. When the locking sleeve 2402 is in its engaged position, the firing member 2220 can be moved distally to move the proximal joint driver 2230 distally, correspondingly the firing member 2220 is By moving proximally, the proximal joint driver 2230 can be moved proximally. When the lock sleeve 2402 is in its disengaged position, the movement of the firing member 2220 is not transmitted to the proximal joint driver 2230 so that the firing member 2220 moves independently of the proximal joint driver 2230. be able to. Under various circumstances, the proximal joint driver 2230 can be held in place by the joint lock 2350 when the proximal joint driver 2230 has not been moved proximally or distally by the firing member 2220.

  As described above, the locking sleeve 2402 can comprise a cylindrical or at least substantially cylindrical body having a longitudinal aperture 2403 configured to receive the firing member 2220 defined therein. The lock sleeve 2402 can include a diametrically opposed inward lock protrusion 2404 and an outward lock member 2406. Lock protrusion 2404 may be configured to be selectively engaged with firing member 2220. More specifically, when the locking sleeve 2402 is in its engaged position, the locking protrusion 2404 is disposed within the drive notch 2224 defined in the firing member 2220 so that distal pushing force and / or proximal A tensile force can be transmitted from the firing member 2220 to the lock sleeve 2402. When the locking sleeve 2402 is in its engaged position, the second locking member 2406 is received within a drive notch 2232 defined in the articulation driver 2230 so that the distal pushing force applied to the locking sleeve 2402 and / or A proximal tensile force can be transmitted to the proximal joint driver 2230. In effect, firing member 2220, lock sleeve 2402, and proximal joint driver 2230 will move relative to each other when lock sleeve 2402 is in its engaged position. On the other hand, when the locking sleeve 2402 is in its disengaged position, the locking protrusion 2404 cannot be disposed within the drive notch 2224 of the firing member 2220, resulting in a distal push force and / or a proximal pull force. Cannot be transmitted from the firing member 2220 to the lock sleeve 2402. Accordingly, the distal pushing force and / or the proximal tension force may not be transmitted to the proximal joint driver 2230. Under such circumstances, firing member 2220 may be slid proximally and / or distally relative to lock sleeve 2402 and proximal joint driver 2230.

  As also described above, the elongate shaft assembly 2200 further includes a switch drum 2500 that is rotatably received on the closure sleeve 2260. Switch drum 2500 includes a hollow shaft segment 2502 having a shaft boss 2504 formed thereon for receiving an outwardly projecting actuating pin 2410 therein. In various situations, the actuation pin 2410 extends through the slot into a longitudinal slot provided in the lock sleeve 2402 so that its axial direction when the lock sleeve 2402 is engaged with the articulation driver 2230. Make exercise easier. The rotary torsion spring 2420 is configured to engage a boss 2504 on the switch drum 2500 and a portion of the nozzle housing 203 to apply a biasing force to the switch drum 2500. The switch drum 2500 can further comprise an at least partially circumferential opening 2506 defined therein, the opening having a circumferential mount extending from the nozzle halves 202, 203. It can be configured to accept and allow relative rotation between switch drum 2500 and proximal nozzle 201 but not translation. As described above, when the switch drum 2500 rotates, the operating pin 2410 and the lock sleeve 2402 eventually rotate between the engaged position and the disengaged position. Thus, in essence, nozzle 201 is articulated in various ways as described above, as well as in various ways in US patent application Ser. No. 13 / 803,086, current US Patent Application Publication No. 2014/0263541. It can be used to operably engage and disengage the system and firing drive system.

  Referring to FIG. 27, the closure sleeve assembly 2260 includes a double pivot closure sleeve assembly 2271. According to various configurations, the double pivot closure sleeve assembly 2271 includes an end effector closure sleeve 2272 having upper and lower distal protruding tangs. The upper double pivot link 2277 is an upwardly projecting distal that engages the upper proximal pinhole of the upper proximal protruding tongue and the upper proximal pinhole of the upper distal protruding tongue, respectively, on the closure sleeve 2260 And a proximal pivot pin. Lower double pivot link 2278 includes an upward projecting distal pivot pin and a proximal pivot pin, each of which is a lower distal pin of the lower proximal projecting tongue. Engage with the hole and the lower proximal pinhole of the lower distal protruding tongue.

  The elongate shaft assembly 2200 also includes a surgical end effector 2300 similar to the surgical end effector 300 described above. As can be seen in FIG. 27, the surgical end effector 2300 includes an elongate channel 2302 that is configured to operably support a surgical staple cartridge 2304 therein. The elongate channel 2302 has a proximal end portion 2320 that includes two upstanding outer walls 2322. Surgical end effector 2300 further includes an anvil 2310 that has an anvil body 2312 having a staple-formed lower surface 2313 formed thereon. The proximal end 2314 of the anvil body 2312 is bifurcated by a firing member slot 2315 to form two anvil attachment arms 2316. Each anvil mounting arm 2316 includes a side protruding anvil trunnion 2317. A trunnion slot 2324 is provided in each outer wall 2322 of the elongate channel 2302 for receiving a corresponding one of the anvil trunnions 2317 therein. Such a configuration serves to movably secure the anvil 2310 to the elongate channel 2302 so as to selectively pivotably move between an open position and a closed or clamped position. The anvil 2310 is moved to the closed position by advancing the closure sleeve 2260, more specifically the end effector closure sleeve 2272, over the tapered mounting arm 2316, whereby the anvil 2310 is closed. It will be moved distally while pivoting to position. A horseshoe-shaped opening 2273 configured to engage an upstanding tab 2318 on the anvil 2310 of the end effector 2300 is provided in the end effector closure sleeve 2272. To open the anvil 2310, the closure sleeve 2260, and more particularly the end effector closure sleeve 2272, is moved in the proximal direction. In doing so, the central tab portion defined by the horseshoe-shaped opening 2273 cooperates with the tab 2318 on the anvil 2310 to pivot the anvil 2310 back to the open position.

  Referring to FIGS. 26, 28 and 29, as described above, the elongate shaft assembly 2200 includes a joint lock 2350 that is substantially equivalent to the joint locks 350 and 810 described above. The components of the joint lock 2350 that are different from the components of the joint lock 350 and that are necessary to understand the operation of the joint lock 350 will be described in more detail below. As described above, the articulation lock 2350 can be configured and operated to selectively lock the end effector 2300 in place. Such a configuration allows surgical end effector 2300 to rotate or articulate relative to shaft closure tube 2260 when joint lock 2350 is in its unlocked state. In addition to the above, when the proximal joint driver 2230 is operatively engaged with the firing member 2220 via the clutch system 2400, the firing member 2220 can cause the proximal joint driver 2230 to be proximal and / or distal. Can be moved to. Regardless of whether it is proximal or distal, movement of the proximal joint driver 2230 can unlock the joint lock 2350 as described above. This embodiment includes a proximal lock adapter member 2360 that is movably supported between a proximal spine 2210 and a distal spine 2212. Proximal lock adapter 2360 receives therein a first locking element 2364 and a second locking element 2366 that are pivoted on a frame rail 2368 extending between proximal frame 2210 and distal frame 2212. A lock cavity 2362. The articulation lock 2350 operates in the various manners described above and is not further described herein for the sake of brevity.

  As can be seen in FIGS. 26, 28 and 29, a first distal joint driver 2370 is attached to the proximal lock adapter 2360. The first distal joint driver 2370 is operably attached to a second distal joint driver 2380 that operably interfaces with the elongated channel 2302 of the end effector 2300. Second distal joint driver 2380 includes a proximal pulley 2383 and a cable 2382 that is pivotally supported on distal pulley 2392. Distal pulley 2392 is non-rotatably supported or integrally formed on end effector mounting assembly 2390 and includes a detent or pocket 2396. In the illustrated example, end effector mounting assembly 2390 is moved to proximal end 2320 of elongate channel 2302 by a spring pin 2393 extending through a hole in end effector mounting assembly 2390 and a hole 2394 in proximal end 2320 of elongate channel 2302. It is attached impossible. Proximal pulley 2383 is rotatably supported on distal spine 2212. The distal end of the distal spine 2212 has a pivot pin 2213 formed thereon, and the pivot pin 2213 is rotatably received in a pivot hole 2395 formed in the end effector mounting assembly 2390. It is configured as follows. Such a configuration facilitates pivotal movement (ie, articulation) of the elongate channel 2302 relative to the distal spine 2212 about the articulation axis BB defined by the pivot hole 2395 and the pin 2213.

  In one form, cable 2382 can be made from, for example, stainless steel, tungsten, aluminum, titanium, and the like. The cable may have a braid or multiple strand structure with various numbers of strands to obtain the desired level of tensile strength and flexibility. In various configurations, for example, cable 2382 may range from 0.08 centimeters to 0.2 centimeters (0.03 inches to 0.08 inches), more preferably from 0.1 centimeters to 0.2 centimeters. In the range (0.05 inch to 0.08 inch). Preferred cables can be made from, for example, semi-rigid to fully rigid 300 series stainless steel. In various configurations, the cable may also be coated with, for example, Teflon, copper, etc., for example, to improve lubricity and / or reduce stretch. In the illustrated example, the cable 2382 has a lug 2384 attached to one end thereof, eg, by crimping, and a lug 2385 attached to the other end. The first distal joint driver 2370 includes a pair of spaced cleats 2372, 2374 that are sufficiently spaced from one another to receive lugs 2384, 2385 therebetween. For example, proximal cleat 2372 includes a proximal slot 2373 for receiving a portion of cable 2382 adjacent to lug 2384, and distal cleat 2374 includes a corresponding portion of cable 2382 adjacent to lug 2385. It includes a distal slot 2375 for receiving. Slots 2373 and 2375 are sized relative to lugs 2384 and 2385, respectively, to prevent lugs 2384 and 2385 from passing therethrough. Proximal slot 2375 is oriented at an angle relative to distal slot 2375 to securely grip a corresponding portion of cable 2382 therein. See FIG. A mounting ball or lug 2398 is attached to the endless member 2382 and is received in a detent or pocket 2396 formed in the distal pulley 2392. See FIG. Thus, when the first distal joint driver 2370 is retracted axially in the proximal direction PD in the manner described above, the endless member 2382 will move the end effector in the direction represented by the arrow 2376 in FIG. 2300 will be articulated. Conversely, when the first distal joint driver 2370 is advanced axially in the distal direction DD, the surgical end effector 2300 is articulated in the direction represented by arrow 2399 in FIG. In addition, the proximal and distal cleats 2372, 2374 are sufficiently spaced to accommodate the lugs 2384, 2385 therebetween. In order to apply sufficient tension to the cable 2382, a tensioning wedge 2378 is used as shown in FIGS. 29-32 so that when the cable is actuated, articulation motion is applied to the end effector 2300. . In the alternative configuration shown in FIG. 35, the proximal cleat 2374 'is not initially attached to the first joint driver 2370. Proximal cleat 2374 'is disposed on first distal joint driver 2370 to capture lugs 2384 and 2385 between distal cleat 2372 and proximal cleat 2374'. Proximal cleat 2374 ′ is moved toward distal cleat 2372 until a sufficient amount of tension is generated on cable 2382, and then proximal cleat 2374 ′ is attached to first distal joint driver 2370. . For example, the proximal cleat 2374 'can be attached to the first distal joint driver 2370 by laser welding or other suitable form of attachment means or fastener configuration.

  36-39, the surgical instrument includes, for example, a central firing beam support member 2286 that extends across the articulation joint to support the flexible firing beam assembly 2280. It is configured. In one form, the central firing beam support member 2286 comprises a flexible plate member or band and has a downwardly projecting distal mounting tab 2287 attached to the surgical end effector and an upwardly extending proximal end attached to the elongate shaft assembly. Part 2288. In at least one configuration, distal attachment tab 2287 is attached to end effector mounting assembly 2390 by spring pin 2393 and proximal end portion 2288 is pinned to distal spine 2212 by a pin (not shown). A central firing beam support member 2286 is positioned along the centerline or shaft axis of the device and serves to support the firing beam during articulation. This is a “blow-out” plate or a side support plate that is located on the outer side of the firing beam, thereby increasing the tension and compressive force experienced during articulation by deviating from the shaft axis. This is different from the configuration using. In the illustrated example, the longitudinally movable flexible firing beam assembly 2280 comprises a stacked beam structure that includes at least two beam layers, the at least one beam layer surrounding one adjacent outer portion of the central firing beam support member. Configured to pass, and the at least one other beam member is configured to pass another adjacent outer portion of the central firing beam support member. In the example shown, the two stacks 2282 and 2284 are configured to pass near each side of the flexible tension transmitting member. See, for example, FIGS. 35 and 36. In various embodiments, the laminates 2282 and 2284 can comprise, for example, stainless steel bands that are interconnected, for example, by welding or pinning to each other at their proximal ends, but their corresponding distal ends. The parts are not connected to each other so as to separate the stack or band relative to each other when the end effector is articulated. Each pair of stacks or bands 2282, 2284 is represented as a lateral firing band assembly 2285 of firing beam assembly 2280. Thus, as shown in FIG. 36, one lateral firing band assembly 2285 is moved outwardly of each central joint bar 2286 such that it moves axially relative to the central joint bar 2286 by a series of lateral load support members 2290. Supported on the part. Each side load support member 2290 is made of, for example, stainless steel, aluminum, titanium, liquid crystal polymer material, plastic material, nylon, acrylonitrile butadiene styrene (ABS), polyethylene, etc., and formed with arcuate ends 2292 on both sides. Can be done. Each lateral load support member 2290 also has an axial passage 2294 extending therethrough to receive a side firing band assembly 2285 and central articulation bar 2286 assembly. As can be seen most specifically in FIG. 38, each axial passage is defined by two opposing arcuate surfaces 2295 that facilitate movement of the side load support member 290 on the longitudinally movable flexible firing beam assembly 2280. Has been. The side load support members 2290 are continuously arranged on the side firing band assembly 2285 and the central articulation bar 2286 so that the opposing arcuate ends 2292 correspond to the adjacent side load support members 2290. It comes into contact with the arcuate end 2292. See, for example, FIGS. 36 and 37.

  Referring again to FIG. 37, it can be seen that the proximal end portion 2288 of the central joint bar 2286 extends downward for attachment to the distal spine 2212. The distal end 2287 of the firing beam assembly 2280 is attached to a firing member 2900 of the type and structure described above, for example. As can be seen in this view, firing member 2900 includes a projecting member body 2902 that extends vertically, with firing member body 902 having a tissue cutting surface or blade 2904 thereon. In addition, a wedge thread 2910 may be mounted within the surgical staple cartridge 2304 for driving contact with the firing member 2900. As the firing member 2900 is driven distally through the cartridge body 2304, the wedge surface 2912 of the wedge sled 2910 contacts the staple driver, causing the driver and the surgical staple supported thereon to face up in the cartridge 2304. To operate. Firing beam assembly 2280 may be operated in the various manners described above. When the firing beam assembly 2280 is advanced distally about the articulation joint, the side load support member 2290 can help resist buckling loads on the firing beam assembly 2280. The side load support member 2290 can also reduce the amount of force required to articulate the end effector and can accommodate larger articulation angles as compared to other articulated joint configurations. A fixed central firing beam support member 2286 serves to support tensile loads generated during articulation and firing.

  As explained above, the launch beam assembly comprises a stacked beam structure including at least two beam layers. When the firing beam assembly is advanced distally (during firing), the firing beam assembly is essentially bifurcated by a central firing beam support member so that each portion of the firing beam assembly (ie, stack) is centrally fired. It passes through both sides of the beam support member.

  40-43 show the portion of another firing beam assembly 2280 'that is attached to the firing member 2900. As can be seen in this figure, the firing beam assembly 2280 has two outer beams or layers 2282 ′ each having a thickness indicated by “a” and four central portions each having a thickness indicated by “b”. A layered structure including the layer 2284 ′. In at least one configuration, for example, “a” is about 0.01 centimeters to 0.02 centimeters (0.005 inches to 0.008 inches), more preferably 0.020 centimeters (0.008 inches). “B” may be about 0.02 centimeters to 0.030 centimeters (about 0.008 inches to 0.012 inches), more preferably 0.025 centimeters (0.010 inches). It's okay. However, other thicknesses may be used. In the illustrated example, “a” is thinner than “b”. In another example, “a” is thicker than “b”. In an alternative configuration, for example, the laminate may be composed of three different thicknesses “a”, “b”, “c”, where “a” = 0.02 centimeters (0.006 inches). ), “B” = 0.025 centimeters (0.008 inches), “c” = 0.025 centimeters (0.010 inches) (the thickest laminate or band is in the middle of the assembly). In various configurations, there may be an even number of stacks or bands, where “c” is the single thickest stack in the middle.

  This laminate composition is appropriate due to the amount of strain applied to the beam assembly based on thickness and distance from the centerline of bending. Thicker laminates or bands that are closer to the centerline can experience the same level of strain as thinner laminates or bands that are away from the centerline, but this is because the thinner laminates or bands overlap with each other. This is because it is necessary to bend more greatly in view of the facts. The radius of curvature is steeper inside the curve away from the centerline. Given the same radius of curvature, thicker laminates or bands tend to experience greater internal stress compared to thinner laminates. Thus, a thinner side stack or band with a minimum radius of curvature may have the same plastic deformation potential as a thicker stack or band near the centerline. In other words, when the end effector articulates in a direction, the laminate or band located away from the direction of articulation has the largest bending radius and is the closest to the articulation direction. The band has the closest bend radius. However, when the end effector is articulated in the opposite direction, the opposite is true. Laminates that are inside the stack are subject to the same deflection, but their bend radii are always within the range of the outer bend radii. Thus, it may be desirable to place a thinner laminate on the outside of the stack to maintain flexibility. However, there is an added benefit to having a thicker material on the inside to maximize stiffness and buckling resistance. Alternatively, if the end effector needs to be articulated only in a single direction, the laminate or band located away from the direction of the articulation will receive the maximum bending radius in the direction of articulation. The positioned laminate or band will have the closest bend radius. However, since the end effector does not articulate in the opposite direction, the reverse is no longer true and therefore the stacked stack need not be symmetrical. Thus, in such a configuration, it is desirable that the thinnest laminate or band is the one that receives the steep bend radius (the laminate or band on the side of the direction of articulation).

  In still other configurations, the laminate or band may be made from a variety of metals having varying strengths and moduli. For example, the outer laminate or band may have the same thickness as the inner laminate or band, the inner laminate or band is made from 300 series stainless steel, and the outer laminate or band is titanium or nitinol. It is made from.

  As can also be seen in FIGS. 42 and 43, the distal firing beam assembly 2280 'can be effectively used with the series of side load support members 2290 described above. The distal firing beam assembly 2280 'can also be used with the central articulation bar 2286 in the manner described above so that some of the layers or side beams (or bands or laminates) are on the side of the central articulation bar. It will be clear that it advances axially along. In some embodiments, the layers advanced on each side of the central articulation bar 2286 can have the same thickness, composition, shape and configuration. In other configurations, one side of the central articulation bar to achieve the desired range of movement and flexibility while maintaining the desired amount of stiffness to avoid buckling during firing. The layer traveling along the portion has a thickness and / or composition and / or shape that is different from the thickness and / or composition and / or shape of the layer traveling along the other side of the central joint bar. May be.

  44-46 show a portion of another elongate shaft assembly 3200 that includes a surgical end effector 300 of the type and structure described above. Other forms of surgical end effectors can also be used. The elongate shaft assembly 3200 also includes a longitudinally movable flexible firing beam assembly 3280 that is attached to the firing member 900. In alternative configurations, the distal end of firing beam assembly 3280 may be configured to perform various operations within the surgical end effector without the need for a firing member attached thereto. The flexible firing beam assembly 3280 can comprise various types of stacked beam configurations described herein. In one configuration, at least two compression bands are used to laterally support the flexible firing beam assembly 8280 as it traverses the articulation joint. The illustrated embodiment uses a total of four compression bands to laterally support the flexible firing beam as it traverses the articulation joint. For example, the elongate shaft assembly 3200 further includes a spine 3210 that includes a distal end 3217, which includes two distal cavities or notches 3219 formed therein and two proximal cavities or And a notch 3219 ′. One distal cavity 3219 houses the first proximal end 3904 of the first compression band 3900 located on one outer portion 3281 of the flexible firing beam assembly 3280 and the other distal cavity 3281. The cavity 3219 houses the second proximal end 3905 of the second compression band 3901 located on another outer portion 3283 of the flexible firing beam assembly 3280. The first compression band 3900 includes a first distal end 3902 that is formed on the proximal end 320 of the elongated channel 302 of the surgical end effector 300. Is mounted in an upright side support wall 330. Similarly, the second compression band 3901 includes a second distal end 3907 that is also on the proximal end 320 of the elongated channel 302 of the surgical end effector 300. Mounted in the corresponding upstanding side support wall 330 formed. The first and second distal compression bands 3900, 3901 may be made from spring steel or the like so that the proximal ends 3904, 3905 are movably received within the distal notch 3219 as shown. It may be bent in a U-shaped form so as to form an urging portion configured as follows. With such a configuration, the first and second distal compression bands 3900, 3901 hold the proximal ends 3904, 3905 within their corresponding distal notches 3219 while the surgical end effector 300. It becomes possible to bend in response to the joint movement.

  As can also be seen in FIGS. 44-46, the elongate shaft assembly 3200 further includes a third compression band 3910 and a fourth compression band 3911. Similar to the first and second compression bands 3900, 3901, the third and fourth compression bands 3910, 3911 may be fabricated from spring steel. As can be seen in FIGS. 44-46, the third compression band 3910 may be disposed between the first compression band 3900 and the outer portion 3281 of the flexible firing beam assembly 3280, and the fourth compression band 3911 may be disposed between the second compression band 3901 and the other outer portion 3283 of the flexible firing band assembly 3280. The third proximal end 3914 of the third compression band 3910 and the fourth proximal end 3915 of the fourth compression band 3911 are each movable within a corresponding proximal cavity 3219 ′ in the spine 3210. It may be folded in a U-shaped fashion to form a biased portion that is received. Third distal end 3912 of third compression band 3910 and fourth distal end 3917 of fourth compression band 3911 are mounted within corresponding side support walls 330 of surgical end effector 300. ing.

  The elongate shaft assembly 3200 further includes a movable support link assembly 3920 for further laterally supporting the flexible firing beam assembly 3280 when the end effector 300 is articulated about the articulation axis. As can be seen in FIGS. 44-46, the movable support link assembly 3920 includes a central support member 3922 movably coupled to the surgical end effector 300 as well as the elongate shaft assembly 3200. In one embodiment, the central support member 3922 is pivotally pinned to the proximal end 320 of the elongate channel 302. The central support member 3922 further includes a proximal protruding tab 3926 that has an elongated proximal slot 3928 therein. The proximal slot 3928 is configured to slidably receive a central support pin 3211 formed on the spine 3210. With such a configuration, the central support member 3922 can be dynamically moved to maintain proper lateral support on the firing beam assembly 3280 while accommodating a wider range of articulation. Relative pivoting and axial movement between the shaft and the spine 3210 of the elongated shaft assembly 3200 is possible. As can be seen in FIGS. 44-46, the central support member 3922 further includes a centrally disposed slot 3930 for axially receiving the firing beam assembly 3280 therethrough.

  As can be further seen in FIGS. 44-46, the movable support link assembly 3920 further comprises an elongated movable pivot link 3940. The pivot link 3940 includes a central body portion 3942 having a proximal protruding proximal nose portion 3944 and a distal protruding distal nose portion 3944. The pivot link 3940 further includes a first downwardly projecting side support wall 3945 and a second downwardly projecting side support wall 3946, defining a beam slot 3947 therebetween. As can be seen in FIG. 46, the firing beam assembly 3280 includes the first side support wall 3945 and the second side support wall 3946 during actuation of the firing beam assembly 3280 and articulation of the surgical end effector 300. It is comprised so that it may extend in between. Further, in the illustrated configuration, for example, the first compression band 3900 extends between the first side support wall 3945 and the third compression band 3910, and the second compression band 3901 is the second side support. Extending between the wall 3946 and the fourth compression band 3911. The first side support wall 3945 includes an inward first arcuate surface 3948 and the second side support wall 3946 includes an inward second arcuate surface 3949. The first and second arcuate surfaces 3948, 3949 serve to provide lateral support to the firing beam assembly 3280 when the firing beam assembly 3280 bends during articulation of the end effector 300. These rounded surfaces may be adapted to the outer diameter of the firing beam assembly 3280 and compression bands 3900, 3901, 3910, 3911 depending on the direction and extent of articulation. As can be seen in FIGS. 44 and 45, the distal end 3217 of the spine 3210 includes a pair of left and right opposing shaft notches 3218 in which the surgical end effector is centered about the articulation axis. Depending on the direction of articulation, the round proximal protruding proximal nose portion 3944 of the pivot link 3940 extends. Similarly, left and right opposing support notches 3932 are provided in the central support 3922 to accommodate the distal protruding distal nose portion 3944 of the pivot link 3940 depending on the direction in which the end effector is articulated. Yes. Such a notch configuration provides lateral support to the pivot link 3940 and at the same time serves to properly align the pivot link 3940 in a direction suitable to accommodate the direction of articulation.

  47-51 illustrate another elongate shaft assembly 4200 that is similar in some aspects to the elongate shaft assembly 2200 described above, except for various differences described in more detail below. The components of the elongate shaft assembly 2200 described in detail above will have similar element numbers for the sake of brevity, e.g., when used with portions of the surgical instrument 10 described above, e.g. Further details will not be described beyond what may be necessary to understand the operation of the shaft assembly 4200. As can be seen in FIG. 47, in at least one example, the elongated shaft assembly 4200 includes an articulation lock 2350. As described in detail above, joint lock assembly 2350 includes a proximal lock adapter 2360 that is coupled (eg, pinned) to a first distal joint driver 4370. As can be seen in FIGS. 47 and 50, the first distal joint driver 4370 has a first proximal gear rack segment 4371 and a first distal gear rack segment 4373 formed on its distal end 4372. Including. The elongate shaft assembly 4200 also includes a second distal joint driver 4380 that is formed on the second proximal gear rack segment 4381 and its distal end 4382. Second distal gear rack segment 4383.

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

  The elongate shaft assembly 4200 shown in FIG. 47 includes a firing beam assembly 3280 that is attached to a firing member (not shown). The launch beam assembly 3280 may comprise a stacked beam configuration of the type described herein. The operation of the firing member has been described in detail above and will not be repeated for the sake of brevity. As can also be seen in FIG. 47, in US patent application Ser. No. 14 / 575,117, the entire title of which is incorporated herein by reference, the title of the invention “SURGICAL INSTRUMENTS WITH ARTULABLE END EFFECTORS AND MOVEABLE FIRING BEAM SUPPORT RA”. A firing beam support member 4400 of the type disclosed is used to support the firing beam assembly 3280 during articulation of the surgical end effector 4300. FIG. 52 illustrates the use of the distal firing beam assembly 2280 in the elongate shaft assembly 4200. As can be seen in this figure, a plurality of lateral load support members 2290 are used in the manner described above to support the distal firing beam assembly 2280 when the surgical end effector 4300 is articulated. .

  FIGS. 53-58 illustrate another elongate shaft assembly 5200 similar to the elongate shaft assembly 2200 described above in some aspects, except for various differences described in more detail below. The components of the elongate shaft assembly 5200 described in detail above in connection with the elongate shaft assembly 2200 are identified with similar element numbers for the sake of brevity, for example, the portions of the surgical instrument 10 described above. When used with, it will not be described in further detail beyond what may be necessary to understand the operation of the elongate shaft assembly 5200.

  Similar to the elongate shaft assembly 2200, the illustrated elongate shaft assembly 5200 includes a clutch assembly 2400 that is pushed and pulled into the surgical end effector 300 operably coupled to the elongate shaft assembly 5200. It is configured to operatively engage an articulation system 5600 configured to apply motion. In this embodiment, the clutch assembly 2400 includes a lock collar or lock sleeve 2402 disposed about the firing member 2220, which lock operably couples the articulation system 5600 to the firing member 2220. Between the engaged position and the disengaged position where the articulation system 5600 is not operably coupled to the firing member 2220. With particular reference to FIGS. 54-56, in the illustrated example, articulation system 5600 includes a joint disk or rotating member 5602 that is supported for rotational movement within nozzle 201. The articulation disk 5602 is rotatably driven by a drive coupling assembly 5610. In the illustrated example, drive coupling assembly 5610 includes drive pin 5621 attached to articulation disk 5602. A joint drive link 5614 is operably attached to the drive pin 5612 by a connector 5616 that facilitates some movement of the joint drive link 5614 relative to the drive pin 5612. See Figures 54-56. The articulation drive link 5614 includes a drive coupler 5618 that is configured to drively engage an outward locking member 2406 on the lock sleeve 2402. See FIG. 53.

  As described above, the locking sleeve 2402 can comprise a cylindrical or at least substantially cylindrical body having a longitudinal aperture 2403 configured to receive the firing member 2220 defined therein. See FIG. 53. The lock sleeve 2402 can include a diametrically opposed inward lock protrusion 2404 and an outward lock member 2406. Lock protrusion 2404 may be configured to be selectively engaged with firing member 2220. More specifically, when the locking sleeve 2402 is in its engaged position, the locking protrusion 2404 is disposed within the drive notch 2224 defined in the firing member 2220 so that distal pushing force and / or proximal A tensile force can be transmitted from the firing member 2220 to the lock sleeve 2402. When the lock sleeve 2402 is in its engaged position, the outward lock member 2406 is received in the drive notch 5619 of the drive coupler 5618 as shown in FIG. 53, so that the distal pushing force applied to the lock sleeve 2402 and A proximal tensile force can be transmitted to the articulation drive link 5614. In effect, the firing member 2220, the lock sleeve 2402, and the articulation drive link 5614 will move relative to each other when the lock sleeve 2402 is in its engaged position. On the other hand, when the locking sleeve 2402 is in its disengaged position, the locking protrusion 2404 cannot be disposed within the drive notch 2224 of the firing member 2220, resulting in a distal push force and / or a proximal pull force. Cannot be transmitted from the firing member 2220 to the lock sleeve 2402. Similarly, the driving force DF cannot be applied to the joint disk 5602. Under such circumstances, firing member 2220 may be slid proximally and / or distally relative to lock sleeve 2402 and proximal joint driver 2230.

  As also described above, the elongate shaft assembly 5200 further includes a switch drum 2500 that is rotatably received on the closure sleeve 2260. See FIG. 53. Switch drum 2500 includes a hollow shaft segment 2502 having a shaft boss 2504 formed thereon for receiving an outwardly projecting actuating pin 2410 therein. In various circumstances, the actuation pin 2410 extends into a longitudinal slot 2401 provided in the lock sleeve 2402 such that the shaft of the lock sleeve 2402 when the lock sleeve 2402 is engaged with the articulation drive link 5614. Promote directional movement. The torsion spring 2420 is configured to engage a boss 2504 on the switch drum 2500 and a portion of the nozzle housing 201 to apply a biasing force to the switch drum 2500. Similarly, as described above, the switch drum 2500 can further comprise an at least partially circumferential opening defined therein, the opening extending from the nozzle half. And can be configured to allow relative rotation between the switch drum 2500 and the nozzle housing 201 but not translation. As described above, when the switch drum 2500 rotates, the operating pin 2410 and the lock sleeve 2402 eventually rotate between the engaged position and the disengaged position. Thus, in essence, the nozzle housing 201 is articulated in the various manners described above, as well as in the various manners in US Patent Application No. 13 / 803,086, current US Patent Application Publication No. 2014/0263541. It can be used to operably engage and disengage system 5600 and firing drive system.

  Referring again to FIGS. 53-56, the example articulation system 5600 further includes a “first” or right joint linkage 5620 and a “second” or left joint linkage 5640. The first joint linkage 5620 includes a first joint link 5622 that includes a first joint pin 5624 that is movably received within a first joint slot 5604 of the joint disc 5602. Including. The first articulation link 5622 is movably pinned to a first articulation connector 5626 that is configured to engage the articulation lock 2350. As described above, the articulation lock 2350 can be configured and operated to selectively lock the surgical end effector 300 in place. Such a configuration allows surgical end effector 300 to rotate or articulate relative to shaft closure tube 2260 when joint lock 2350 is in its unlocked state. In addition to the above, when the articulation link 5614 is operatively engaged with the firing member 2220 via the clutch system 2400, the firing member 2220 rotates the articulation disk 6502 to proximally move the first articulation linkage 5620. Can be moved laterally and / or distally. Regardless of whether it is proximal or distal, movement of the first joint connector 5626 of the first joint linkage 5620 can unlock the joint lock 2350 as described above. Proximal lock adapter 2360 is a lock for receiving therein a first locking element 2364 and a second locking element 2366 that are pivotally supported on a frame rail extending between the proximal frame 2210 and the distal frame. A cavity 2362 is included. The operation of the joint lock 2350 has been described above and is not further described herein for the sake of brevity. As can be seen in FIG. 53, a first distal joint driver 5370 is attached to the proximal lock adapter 2360. First distal joint driver 5370 is operably attached to proximal end 320 of elongate channel 302 of surgical end effector 300.

  As also indicated above, the illustrated example articulation system 5600 further includes a “second” or left articulation linkage 5640. As can be seen in FIGS. 54-56, the second joint linkage 5640 includes a second joint link 5642, which is movably received within the second joint slot 5606 of the joint disc 5602. A second articulation pin 5644. The second articulation link 5642 is pinned to a second articulation bar 5646 that is attached to the proximal end 320 of the elongate channel 302 of the surgical end effector 300. Referring to FIG. 54, the articulation system 5600 includes a first articulation member 5628 received in the first articulation slot 5604 and a second articulation bias received in the second articulation slot 5606. And a member 5648. FIG. 54 shows an articulation system 5600 in a neutral or non-articulated configuration. As can be seen in this figure, the first joint pin 5624 is in contact with the first joint biasing member 5628 and the second joint pin 5644 is in contact with the second joint biasing member 5648. However, when in its neutral position, the first and second joint biasing members 5628, 5648 may not be in a compressed state. FIG. 55 shows that a driving force DF is applied to the joint disk 5602 in the proximal direction PD by the joint drive link 5614 in the manner described above. Applying the driving force DF in the proximal direction “PD” results in rotation of the joint disk 5602 in the direction of rotation represented by the arrow 5601. When the articulation disk 5602 rotates in the rotational direction 5601, the end of the second articulation slot contacts the second articulation pin 5644 and enters the second articulation linkage 5640 and ultimately the second articulation bar 5646. Apply a pressing force to Conversely, the first articulation member 5628 pushes the first articulation pin 5624 in the direction of arrow 5601 within the first articulation slot 5604 so that the tensile force is applied to the first direction PD in the first direction PD. Added to the articulation linkage 5620. This proximal tensile force is transmitted to the first distal joint driver 5370 through the joint lock 2350. Such “pushing and pulling motion” applied to the surgical end effector will cause the surgical end effector 300 to articulate about the articulation axis in the direction represented by arrow 5300. See FIG. 53. When the joint disk 5602 is in the position shown in FIG. 55, the second joint biasing member 5648 may be in a compressed state, and the first joint biasing member may not be compressed. Therefore, when the application of the driving force DF to the joint drive link 5614 is interrupted, the second joint biasing member 5648 can bias the joint disk 5602 again to the neutral position shown in FIG. 54, for example.

  Conversely, as shown in FIG. 56, when the driving force DF is applied against the joint drive link 5614 in the distal direction DD, the joint disk 5602 rotates in the rotational direction represented by the arrow 5603. When the joint disk 5602 rotates in the rotational direction 5603, the end of the first joint slot 5604 contacts the first joint pin 5624 and through the joint lock 2350 to the first joint linkage 5620 and ultimately the first A pushing force is applied to one distal joint driver 5370. In addition, the second articulation biasing member 5648 pushes the second articulation pin 5644 in the direction of arrow 5603 within the second articulation slot 5606, so that a tensile force is applied in the second direction PD in the second direction PD. Added to the joint linkage 5640. This proximal tensile force is transmitted to the second articulation bar 5646. Such “pushing and pulling motion” applied to the surgical end effector 300 will cause the surgical end effector 300 to articulate about the articulation axis in the direction represented by arrow 5302. See FIG. 53. When the joint disk 5602 is in the position shown in FIG. 56, the first joint biasing member 5628 may be in a compressed state, and the second joint biasing member 5648 may not be compressed. Therefore, when the application of the driving force DF to the joint drive link 5614 is interrupted, the first joint biasing member 5628 can bias the joint disk 5602 again to the neutral position shown in FIG. 54, for example.

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

  Referring to FIGS. 53 and 58, the elongate shaft assembly 5200 may also include a firing beam assembly 2280 attached to a firing member 900 of the type described above. Firing beam assembly 2280 is attached to firing member 2220 and may be advanced and retracted axially in the various manners described above. The elongate shaft assembly 5200 further comprises a plurality of support link assemblies 920 for laterally supporting the distal firing beam 2280 when the surgical end effector 300 is articulated about the articulation axis BB. Also good. As can be seen in FIG. 58, the plurality of support link assemblies 920 include a central support member 922 that is pivotally pinned to the proximal end 320 of the elongate channel 302 in the manner described above. Central support member 922 further includes a centrally disposed slot 930 for axially receiving distal firing beam 2280 therethrough. The plurality of support link assemblies 920 further comprises a proximal support link 940 and a distal support link 950. Proximal support link 940 includes a body portion 942 having a round proximal end 943 and a round distal end 944. Proximal support link 940 further includes a pair of downwardly projecting side support walls 945 that define a proximal slot therebetween. Similarly, the distal support link 950 includes a body portion 952 having a round proximal end 953 and a round distal end 954. The distal support link 950 further includes a pair of downwardly projecting side support walls 955 that define a distal slot therebetween. As can be seen in FIG. 58, the distal firing beam 2280 is configured to extend between the side support wall 945 of the proximal support link 940 and the side support wall 955 of the distal support link 950. Each support wall 945 and 955 includes an inwardly arcuate surface as described above. These support surfaces serve to provide lateral support to the distal firing beam assembly 2280 when the distal firing beam 2280 is bent during articulation of the end effector 300. In addition, closure sleeve assembly 2260 may include a double pivot closure sleeve assembly of the type described above configured to operably interact with the anvil of surgical end effector 300. Operation of the closure sleeve assembly 2260 results in the surgical effector anvil opening and closing in the various manners described above.

  FIG. 59 shows a portion of another elongate shaft assembly 5700 that may be substantially equivalent to the elongate shaft assembly 5200, except for the differences described below. Specifically, the articulation disk 5702 of the articulation system 5701 is rotated by a worm gear motor 5710 operably supported by the nozzle housing 201. In one embodiment, for example, the driven gear 5703 is formed integrally with the articulation disk 5702 or non-movably attached to the articulation disk 5702 so that the motor 5710 engages with the worm gear drive 5712. Eggplant. In the illustrated example, the first articulating rod or member 5720 can be directly attached to a portion of the surgical end effector in any of the various manners described herein. A first articulation pin 5722 is attached to the first articulation rod 5720 and is received in an arcuate first articulation slot 5704 formed in the articulation disc 5702. A first joint biasing member 5705 is received in the first joint slot 5704 for biasing contact with the first joint pin 5722. Similarly, the second articulating rod or member 5730 can be directly or indirectly attached to a portion of the surgical end effector in any of the various manners described herein. A second articulation pin 5732 is attached to the second articulation rod 5730 and is received in an arcuate second articulation slot 5706 formed in the articulation disc 5702. A second joint biasing member 5707 is received in the second joint slot 5706 to bias the contact with the second joint pin 5732.

  FIG. 59 shows an articulation system 5701 in a neutral or non-articulated configuration. As can be seen in this figure, the first joint pin 5722 is in contact with the first joint biasing member 5705, and the second joint pin 5732 is in contact with the second joint biasing member 5707. However, when in the neutral position, the first and second joint biasing members 5705 and 5707 may not be in a compressed state. By actuating motor 5710 to rotate joint disk 5702 in the rotational direction represented by arrow 5601, a tensile motion is applied to first joint rod 5720, causing first joint rod 5720 to move in the proximal direction PD. At the same time, a push motion is applied to the second joint rod 5730 to move the second joint rod 5730 in the distal direction “DD”. Conversely, by actuating motor 5710 to rotate joint disk 5702 in the direction of rotation represented by arrow 5603, a pushing motion is applied to first joint rod 5720, causing first joint rod 5720 to move distally. Simultaneously being moved in the direction DD, a tensile motion will be applied to the second joint rod 5730 to move the second joint rod 5730 in the proximal direction PD. Such “push and pull motion” applied to the surgical end effector will articulate the surgical end effector about the articulation axis in the various manners described above.

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

  FIG. 61 shows one form of the driver disk 5820. As can be seen in this figure, the driver disk 5820 includes a first pair of first arcuate joint slots 5822L, 5822R, each having a first arcuate length FL. In addition, the driver articulation disk 5820 further includes a driver slot 5824 disposed centrally between the first articulation slots 5822, as can be seen in FIG. Depending on the method used to drive the driver joint disk 5820, the joint drive link 5614 or worm gear motor 5710 can interface with the driver joint disk 5820 in various ways as described above to cause the driver joint disk 5820 to rotate motion. Can be added. FIG. 62 shows one form of the driven joint disk 5830. As can be seen in this figure, the driven joint disk 5830 includes a second pair of second arcuate joint slots 5832L, 5832R, each having a second arcuate length “SL” that is shorter than the first arcuate length FL. Is included. In addition, the driven joint disk 5830 further includes a driver post 5834 that is configured to be movably received within the driver slot 5824.

  Referring now to FIGS. 60 and 63-65, the articulation system 5800 is attached directly or articulated to a portion of a surgical end effector in any of the various manners described herein. A first articulating rod 5840 that can be provided. A first articulation pin 5842 is attached to the first articulation rod 5840 and is received in corresponding first and second arcuate articulation slots 5822L, 5832L. Similarly, the second articulating rod or member 5850 can be directly attached to a portion of the same surgical end effector in any of the various manners described herein. A second articulation pin 5852 is attached to the second articulation rod 5850 and is received in the corresponding first and second arcuate articulation slots 5822R, 5832R. FIG. 60 illustrates an articulation system 5800 in a null position where a surgical end effector can be freely moved. FIG. 63 shows the placement of the articulation system 5800 when a rotational motion is first applied to the driver joint disc 5820 in the direction represented by arrow 5860. As can be seen in this figure, during the initial rotation of the driver joint disc 5820, the joint slots 5822L, 5832L are misaligned with each other, and the joint slots 5822R, 5832R are misaligned with each other, but the motion still remains on the articulation rods 5840, 5850. Not communicated. FIG. 64 shows the placement of the articulation system 5800 when a rotational motion is subsequently applied to the driver articulation disk 5820 in the direction of arrow 5860, which is, for example, a surgical end effector relative to the shaft axis. Is sufficient to result in a joint movement of 75 degrees. As can be seen in this figure, a pushing motion is applied to the first joint rod 5840 to move the first joint rod 5840 axially in the distal direction DD and a tensile motion is applied to the second joint rod 5850. As a result, the second joint rod 5850 is moved axially in the proximal direction PD. The movement of the first and second articulation rods 5840, 5850 in the opposite direction results in the articulation of the surgical end effector operably interface with them. FIG. 65 shows the placement of the articulation system 5800 when a rotational motion is applied to the driver articulation disk 5820 in the opposite direction represented by arrow 5862, which may be, for example, the opposite articulation. It is sufficient to result in a 75 degree articulation of the surgical end effector relative to the direction of the shaft axis. As can be seen in this figure, a pushing motion is applied to the second articulating rod 5850, the second articulating rod 5850 is moved axially in the distal direction DD, and a pulling motion is applied to the first articulating rod 5840. Thus, the first joint rod 5840 is moved axially in the proximal direction PD. This opposite movement of the first and second articulation rods 5840, 5850 results in the articulation of the surgical end effector operably attached thereto. In one configuration, the first articulation rod 5840 may apply only a tensile force to the surgical end effector when the articulation driver disk 5820 is rotated a sufficient distance to reach a 75 degree articulation range. Good.

  66-70 show a surgical end effector 6300 with first and second jaws that are simultaneously movable between an open position and a closed position relative to the shaft axis SA-SA. The first and second jaws may comprise a variety of surgical jaw configurations without departing from the spirit and scope of the present invention. Obtaining access to the target tissue using the surgical end effector jaws can sometimes be difficult. The operability of surgical end effectors, particularly surgical end effectors configured to cut and staple tissue, is determined by the distance between the point where the jaws are supported relative to each other and the nearest staple position. It can be improved if it is minimized. For example, a surgical end effector that uses only one movable jaw (ie, one of the jaws is fixed relative to the shaft axis) has a relatively wide movement of one movable jaw to accommodate the target tissue. It may be necessary to have a range. Such a wider range of movement can complicate the process of using end effectors to advantageously place the target tissue. Surgical end effector 6300 uses first and second jaws that move relative to each other and relative to the shaft axis about a common pivot axis. With such a configuration, for example, the distance between the pivot axis and the proximal staple position may be reduced compared to the same distance in a particular surgical end effector that uses only one movable jaw. It becomes possible.

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

  The illustrated surgical end effector 6300 is also configured to selectively articulate about an articulation axis BB substantially transverse to the shaft axis SA-SA. As can be seen in FIGS. 66-70, the surgical end effector 6300 includes an end effector mounting assembly 6390 that is rotatably received within, for example, a mounting hole 6392 of the end effector mounting assembly 6390. Is adapted to be pivotally mounted to a distal shaft frame (not shown) including a pivot pin configured in such a manner. Surgical end effector 6300 may be articulated by an articulation lock of the type described above and first and second articulated rod configurations. As can be seen in FIG. 70, the end effector mounting assembly 6390 further includes a pair of laterally extending trunnion pins 6394. The trunnion pin 6394 extends laterally from the outer side 6391 on either side of the end effector mounting assembly 6390, and the outer side 6391 also defines a pocket area 6395 configured to receive the firing member 6340 therein. Yes. The trunnion pin 6394 serves to define a pivot axis PA-PA about which the first and second jaws 6310, 6360 can pivot about. The proximal end 6314 of the first jaw 6310 or elongate channel 6312 is adapted to receive a corresponding one of the trunnion pins 6394 therein, and a pair of opposing U-shaped or open types. Slot 6316. Such an arrangement serves to pivotally or pivotably move the first jaw 6310 relative to the end effector mounting assembly 6390.

The illustrated surgical end effector 6300 further includes a second jaw 6360 that may include an anvil 6362. The illustrated anvil 6362 includes an anvil body 6364 that includes an elongated slot 6366 and two staple forming surfaces 6368 formed on each side. The anvil 6362 further includes a proximal end portion 6370 that is also adapted to receive a corresponding one of the trunnion pins 6394 therein, and is a pair of U-shaped. Alternatively, an open type slot 6372 is provided. Such a configuration serves to movably or pivotally support the second jaw 6360 relative to the end effector mounting assembly 6390, so that the first and second jaws are in relation to each other. It can move not only with respect to the shaft axis SA-SA but also with respect to the shaft axis SA-SA. The first and second jaws 6310 and 6360 may be movably actuated by various types of closure systems disclosed herein. For example, a first closure drive system of the type described herein can be used to actuate the closure sleeve in the manner described herein. The closure sleeve may also be attached to an end effector closure sleeve 6272 that may be pivotally attached to the closure sleeve by a double pivot closure sleeve assembly in the manner described above. As explained above, for example, the axial movement of the closure sleeve can be controlled through the actuation of the closure trigger 32. As can be seen in FIGS. 67-69, the end effector closure sleeve 6272 extends over the end effector mounting assembly 6390 and is proximal to the proximal end 6370 of the second jaw 6360 and the proximal of the first jaw 6310. It is configured to engage with the end 6314. At least one cam surface 6336 may be formed on the proximal end 6314 of the first jaw 6310 such that when the distal end 6274 of the end effector closure sleeve 6272 contacts the cam surface 6336. The first jaw 6310 is cam-driven toward the second jaw and the shaft axis SA-SA. Similarly, one or more cam surfaces 6376 may be formed on the proximal end portion 6370 of the second jaw 6360, thereby contacting the distal end 6274 of the end effector closure sleeve 6272. When done, the second jaw 6360 is moved toward the first jaw 6310 and the shaft axis SA-SA. The cam surfaces 6336, 6376 may be configured and arranged relative to each other such that the first and second jaws close at various “closing speeds” or closing times relative to each other. One such configuration is shown in FIG. As can be seen in FIG. 68, point P ₁ on first jaw 6310 and corresponding point P on second jaw 6360 when the first and second jaws are in their fully open positions. _The distance along the arcuate path between ₂ is represented by _DT . The first and second points P ₁ and P ₂ are said to be “corresponding” to each other. For example, it may be on a common line or axis which is perpendicular to the first point P ₁ and the respective second point P ₂ extends between them and the shaft axis SA-SA. Distance along the arcuate path between the another point P _A and shaft axis SA-SA of the first jaw 6310 is represented by D _1, another corresponding point P on the second jaw another distance along the arcuate path between _B and the shaft axis SA-SA is represented by D _2. Point P _A and point P _B are also said to correspond to each other. For example, point P _A and point P _B may lie on a common line or axis that extends between them and is perpendicular to shaft axis SA-SA. In the illustrated configuration, the distance D2 at which the _second jaw 6360 or anvil 6362 moves from the fully open position to the closed position where the staple forming surface of the anvil 6362 is located along the shaft axis SA-SA is a _second distance D2. 1 the jaws 6310 or surgical staple cartridge 6320 is, from a fully open position, the cartridge deck surface is longer than the distance D ₁ to move to the closed position which is located along the shaft axis SA-SA. For example, in at least one configuration, the second jaw or anvil opens or moves over 2/3 of the distance _DT (or another distance along another movement path between the jaws); The first jaw or staple cartridge opens or moves over 1/3 of the distance _DT (or another distance along yet another path of movement between the jaws), and thus essentially Even if a closing motion is initially applied to both jaws at the same or equivalent time, one jaw will fully or faster complete than the other jaw gets its fully closed position. Get the closed position. For example, the cam surfaces on the first and second jaws can be arranged / configured to obtain various jaw movement ratios / velocities without departing from the spirit and scope of this embodiment of the invention. An open spring 6380 (FIG. 70) is used to bias the first and second jaws 6310, 6360 to the open position when the end effector closure sleeve 6272 is in the start or non-actuated position. It may be disposed between the proximal end 6314 of the portion 6310 and the proximal end 6370 of the second jaw 6360. See Figures 67-69.

  To move the first and second jaws 6310, 6360 to the closed position (FIG. 66), the clinician activates the closure system to provide a cam surface on the proximal end 6314 of the first jaw 6310. 6336 and the cam surface 6376 on the proximal end 6370 of the second jaw 6360 at the same time bring the first and second jaws 6310, 6360 into the position shown in FIG. 66 (and the shaft axis SA). -Move the end effector closure sleeve 6272 in the distal direction DD so as to urge toward (SA). While the end effector closure sleeve 6272 is held in this position, the first and second jaws 6310 and 6360 are held in this closed position. Thereafter, the firing system can be actuated to advance the firing member 6340 axially distally through the surgical end effector 6300. As can be seen in FIG. 70, firing member 6340 is slidable within foot portion 6342 configured to slidably engage slotted passage 6374 of anvil 6362 and slotted passage 6318 of elongated channel 6312. And an upper tab portion 6344 adapted to be received by the device. See FIG. 69. Thus, such a firing member configuration is during firing of the firing member (ie, during firing of staples and cutting of tissue clamped between the first jaw 6310 and the second jaw 6360). The first and second jaws 6310, 6360 serve to securely hold the desired spaced apart arrangement. In order to prevent tissue and / or body fluid intrusion into the first and second jaws, which may interfere with or interfere with the movement of the firing member 6340, as well as for assembly purposes, the first jaw cover 6315 is provided. A second jaw cover 6363 is removably attached to the anvil 6362 while removably attached to the elongated channel 6312.

  FIG. 71 shows another surgical end effector 6300 ′ that is similar to the surgical end effector 6300. As can be seen in this figure, the surgical end effector 6300 'includes two jaws that are simultaneously movable between an open position and a closed position relative to the shaft axis SA-SA. In the illustrated example, the first jaw 6310 'includes an elongated channel 6312' configured to support a surgical staple cartridge 6320 'therein. Surgical staple cartridge 6320 'is configured to operably support a plurality of staple drivers 6322 therein, and staple driver 6322 operably supports surgical staples 6324 thereon. Staple driver 6322 is movably supported in a corresponding driver pocket 6321 'formed in surgical staple cartridge 6320'. Staple drivers 6322 are held in respective driver slots 6321 'by cartridge pans 6330', which are clipped or otherwise attached to surgical staple cartridge 6320 '. Staple drivers 6322 are arranged in rows on each side of elongated slot 6326 'of surgical staple cartridge 6320 to accommodate the axial passage of firing member 6340' therethrough. A wedge sled 6350 'is movably supported within the surgical staple cartridge 6320' and the firing member 6340 'is positioned at the start of the surgical staple cartridge 6320' adjacent to the proximal end of the surgical staple cartridge 6320 '. When driven to an end position within the distal portion, it is configured to be drivingly engaged by firing member 6340 ′. As described above, when the wedge sled 6350 ′ is driven distally through the surgical staple cartridge 6320 ′, the wedge sled 6350 ′ is in driving contact with the staple driver 6322, causing them to interact with the cartridge deck surface 6323. Drive towards'. Firing member 6340 'includes a tissue cutting surface 6346' that serves to cut tissue clamped between the jaws when firing member 6340 is driven distally. It is. Various types of distal firing beams (not shown) described herein are operably attached to firing member 6340 'as well as intermediate firing shaft portion 2222 or other firing system configuration. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam has been described in detail above and will not be repeated for the sake of brevity. Other launch beams and launch system configurations (motor driven and manually driven) may also be used to power the launch member without departing from the spirit and scope of the present invention.

  The illustrated surgical end effector 6300 'is also configured to selectively articulate about an articulation axis BB that substantially intersects the shaft axis SA-SA. The end effector 6300 ′ includes an end effector mounting assembly 6390 ′, which, for example, is pivotally configured to be rotatably received within a mounting hole 6392 ′ of the end effector mounting assembly 6390 ′. It is adapted to be pivotally mounted to a distal shaft frame that includes a moving pin. Surgical end effector 6300 'may be articulated by an articulation lock of the type described above and first and second articulated rod configurations. As can be seen in FIG. 71, the end effector mounting assembly 6390 'further includes a pair of laterally extending trunnion pins 6394'. The trunnion pin 6394 'extends laterally from the outer side 6391' on either side of the end effector mounting assembly 6390 ', and the outer side 6391' is also a pocket area configured to receive the firing member 6340 'therein. 6395 '. The trunnion pin 6394 'serves to define a pivot axis PA-PA about which the first and second jaws 6310', 6360 'can pivot. The proximal end 6314 'of the first jaw 6310' or elongate channel 6312 'is a pair of opposing U-shaped adapted to receive a corresponding one of the trunnion pins 6394' therein. Or an open slot 6316 ′. Such a configuration serves to pivotably or pivotally move the first jaw 6310 'relative to the end effector mounting assembly 6390'.

  The illustrated surgical end effector 6300 'further includes a second jaw 6360' that may include an anvil 6362 '. The illustrated anvil 6362 'includes an anvil body 6364' that includes an elongated slot 6366 'and two staple forming surfaces formed on each side. Anvil 6362 ′ further includes a proximal end portion 6370 ′, which is also adapted to receive a corresponding one of trunnion pins 6394 ′ therein. It has a U-shaped or open slot 6372 ′. Such an arrangement serves to pivotably or pivotally move the second jaw 6360 'relative to the end effector mounting assembly 6390'. First and second jaws 6310 'and 6360' are movably actuated by the various types of closure systems disclosed herein. For example, the first closure drive system 30 can be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 may also be attached to an end effector closure sleeve 6272 that may be pivotally attached to the closure sleeve 260 by a double pivot closure sleeve assembly 271 in the manner described above. As explained above, for example, the axial movement of the closure sleeve 260 can be controlled through the actuation of the closure trigger 32. End effector closure sleeve 6272 extends over end effector mounting assembly 6390 ′ and includes proximal end 6370 ′ of second jaw 6360 ′ and proximal end 6314 ′ of first jaw 6310 ′. It is configured to engage. At least one cam surface 6336 ′ may be formed on the proximal end 6314 ′ of the first jaw 6310 ′ so that the distal end 6274 of the end effector closure sleeve 6272 is connected to the cam surface 6336 ′. When in contact, the first jaw 6310 ′ is cam-driven toward the second jaw 6360 ′ and the shaft axis SA-SA. Similarly, one or more cam surfaces 6376 ′ may be formed on the proximal end portion 6370 ′ of the second jaw 6360 ′, thereby enabling the distal end of the end effector closure sleeve 6272. When contacted by 6274, the second jaw 6360 ′ is moved toward the first jaw 6310 ′ and the shaft axis SA-SA. A spring (not shown) is used to bias the first and second jaws 6310 ', 6360' to the open position when the end effector closure sleeve 6272 is in the start or non-actuated position. It may be disposed between the proximal end 6314 ′ of the jaw 6310 ′ and the proximal end 6370 ′ of the second jaw 6360 ′.

  In order to move the first and second jaws 6310 ', 6360' to the closed position, the clinician activates the closure system to provide a cam surface on the proximal end 6314 'of the first jaw 6310'. 6336 'and the cam surface 6376' on the proximal end 6370 'of the second jaw 6360' are simultaneously contacted to bring the first and second jaws 6310 ', 6360' together (and the shaft axis SA- The end effector closure sleeve 6272 is moved in the distal direction DD to bias toward the SA. While the end effector closure sleeve 62277 is held in this position, the first and second jaws 6310 'and 6360' are held in this closed position. The firing system can then be actuated to advance the firing member 6340 'axially distally through the surgical end effector 6300'. Firing member 6340 'is slidably received within an upper tab portion 6344' configured to slidably engage with slotted passage 6374 'of anvil 6362' and a slotted passage of elongated channel 6312 '. And may have a foot portion 6342 ′ adapted to. Accordingly, such a firing member configuration is useful during firing of the firing member (ie, during firing of staples and cutting of tissue clamped between the first jaw 6310 ′ and the second jaw 6360 ′). ) To securely hold the first and second jaws 6310 ', 6360' in the desired spaced apart configuration. First jaw cover 6315 not only for assembly purposes, but also to prevent tissue and / or body fluid intrusion into the first and second jaws that may interfere with or interfere with the movement of firing member 6340 ′. 'Is removably attached to the elongate channel 6312' and a second jaw cover 6363 'is removably attached to the anvil 6362'.

  The surgical end effector embodiments described herein that use jaws that both move relative to each other and relative to the shaft axis are such that one of the jaws is fixed relative to the shaft axis, for example, and does not move. Various advantages can be provided over other surgical end effector configurations. In such a configuration, one movable jaw has a relatively wide range of movement relative to the fixed jaw so that the target tissue can be manipulated, positioned and then clamped in between. That is often desirable. In embodiments where both jaws are movable, each jaw does not require extensive motion to accommodate manipulation, placement and clamping of the target tissue between them. For example, such a reduction in anvil movement may result in improved tissue placement. Such a configuration may also allow to minimize the distance between the pivot axis and the first staple position. In addition, the firing member can always remain engaged with the movable jaws (anvils and elongated channels) during the opening and closing operations.

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

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

  The illustrated surgical end effector 6400 further includes a second jaw 6460 that may include an anvil 6462. The illustrated anvil 6462 includes an anvil body 6464 that includes an elongated slot 6466 and two staple forming surfaces 6468 formed on each side. Anvil 6462 further has a proximal end portion 6470 that includes two proximally extending actuator arms 6472 projecting therefrom. Each actuator arm 6472 has an open trunnion pinion 6474 and a closed trunnion pin 6476 projecting laterally therefrom, which are also received within cam slots 6504 of the corresponding cam plate 6500. Such a configuration serves to movably or pivotally support the second jaw 6460 relative to the end effector mounting assembly 6490.

  First and second jaws 6410 and 6460 are movably actuated by the various types of closure systems disclosed herein. For example, the first closure drive system 30 can be used to actuate the closure sleeve in the manner described herein. The closure sleeve 260 may also be attached to an end effector closure sleeve 6572 that may be pivotally attached to the closure sleeve by a dual pivot closure sleeve assembly in the manner described above. As explained above, for example, the axial movement of the closure sleeve can be controlled through the actuation of a closure trigger. As can be seen in FIGS. 77 and 78, end effector closure sleeve 6572 extends over end effector mounting assembly 6490 and actuator arm 6416 of first jaw 6410 and actuator arm 6472 of second jaw 6460. When the closure sleeve 6572 is advanced distally, the distal end 6574 of the closure sleeve 6572 has a proximal end 6411 of the first jaw 6410 and a proximal end 6461 of the second jaw 6460. Touching and moving the first and second jaws 6410, 6460 in the distal direction DD. As the first and second jaws 6410, 6460 move distally, the closure trunnions 6419, 6476 enter the closure wedge portion 6505 of the cam slot 6504 and the closure cam surface 6506 is the first and second The jaws 6410, 6460 are cammed toward each other into the closed position (FIGS. 73, 75, 77 and 78).

  To facilitate the opening of the first and second jaws 6410, 6460 using the closure sleeve 6572, the closure sleeve 6572 is provided with two inwardly extending open tabs 6576, these inwardly extending extensions. The access tab is configured to engage the closure trunnions 6419, 6476 when the closure sleeve 6572 is retracted in the proximal direction PD by the closure system. As can be seen in FIGS. 72 and 76, for example, when the closure sleeve 6572 moves in the proximal direction PD, the release tab 6576 contacts the closure trunnions 6419, 6476 and similarly drives the closure trunnions 6419, 6476 in the proximal direction. To do. Movement of the closed trunnions 6419, 6476 proximally causes the open trunnions 6418 and 6474 to enter the open wedge portion 6507 of the cam plate slot 6504. Open cam surface 6508 interacts with open trunnions 6418, 6474, as shown in FIGS. 76 and 79, causing actuator arms 6416 and 6472 to rock open on respective rocker surfaces 6417 and 6475. Similar to the configuration described above in which both the first and second jaws move relative to the shaft axis SA-SA, the closed wedge portion 6505 and the open wedge portion 6507 have the first and second jaws on them. When a closing motion is applied, it can be configured to close relative to each other at different closing speeds or closing times.

  FIGS. 80-84 illustrate another surgical end effector 7400 with two jaws where one jaw is movable relative to the other jaw between an open position and a closed position. In the illustrated example, the first jaw 7410 includes an anvil 7412. The illustrated anvil 7412 has an anvil body 7414 that has a proximal end portion 7416 that is immovably attached to an end effector mounting assembly 7430. For example, the proximal end portion 7416 includes two upstanding outer walls 7418 each having a mounting hole 7419 therein. See FIG. 82. The end effector mounting assembly 7430 is received between the upstanding outer walls 7418 and is immovably attached to the upstanding outer walls by spring pins 7421 that extend through the upstanding outer walls to holes 7419. End effector mounting assembly 7430 is, for example, pivotally mounted to a distal shaft frame that includes a pivot pin configured to be rotatably received within mounting hole 7432 of end effector mounting assembly 7430. Have been adapted. Surgical end effector 7400 may be used with the types of joint locks and first and second articulated rod configurations described above or with the various joints described herein without departing from the spirit and scope of the present invention. It can be articulated either by an exercise system and an articulated rod and / or rod / cable configuration. As can also be seen in FIGS. 80 and 82, the anvil body 7414 also includes an elongated slot 7422 having two staple forming surfaces 7424 formed on each side.

  Surgical end effector 7400 further includes a second jaw 7440 that includes an elongate channel 7442 that is configured to support a surgical staple cartridge 7450. Similar to the particular surgical staple cartridge described above, the surgical staple cartridge 7450 is configured to operably support a plurality of staple drivers (not shown) therein, the staple driver being A surgical staple (not shown) is operably supported thereon. Staple drivers are movably supported in corresponding driver pockets 7452 formed in surgical staple cartridge 7450. The staple drivers are arranged in rows on each side of the elongated slot 7454 of the surgical staple cartridge 7450 to accommodate the axial passage of the firing member 7460 therethrough. A cartridge pan 7451 is attached to the staple cartridge 7450 to prevent the staple drivers from being disengaged from their respective driver pockets 7452 when the surgical end effector 7400 is manipulated in various directions. A wedge sled 7462 is movably supported within the surgical staple cartridge 7450, and the firing member 7460 is within a distal portion of the surgical staple cartridge 7450 from a starting position adjacent the proximal end of the surgical staple cartridge 7450. When driven to the end position, it is configured to be drivingly engaged by firing member 7460. As described above, when the wedge sled 7462 is driven distally through the surgical staple cartridge 7450, the wedge sled 7462 is in driving contact with the staple driver, causing them to become the cartridge deck surface (not shown). Drive towards. Firing member 7460 includes a tissue cutting surface 7464, which serves to cut tissue clamped between jaws 7410, 7440 when firing member 7460 is driven distally. It is. Various other types of distal firing beams 280 described herein are operatively attached to firing member 7460 as well as intermediate firing shaft portion 2222 or other firing system configurations. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam 280 has been described in detail above and will not be repeated for the sake of brevity. Other launch beams and launch system configurations (motor driven and manually driven) may also be used to power the launch member without departing from the spirit and scope of the present invention. In order to prevent tissue and / or body fluid intrusion into the first and second jaws, which may interfere with or interfere with the movement of the firing member 6340 as well as for assembly purposes, the first jaw cover 7415 is provided. A second jaw cover 7441 is detachably attached to the anvil 7412 and detachably attached to the second jaw 7440.

  As can be seen in FIG. 82, the elongated channel 7442 includes a proximal end portion 7444 having two outer portions 7445. Each outer portion 7445 has a corresponding U-shaped or open slot 7446 therein that corresponds to a corresponding pivot pin that projects laterally from the proximal end portion 7416 of the anvil body 7414. Adapted to receive 7426. Such a configuration serves to movably or pivotally support the second jaw 7440 or elongated channel 7442 relative to the first jaw 7410 or anvil 7412. As can be seen most specifically in FIGS. 80, 82 and 84, a closure ramp segment 7447 is formed on the proximal end 7444 of the elongated channel 7442. In addition, each outer portion 7445 of the proximal end portion 7444 is formed with a laterally recessed area 7448 therein. Each lateral recessed area 7448 is disposed proximal to a corresponding closing ramp segment 7447. An open ramp or cam 7449 is formed adjacent the proximal end of each lateral recessed area 7448. Each open ramp or cam 7449 terminates at an upper surface 7580. See FIGS. 82 and 84.

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

  Second jaw 7440 is moved to the closed position (FIGS. 81 and 83) by advancing end effector closure sleeve 7572 in distal direction DD. As the end effector closure sleeve 7572 moves distally, its distal end 7575 contacts a closure ramp segment 7447 formed on the proximal end 7444 of the elongate channel 7442, causing the elongate channel 7442 to become anvil 7412. It works to drive the cam. When the end effector closure sleeve 7552 is moved to its distal most position, the distal end 7575 contacts the abutment surface 7443 on the elongate channel 7442 to maintain a closure load or force on the elongate channel 7442. To do. See FIGS. 81 and 83. When the end effector closure sleeve 7572 is in the fully closed position, the end of the open tab 7576 is received in the corresponding side recessed area 7448. To move the second jaw 7440 or elongate channel 7442 to the open position, the closure system is actuated to move the closure sleeve 7572 in the proximal direction PD. As end effector closure sleeve 7572 moves proximally, release tab 7572 rides on a corresponding release ramp or cam 7449 on proximal end portion 7444 of elongate channel 7442 to move elongate channel 7442 away from anvil 7412. Cam drive or pivot. Each tab rides on a cam 7449 over the top surface 7580 and serves to securely hold the elongated channel 7442 in its fully open position. See FIG. 84.

  FIGS. 85-87 illustrate another surgical end effector 8400 with two jaws 8410, 8440 that are simultaneously movable between an open position and a closed position relative to the shaft axis SA-SA. In the illustrated example, the first jaw 8410 includes an anvil 8412. The illustrated anvil 8412 has an anvil body 8414 that has a proximal end portion 8416 that movably interfaces with an end effector adapter 8600. As can be seen in FIG. 85, the end effector adapter 8600 includes two distal projecting distal walls 8602, each having a lateral pivot pin 8604 that projects laterally therefrom. Each lateral pivot pin 8604 is received in a corresponding open U-shaped slot 8418 formed in the outer wall 8417 of the proximal end portion 8416 of the anvil 8412. See FIG. 85. Such a configuration allows the elongate channel 8412 to move or pivot relative to the end effector adapter 8600. As further seen in FIG. 85, the end effector adapter 8600 is immovably attached to the end effector mounting assembly 8430. For example, end effector adapter 8600 further includes two upstanding outer walls 8606, each having a mounting hole 8608 therein. The end effector mounting assembly 8430 is received between the upstanding outer walls 8606 and is immovably attached to the upstanding outer walls 8606 by spring pins 8421 extending through the upstanding outer walls 8606 to the holes 8508. Effector mounting assembly 8430 is, for example, pivotally mounted to a distal shaft frame that includes a pivot pin configured to be rotatably received within mounting hole 8432 of end effector mounting assembly 8430. Have been adapted. Surgical end effector 8400 may be used with the types of joint locks and first and second articulated rod configurations described above or with the various joints described herein without departing from the spirit and scope of the present invention. It can be articulated either by an exercise system and an articulated rod and / or rod / cable configuration. As can also be seen in FIG. 85, the anvil body 8414 also includes an elongate slot 8422 having two staple forming surfaces 8424 formed on each side.

  Surgical end effector 8400 further includes a second jaw 8440 comprising an elongated channel 8442 that is configured to support a surgical staple cartridge 8450. Similar to the various surgical staple cartridges described above, the surgical staple cartridge 8450 is configured to operably support a plurality of staple drivers (not shown) therein, the staple drivers being A surgical staple (not shown) is operably supported thereon. Staple drivers are movably supported in corresponding driver pockets 8452 formed in surgical staple cartridge 8450. The staple drivers are arranged in rows on each side of the elongated slot 8454 of the surgical staple cartridge 8450 to accommodate the axial passage of the firing member 8460 therethrough. A cartridge pan 8451 is attached to the staple cartridge 8450 to prevent the staple driver from being disengaged from the respective driver pocket 8452 when the surgical end effector 8400 is manipulated in various directions. A wedge thread 8462 is movably supported within the surgical staple cartridge 8450 and the firing member 8460 terminates within the distal portion of the surgical staple cartridge 8450 from a starting position adjacent to the proximal end of the surgical staple cartridge 8450. When driven into position, the firing member 8460 is configured to be drivingly engaged. As described above, when the wedge sled 8462 is driven distally through the surgical staple cartridge 8450, the wedge sled 8462 is in driving contact with the staple driver, causing them to contact the cartridge deck surface (not shown). Drive towards. Firing member 8460 includes a tissue cutting surface 8464 that serves to cut tissue clamped between jaws 8410, 8440 when firing member 8460 is driven distally. Is. Various other types of distal firing beams 280 as described herein are operatively attached to firing member 8460 as well as intermediate firing shaft portion 2222 or other firing system configurations. The operation of the intermediate firing shaft portion 2222 to drive and retract the distal firing beam 280 has been described in detail above and will not be repeated for the sake of brevity. Other launch beams and launch system configurations (motor driven and manually driven) may also be used to power the launch member without departing from the spirit and scope of the present invention. In order to prevent tissue and / or bodily fluid intrusion into the first and second jaws that may interfere with or interfere with the movement of the firing member 8460 as well as for assembly purposes, the first jaw cover 8415 is provided. A second jaw cover 8441 is detachably attached to the second jaw 8440 and is detachably attached to the anvil 8412.

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

  The second jaw 8440 or elongated channel 8442 and the first jaw 8410 or anvil 8412 can be moved simultaneously between the open and closed positions by the various types of closure systems disclosed herein. For example, the closure drive system 30 can be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 can also be attached to an end effector closure sleeve 8572 that can be pivotally attached to the closure sleeve 260 in a double pivot configuration in the manner described above. As explained above, for example, the axial movement of the closure sleeve 260 can be controlled through the actuation of the closure trigger 32. In other configurations, the closure sleeve can be moved axially, such as by a robot control system. As can be seen in FIGS. 86 and 87, end effector closure sleeve 8572 includes end effector mounting assembly 8430, end effector adapter 8600, and proximal end portion 8444 and first jaw of elongated channel 8442 of second jaw 8440. 8410 or the proximal end portion 8416 of the anvil 8412 extends. End effector closure sleeve 8572 includes two diametrically opposed first release members 8574 configured to operatively engage proximal end portion 8416 of first jaw 8410. In the illustrated embodiment, the first release member 8574 includes a first inwardly extending release tab 8576 formed on each portion of the end effector closure sleeve 8572. Similarly, the end effector closure sleeve 8572 further includes two diametrically opposed second release members 8580 configured to operatively engage the proximal end portion 8444 of the second jaw 8440. Including. In the illustrated embodiment, the second release member 8580 includes a second inwardly extending release tab 8582 formed in each portion of the end effector closure sleeve 8572.

  First jaw 8410 and second jaw 8440 are simultaneously moved to the closed position (FIG. 86) by advancing end effector closure sleeve 8572 in distal direction DD. When the end effector closure sleeve 8572 moves distally, its distal end 8575 has a bottom of the proximal end portion 8416 of the first jaw 8410 or anvil 8412 as well as a proximal end 8444 of the elongate channel 8442. It contacts the upper formed closure ramp segment 8447 and serves to cam the first and second jaws 8410, 8440 towards each other. When the end effector closure sleeve 8572 is moved to its most distal position, the distal end 8575 of the end effector closure sleeve 8572 has a first abutment surface 8419 on the first jaw 8410 or anvil 8412, and Contacting the second abutment surface 8443 on the second jaw 8440 or elongate channel 8442 maintains a closure load or force on both jaws 8410, 8440. See FIG. 86. When the end effector closure sleeve 8572 is in its fully closed position, the end of the first release tab 8576 is received in the corresponding first side recessed area 8420 and the end of the second release tab 8582. Are received in corresponding second lateral recessed areas 8448. In order to move the first and second jaws 8410, 8440 away from each other to the open position, the closure system is actuated to move the closure sleeve 8572 in the proximal direction PD. As the end effector closure sleeve 8572 moves proximally, the first release tab 8576 rides over a corresponding first release ramp or cam 8426 at the bottom of the proximal end portion 8416 of the first jaw 8410; The first jaw 8410 or anvil 8412 is camped or pivoted away from the second jaw 8440 or elongate channel 8442, and the second open tab 8582 is a proximal end portion 8444 of the elongate channel 8442. Riding on the corresponding second ramp 8449 above cams or pivots the elongate channel 8442 away from the first jaw or anvil 8412. Each of the first tabs 8576 rides on a corresponding cam or ramp 8426 onto a corresponding first locking surface 8428, and each of the second tabs 8582 is on a corresponding second locking surface 8450. And a corresponding second cam or ramp 8449, whereby the first and second jaws 8410, 8400 are held in the open position. The axial position of the first tab 8576 relative to the second tab 8582 may be arranged to simultaneously move the first and second jaws away from each other, or alternatively, the first and second jaws. The reader will appreciate that the part may be staggered axially so that one of the jaws moves before the other jaw moves.

  88-93 illustrate portions of another surgical instrument 9010 that includes a surgical end effector 9300 that operably interfaces with an elongate shaft assembly 9200. FIGS. Surgical end effector 9300 is similar to surgical end effector 300 described in detail above, and is in the form of an elongated channel 9302 configured to operably support surgical staple cartridge 304 therein. Includes one jaw. The illustrated surgical end effector 9300 further includes a second jaw in the form of an anvil 310 supported on the elongated channel 9302 to move relative thereto. Anvil 310 may be movably actuated by the closure system described above and shown in FIGS. For example, a first closure drive system can be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end effector closure sleeve 272 that is pivotally attached to the closure sleeve 260 by a double pivot closure sleeve assembly 271 in the manner described above. As explained above, for example, the axial movement of the closure sleeve 260 can be controlled through the actuation of a closure trigger. As also described above, the closure sleeve 272 includes an opening cam that serves to operably move the anvil 310 to the open position. In use, closure sleeve 260 is translated distally (direction DD) to close anvil 310, eg, in response to actuation of a closure trigger. The anvil 310 is closed by translating the closure sleeve 260 in the distal direction DD and, in addition, the end effector closure sleeve 272 pivotally coupled thereto. When the end effector closure sleeve 272 is driven distally, the cam tab 358 of the release cam 354 moves distally within the cam slot 318 of the anvil 310 and operatively interfaces with the cam surface 319 or Ride on the cam surface 319 and cam the body portion 312 of the anvil 310 away from the surgical staple cartridge 304 to the open position. The anvil 310 is closed by translating the closure sleeve 260 distally in the distal direction DD until the distal end 275 of the end effector closure sleeve 272 rides on and contacts the anvil attachment arm 316, thereby Cam tab 358 will move proximally PD within cam slot 318 on cam surface 319 to pivot anvil 310 to the open position.

  As can be seen in FIG. 91, for example, the elongate shaft assembly 9200 includes a two-part shaft frame or spine assembly 9812 on which a closure sleeve assembly 260 is received. Spine assembly 9812 includes a proximal spine portion 9814 and a distal spine portion 9816. Proximal spine portion 9816 is rotatable within a handle or housing (not shown) in various manners described herein to facilitate rotation of surgical end effector 9300 about shaft axis SA. It can be pivotally supported. Although not shown, the surgical instrument 9010 also includes a firing beam configuration and various firing drives disclosed herein to drive the firing member through the surgical staple cartridge in the various manners described above. And any of the system configurations. As can be seen in FIG. 91, the distal spine portion 9816 includes a distal end portion 9818 having an upwardly projecting pivot pin 9819 thereon, the upwardly projecting pivot pin 9819 being a proximal end portion of the elongated channel 9302. It is adapted to be pivotably received in a pivot hole 9328 formed in 9320. Such a configuration facilitates pivotal movement of the elongated channel 9302 of the surgical end effector 9300 relative to the spine assembly 9812 about the articulation axis BB defined by the pivot hole 9328. As indicated above, articulation axis BB crosses shaft axis SA-SA defined by elongate shaft assembly 9200.

  Still referring to FIG. 91, the elongate shaft assembly 9200 further includes an articulation system, indicated generally at 9900, that includes a first articulation bar 9910 and a second articulation bar 9920. . The first articulation bar 9910 operably interfaces with a first articulation motor 9912 operably supported within a surgical instrument handle or housing or a portion of the robotic control system. As can be seen in FIGS. 92 and 93, the first articulation bar 9910 is attached to a first articulation nut 9914 that is threadably received on a first threaded drive shaft 9916 of the first articulation motor 9912. Yes. Rotation of the first threaded drive shaft 9916 in the first rotational direction will result in distal advancement of the first articulation bar 9910 in the distal direction DD and in the second or opposite rotational direction. Rotation of the first threaded drive shaft 9916 results in proximal advancement of the first articulation drive bar 9910 in the proximal direction PD.

  The illustrated articulation system 9900 further includes a second articulation bar 9920 operatively interfaced with a second articulation motor 9922 operatively supported within a surgical instrument handle or housing or a portion of the robotic control system. As can be seen in FIGS. 92 and 93, the second articulation bar 9920 is attached to a second articulation nut 9924 that is threadably received on the second threaded drive shaft 9926 of the second articulation motor 9922. Yes. Rotation of the second threaded drive shaft 9926 in the first rotational direction will result in proximal advancement of the second articulation bar 9920 in the proximal direction PD, in the second or opposite rotational direction. Rotation of the second threaded drive shaft 9926 results in distal advancement of the second articulation drive bar 9920 in the distal direction DD.

  The articulation system 9900 further includes a cross linkage assembly 9940 that is operatively attached to the first and second articulation bars 9910, 9920. As can be seen in FIG. 91, the cross linkage assembly 9940 includes a central support member 9950 that is pivotally pinned to the proximal end 9320 of the elongate channel 9302 with a first pin 9952. The central support member 9950 further includes a proximal connector tab 9954 that is second to pivotally attach the proximal connector tab 9954 to the distal end portion 9818 of the distal spine portion 9816. Slot 9756 for receiving a pin 9958 therein. This pin and slot configuration facilitates pivotal and axial movement of the central support member 9950 relative to the spine assembly 9812. Central support member 9950 further includes a slot 9960 for receiving a firing beam therethrough. Central support member 9950 serves to provide lateral support to the firing beam when the firing beam is flexed to accommodate articulation of surgical end effector 9300.

  As can be seen most specifically in FIGS. 92 and 93, the central support member 9950 has a proximal linkage tab portion 9970 that facilitates attachment of the first and second articulation bars 9910, 9920 thereto. Specifically, the distal end 9911 of the first articulation bar 9910 is pivotally attached to a first articulation link 9972 that is pivotally pinned to the proximal linkage tab portion 9970. Similarly, the distal end 9921 of the second articulation bar 9920 is pivotally attached to a second articulation link 9974 that is pivotally pinned to the proximal linkage tab portion 9970 of the central support member 9950. . FIG. 92 illustrates the articulation of surgical end effector 9300 in the direction represented by arrow 9980. As can be seen in this figure, the first threaded drive shaft 9916 of the first joint motor is rotated in a first rotational direction to drive the first joint bar 9910 in the distal direction. In addition, the second threaded drive shaft 9926 of the second articulation motor 9922 is rotated in the second rotational direction to retract the second articulated bar 9920 in the proximal direction. The first and second articulation motors 9912, 9922 are operated by a computer control system, and as can be seen in FIG. 92, the distance that the first articulation bar 9910 moves distally is the second articulation bar. It is not equal to the distance that 9920 moves in the proximal direction.

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

  94 and 95 show surgical staple cartridges 9304 and 9304 ′, each having a light member 9305, for illuminating the distal end of the surgical end effector on which it is supported. belongs to. Each of the staple cartridges 9304, 9304 ′ is configured to be in electrical contact with a corresponding conductor in an elongated channel that communicates with an electrical energy source disposed within the instrument handle or housing. You may have the conductor (not shown) installed in the part. Thus, when the cartridge 9304, 9304 ′ is properly seated in the elongated channel of the surgical end effector, the light 9305 therein can receive power from a power source in the handle or housing through the corresponding conductor. .

  FIGS. 96-105 illustrate another surgical instrument 10010 that includes a surgical end effector 10300 that operably interfaces with an elongate shaft assembly 10200 using many of the various shaft assembly features disclosed herein. Each part is shown. Surgical end effector 10300 may essentially include any of the various end effectors described herein, or other forms of surgery configured to perform other surgical procedures / procedures. An end effector may be included. In the illustrated configuration, for example, the surgical end effector 10300 is adapted to cut and staple tissue and is configured with an elongate channel 10302 configured to operably support a surgical staple cartridge 10304 therein. A first jaw in the form is included. See FIGS. 96 and 97. The illustrated surgical end effector 10300 further includes a second jaw in the form of an anvil 10310 that is supported for movement relative to the elongated channel 10302. See FIG. Anvil 10310 may be movably actuated by one of the closed drive systems described herein. For example, a first closure drive system can be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end effector closure sleeve 272 that is pivotally attached to the closure sleeve 260 by a dual pivot closure sleeve assembly 271 in any of the manners described herein. As explained above, for example, the axial movement of the closure sleeve 260 can be controlled through the actuation of a closure trigger. As the end effector closure sleeve 272 is advanced in the distal direction DD, the anvil 10310 is cam driven and closed. In at least one configuration, a spring (not shown) may be used to pivot the anvil 10310 to the open position when the end effector closure sleeve 272 is retracted back to the starting position.

  As can be seen in FIGS. 96-105, the surgical end effector 10300 can be articulated relative to the elongate shaft assembly 10200 about the articulation joint 10270. In the illustrated example, the elongate shaft assembly 10200 includes an articulation system labeled 10800 using a joint lock 10810 similar to the joint locks 350 and 810 described above. See FIG. 97. For example, components of the joint lock 10810 that are different from the components of the joint lock 810 and / or the joint lock 350 and that may be necessary to understand the operation of the joint lock 10810 are described in further detail below. I will decide. As noted above, further details regarding the joint lock 350 can be found in US patent application Ser. No. 13 / 803,086, entitled “ARTICULABLE SURGICAL INSTRUMENT COMPRISINGING,” the entire disclosure of which is incorporated herein by reference. AN ARTICULATION LOCK ", current US Patent Application Publication No. 2014/0263541. The joint lock 10810 can be configured and operated to selectively lock the surgical end effector 10300 in various articulation positions. Such a configuration allows surgical end effector 10300 to rotate or articulate relative to shaft closure sleeve 260 when joint lock 10810 is in its unlocked state.

  Referring specifically to FIGS. 96 and 97, the elongate shaft assembly 10200 includes a spine 210 that first slidably supports a firing member 220 therein and secondly a spine. A closure sleeve 260 extending around 210 is slidably supported. Spine 210 also slidably supports proximal joint driver 230. Proximal joint driver 230 has a distal end 231 configured to operatively engage articulation lock 10810. The joint lock 10810 further comprises a shaft frame 10812 that is attached to the spine 210 in various ways as disclosed herein. As shown in FIG. 97, the shaft frame 10812 is configured to movably support the proximal portion 10821 of the distal joint driver 10820 therein. The distal joint driver 10820 is movable within the elongate shaft assembly 10200 to selectively move longitudinally in the distal direction DD and the proximal direction PD in response to the applied articulation control motion. It is supported.

  One feature that many clinicians may be interested in performing surgical procedures is the net length of the articulating end effector from its pivot point. This dimension affects the amount of access that the end effector can achieve in a limited space within the patient's body. Surgical instrument 10010 may be configured to address this issue. In the illustrated configuration, for example, the shaft frame 10812 includes a distal end portion 10814 having a pivot pin 10818 formed thereon. The pivot pin 10818 is pivotally received within a slot 10395 formed in an end effector mounting assembly 10390 that is attached to the proximal end 10303 of the elongate channel 10302 by a spring pin 10393 or other suitable member. Have been adapted. The pivot pin 10818 defines an articulation axis BB that traverses the shaft axis SA-SA. With such a configuration, the pivoting movement of the end effector 10300 about the articulation axis BB relative to the shaft frame 10812 (ie, articulation), as well as a reference point on the shaft frame 10812, eg, articulation axis B The axial or translational movement of the elongated channel 10302 relative to B is facilitated. As can be seen in FIGS. 99 and 100, the articulation system 10800 further includes a joint drive gear 10840 formed on the shaft frame 10812 and rotatably supported on a shaft 10842 attached thereto. As further seen in FIGS. 99 and 100, the end effector mounting assembly 10390 is formed thereon with an articulation gear profile 10396 configured to be in meshing engagement with the articulation drive gear 10840. As can be seen most specifically in FIGS. 97 and 101-103, the drive pin 10844 protrudes from the joint drive gear 10840. Drive pin 10844 is received in slot 10822 of distal joint driver 10820. Accordingly, movement of the distal joint driver 10820 in the proximal direction PD (in various ways described herein) causes the joint drive gear 10840 to rotate in a counterclockwise direction (arrow CCW in FIG. 103). Will then articulate surgical end effector 10300 in the direction represented by arrow 10848. Similarly, movement of the distal joint driver 10820 in the distal direction DD will cause the joint drive gear 10840 to rotate in a clockwise direction (arrow CW in FIG. 102), thereby creating a surgical end effector. 10300 will articulate in the direction represented by arrow 10849.

  Still referring to FIGS. 99-105, in at least one configuration, articulation gear profile 10396 is elliptical in shape. The elliptical configuration of the articulation gear profile 10396, coupled with the slot 10395, allows the end effector to translate (or move axially) when the end effector 10300 is rotated or articulated. Yes. The eccentricity of the elliptical articulated gear profile 10396 makes it possible to reduce the “center-to-center” distance between the articulation gear 10840 and the gear profile 10396 and then translate that reduction into translation of the end effector 10300. . 101 and 103 show the surgical end effector 10300 in a non-articulated position. In other words, the end effector axis EA defined by the elongated channel 10302 is aligned with the shaft axis SA-SA. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. When in this non-articulated position, the elongate channel 10302 occupies a certain amount of space (ie, may be referred to as a “footprint”). In other words, the distal end 10309 of the elongate channel 10302 has a first distance D1 (also referred to herein as “non-articulation distance”) from the articulation axis BB defined by the pin 10818. Can be called). See FIG. 104. When the surgical end effector 10300 is articulated, the elongate channel 10302 is proximal to the shaft frame 10812 and more specifically relative to the articulation axis BB (arrow TL in FIGS. 102 and 103). Therefore, the distance D2 between the distal end 10309 of the elongate channel 10302 and the articulation axis BB (which may also be referred to herein as “articulation distance”) is less than the distance D1. . See FIG. This reduction in the overall length of the surgical end effector 10300 allows for better access when the end effector 10300 is in the articulation position, and the same net length when linear. Will be maintained. In other words, when the end effector is articulated, the distance between the first staple in the end effector and the articulation axis is increased, thereby allowing the end effector to remain in the articulation configuration. The footprint will be reduced.

  The surgical end effector 10300 of the embodiment shown in FIGS. 96-105 includes a surgical cutting and stapling device using the various types and configurations of the firing beam 220 described herein. However, the surgical end effector 10300 of this embodiment may include other forms of surgical end effectors that do not cut and / or staple tissue. In the configuration shown, the central support member 10950 is pivotably and slidably supported relative to the shaft frame 10812. As can be seen in FIG. 98, the central support member 10950 includes a slot 10952 that receives a pin 10954 that protrudes from or is attached to or formed in the spine 210 therein. Is adapted to be. Such a configuration allows the central support member 10950 to pivot and translate relative to the pin 10954 when the surgical end effector 10300 is articulated. Central support member 10950 further includes a slot 10960 for receiving firing beam 220 therethrough. The central support member 10950 serves to provide lateral support to the firing beam when the firing beam 220 is flexed to accommodate articulation of the surgical end effector 10300.

  106-108 illustrate another surgical instrument 11010 that includes a surgical end effector 11300 that operably interfaces with an elongate shaft assembly 11200 that can employ many of the features of the various shaft assemblies disclosed herein. Each part is shown. Surgical end effector 11300 may essentially include any of the various end effectors described herein, or other forms of surgery configured to perform other surgical procedures / procedures. An end effector may be included. In the illustrated configuration, for example, the surgical end effector 11300 includes an elongate channel 11302 that can be adapted to support, for example, a surgical staple cartridge therein. The elongate shaft assembly 11200 may include a spine 11210 that is pivotally coupled to the elongate channel 11302 by an articulation joint 11270. In the illustrated configuration, the elongate channel 11302 of the surgical end effector 11300 is by an articulation pin 11818 that is movably received in the elongate channel 11302 or in an elongate joint slot 11395 formed in an end effector mounting assembly (not shown). Coupled to spine 11210. This pin and slot configuration facilitates pivotal and translational movement of the elongated channel 11302 relative to the spine 11210 of the elongated shaft assembly 11200. The articulation pin 11818 defines an articulation axis BB that extends through the center of the pin 11818 and protrudes from the page in FIGS. 106-108 to traverse the shaft axis SA-SA. It is. The spine 11210 may otherwise be similar to the spine 210 described above and can support the firing member and closure sleeve configuration described herein, and the firing member and closure sleeve. The configuration is not shown in detail in FIGS. 106-108 for clarity.

  In the illustrated example, the elongate shaft assembly 11200 includes an articulation system labeled 11800, which includes an articulation lock similar to the articulation locks 350, 810, and / or 10810 described above. And can be operated in any of the various ways described herein. Articulation system 11800 includes a distal joint driver 11820, which may include a portion of a joint lock (not shown), or a distal joint to articulate surgical end effector 11300. The driver 11820 may simply interface with an articulation control system configured to selectively move the distal and proximal directions. The articulation system 11800 further includes a central articulation link 11900 that is pivotally supported on the articulation pin 11818 so as to rotate about the articulation axis BB. In the illustrated configuration, the central articulation link 11900 has a triangular shape that defines three end portions 11902, 11904, 11906. The articulation system 11800 in the illustrated embodiment further includes a driver link 11910 that is pivotally coupled to the end of the distal joint driver 11820 as well as the end 11902 of the central articulation link 11900. As described in more detail below, movement of the distal joint driver 11820 in the proximal and distal directions will cause the central joint link 11900 to rotate or pivot about the articulation axis BB.

  Articulation system 11800 further includes an end effector driver link 11920 having a first end 11922 that is pivotally coupled to elongate channel 11302. Second end portion 11924 of end effector driver link 11920 is pivotally coupled to end portion 11904 of central articulation link 11900. The point where the driver link 11910 is attached to the central joint link 11900 and the point where the second end portion 11924 of the end effector driver link 11920 is attached to the central joint link 11900 may be located along a common axis OAS, The axis is deviated from the articulation axis BB. See FIG. The second end portion 11924 of the end effector driver link 11920 has a gear profile 11926 thereon configured to meshly engage with a central articulation gear 11930 that is rotatably supported on the articulation pin 11818. doing. As the distal joint driver 11820 is moved in the distal direction DD, the central joint link 11900 maintains the meshing engagement with the central articulation gear 11930 while the second end 11924 of the end effector driver link 11920 is maintained. Is moved in the clockwise direction CW. Movement of the joint driver link 11920 in the clockwise direction also moves the surgical end effector 11300 in the clockwise direction about the articulation axis BB relative to the elongated shaft assembly 11200. See FIG. 107. Similarly, movement of the distal joint driver 11820 in the proximal direction will cause the central joint link 11900 to move in the counterclockwise CCW direction. Such movement of the central articulation link 11900 also moves the second end 11924 in the counterclockwise direction CCW while maintaining meshing engagement with the central articulation gear 11930. Movement of the joint driver link 11920 in the counterclockwise direction pivots the surgical end effector 11300 in the counterclockwise direction about the articulation axis BB relative to the elongated shaft assembly 11200. See FIG.

  FIG. 106 shows the surgical end effector 11300 in a non-articulated position relative to the elongate shaft assembly 11200. When in its non-articulated position, the end effector axis EA of the elongated channel 11302 is essentially aligned with the shaft axis SA-SA. In other words, the end effector axis EA defined by the elongated channel 10302 is aligned with the shaft axis SA-SA. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. FIG. 107 shows the position of surgical end effector 11300 after it has been moved clockwise to a fully articulated position relative to elongated shaft assembly 11200, where end effector axis EA and shaft axis SA- The angle 11950 to SA is about 90 degrees (90 °). FIG. 108 shows the position of the surgical end effector 11300 after it has been moved counterclockwise to the fully articulated position relative to the elongated shaft assembly 11200, where the end effector axis EA and the shaft axis SA. The angle 11950 to -SA is about 90 degrees (90 °). Similarly, as can be seen in FIGS. 107 and 108, the elongate channel 11302 translates in a direction toward the shaft axis SA-SA (represented by the arrow TD in FIGS. 107 and 108) and the distal end of the elongate channel 11302 The distal end 11201 of the elongate shaft assembly 11200 is notched on both sides of the shaft axis SA so that the distance between the motion axes BB can be effectively shortened. Such a configuration is a conventional articulated joint configuration where the end effector articulation to a position that is 90 degrees (90 °) to the shaft axis (through a 180 degree path across the shaft axis) cannot occur. On the other hand, it can represent a significant improvement. This embodiment also effectively reduces the end effector footprint when articulated by translating the end effector toward the shaft axis while being articulated.

  Referring to FIG. 106, when the end effector 11300 is in the non-articulated position, the driver link 11910 is coupled to the first end of the central joint link 11900 at a location located on one side of the shaft axis. It can be observed that the second end portion 11924 of the end effector driver link 11920 is attached to the end portion 11904 of the central joint link 11900 at a location opposite the shaft axis. The central articulation gear configuration serves to minimize backlash and to transmit such forces to the articulation pin 11818, thereby comparing it to other articulated joint configurations of comparable magnitude. Thus, the overall strength of the joint joint can be enhanced. The ability to articulate the surgical end effector at a relatively high angle relative to the shaft to which the surgical end effector is attached is often excised in a confined space, such as in a thoracic cavity or pelvic bowl This is desirable when performing a variety of surgical procedures where access to the target soft tissue can be difficult. Conventional end effectors have the disadvantage that they cannot articulate at angles greater than 45 degrees (45 °) with respect to the shaft axis. The embodiments described above can overcome these drawbacks.

  109-111 illustrate another surgical instrument 12010 that includes a surgical end effector 12300 that operably interfaces with an elongate shaft assembly 12200 that can employ many of the features of the various shaft assemblies disclosed herein. Each part is shown. Surgical end effector 12300 may essentially include any of the various end effectors described herein, or other forms of surgery configured to perform other surgical procedures / procedures. An end effector may be included. In the illustrated configuration, for example, the surgical end effector 12300 includes an elongate channel 12302 that can be adapted to support, for example, a surgical staple cartridge therein. The elongate shaft assembly 12200 may include a spine 12210 that is pivotally coupled to the elongate channel 12302 by an articulation joint 12270. In the illustrated configuration, the elongated channel 12302 of the surgical end effector 12300 is configured to extend into the distal end portion 12213 of the spine 12210 and is operably coupled to the spine by the articulation system 12800. ing.

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

  FIG. 109 shows the surgical end effector 12300 in a non-articulated position with respect to the elongate shaft assembly 12200. When in its non-articulated position, the end effector axis EA of the elongated channel 12302 is essentially aligned with the shaft axis SA-SA. In other words, the end effector axis EA defined by the elongated channel 10302 is aligned with the shaft axis SA-SA. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA or simply parallel to the shaft axis SA-SA. FIG. 110 shows the position of the surgical end effector 12300 after it has been moved in the clockwise CW direction to the fully articulated position relative to the elongate shaft assembly 12200. FIG. 111 shows the position of surgical end effector 12300 after it has been moved in a counterclockwise direction relative to elongate shaft assembly 12200 to a fully articulated position.

  The ability to articulate the surgical end effector at a relatively high angle relative to the shaft to which the surgical end effector is attached is often excised in a confined space, such as in a thoracic cavity or pelvic bowl This is desirable when performing a variety of surgical procedures where access to the target soft tissue can be difficult. However, in conventional end effectors, a larger articulation angle will typically produce a greater moment around the articulation system that can cause the mechanism to bend or break more easily. The embodiment shown in FIGS. 112-114 includes features that can address these shortcomings of conventional articulating end effectors. 112-114 illustrate another surgical instrument 13010 that includes a surgical end effector 13300 that operably interfaces with an elongate shaft assembly 13200 that can employ many of the features of the various shaft assemblies disclosed herein. Each part is shown. The elongate shaft assembly 13200 defines a shaft axis SA-SA. In addition, surgical end effector 13300 may essentially include any of the various end effectors described herein, or other configured to perform other surgical procedures / procedures. A form of surgical end effector may be included. In the illustrated configuration, for example, the surgical end effector 13300 includes an elongate channel 13302 that can be adapted to support, for example, a surgical staple cartridge therein. The elongated channel 13302 defines an end effector axis EA. The elongate shaft assembly 13200 may include a spine 13210 that is pivotally coupled to the elongate channel 13302 by an articulation joint 13270. In the illustrated configuration, the elongated channel 13302 of the surgical end effector 13300 is coupled to the spine 13210 by an articulation pin 13818 that defines an articulation axis BB that traverses the shaft axis SA-SA. 112-114, the articulation axis BB may coincide with, for example, the central axis of the articulation pin 13818, and essentially protrude from the page in each of these figures. The spine 13210 may otherwise be similar to the spine 210 described above and can support the firing member and closure sleeve configuration described herein, and the firing member and closure sleeve. The configuration is not shown in detail in FIGS. 112-114 for clarity.

  In the illustrated example, the elongate shaft assembly 13200 includes an articulation system labeled 13800, which includes an articulation lock similar to the articulation locks 350, 810, and / or 10810 described above. And can be operated in any of the various ways described herein. The articulation system 13800 includes a distal joint driver 13820, which may include a portion of a joint lock (not shown), or a surgical end effector 13300 about the articulation axis BB. May simply interface with an articulation control system configured to selectively move the distal joint driver 13820 in the distal and proximal directions. Articulation system 13800 further includes a central articulation link 13900 that is pivotally supported on articulation pin 13818 to rotate about articulation axis BB relative to the distal end of elongate shaft assembly 13200. It is out. In the illustrated configuration, the central articulation link 13900 has a triangular shape and defines three end portions 13902, 13904, 13906. The articulation system 13800 in the illustrated embodiment further includes an intermediate driver link 13910 that is pivotally coupled to the end of the distal joint driver 13820 as well as the end 13902 of the central joint link 13900. As described in further detail below, movement of the distal joint driver 13820 in the proximal and distal directions will cause the central joint link 13900 to rotate about the articulation axis BB.

  The articulation system 13800 further includes an end effector driver link 13920 having a first or distal driver link end 13922 having a slot 13923 therein. An end effector attachment member or pin 13960 is attached to the end effector 13300 and received in the slot 13923. Such a configuration facilitates pivotal and translatable or axial movement (represented by arrow AT) of pin 13960 within slot 13923. Second or proximal driver link end 13924 of end effector driver link 13920 is pivotally coupled to end 13904 of central articulation link 13900. The point where the intermediate driver link 13910 is attached to the central joint link 13900 and the point where the second end 13924 of the end effector driver link 13920 is attached to the central joint link 13900 can be located along a common axis OAS, This axis is deviated from the articulation axis BB. See FIG. 112. A second end 13924 of the end effector driver link 13920 has a gear profile 13926 thereon configured to be in meshing engagement with a gear profile 13930 formed on or attached to the spine 13210. ing. When the distal joint driver 13820 is moved in the proximal direction PD, the central joint link 13900 is in a counterclockwise direction CCW about the articulation axis BB relative to the distal end of the elongate shaft assembly 13200. The end effector 13300 is rotated. During such movement, the second end 11924 of the end effector driver link 13920 is still in meshing engagement with the gear profile 13930. Depending on the amount of proximal movement of the distal joint driver 13820, the surgical end effector 13300 may be pivoted to the articulation position shown in FIG. 113, where the end effector axis EA is the shaft axis SA-SA ( (Represented by angle 13950 in FIG. 113). Similarly, movement of the distal joint driver 11820 in the distal direction DD rotates the end effector 13300 in a clockwise direction CW about the articulation axis BB relative to the distal end of the elongate shaft assembly 13200. I will let you. During such movement, the second end 11924 of the end effector driver link 13920 is still in meshing engagement with the gear profile 13930. Depending on the amount of distal movement of the distal joint driver 13820, the surgical end effector 13300 may be pivoted to the articulation position shown in FIG. 114, where the end effector axis EA is the shaft axis SA-SA ( (Represented by the angle 13952 in FIG. 114).

  As can be seen in FIG. 112, when in the non-articulated position, the end effector axis EA is axially aligned with the shaft axis SA-SA. In addition, as can be further seen in FIGS. 112-114, the distal joint driver 13820 as well as the intermediate driver 13910 are each supported for selective longitudinal movement along one outer portion of the shaft axis SA. The end effector mounting pin 13960 is located on the second outer portion of the end effector axis EA corresponding to the second outer portion of the shaft axis SA. Alternative embodiments may use other means for applying articulation control motion to the central joint link 13900. For example, instead of distal joint drivers 13820 and 13910, a cable configuration may be attached directly to the central joint link. In such a configuration, the central articulation link will be pivoted when a corresponding articulation system located within the instrument handle or housing tensions or pulls the cable. In yet another alternative embodiment, the distal joint driver 13820 is coupled directly to the central joint link 13900. In such a configuration, for example, the central joint link 13900 may include a slot instead of a pin at this connection to allow rotation about the articulation axis BB. In yet another embodiment, the slot 13923 of the end effector drive link 13920 may be replaced with a pin connection. To achieve articulation of the surgical end effector 13300 about the articulation axis BB, the gear profile 13926 on the end effector driver link 13920 is formed on or attached to the spine 13210. A cam is shaped to maintain meshing engagement with gear profile 13390.

  The embodiment of FIGS. 112-114 is more robust compared to conventional configurations and is at a position that is 90 degrees (90 °) relative to the shaft axis (through a 180 degree path across the shaft axis). Compared to a joint configuration that cannot adapt to the end effector articulation, it provides a wider range of articulation. This embodiment may also effectively reduce the end effector footprint when articulated by translating the end effector toward the shaft axis while being articulated. This wider articulation can also be achieved by the stroke length of the joint drive, which is typically shorter than the stroke length normally required to articulate conventional articulated joint configurations. Triangular central articulation links can also provide several advantages. A triangular (three-point) central joint link connects the distal joint driver (through the intermediate drive link), the articulation pin, and the end effector driver link to each other. This triangular central link can improve resistance to forces that can undesirably disengage the end effector. Such a triangular link configuration can also increase the resistance to bending forces that can occur in the joint driver rod. Furthermore, such a configuration may also reduce the occurrence of backlash by the central articulation link being directly connected to the spine portion of the elongate shaft assembly. In the configuration described above, the planetary gear rotates around a fixed gear located on the distal end of the elongated shaft. A slotted driver arm extends from the planetary gear, creating a moment that articulates the end effector at a higher angle so as to reduce the stroke length of the joint driver. This slot provides a second center of rotation for the end effector. The triangular central articulation link also reduces buckling loads or system articulation mechanisms and backlash. Larger planetary gears result in greater mechanical benefits, but less articulation, and vice versa for smaller planetary gears.

  The ability to articulate the surgical end effector at a relatively high angle relative to the shaft to which the surgical end effector is attached is often excised in a confined space, such as in a thoracic cavity or pelvic bowl This is desirable when performing a variety of surgical procedures where access to the target soft tissue can be difficult. Commercially available endocutters typically cannot articulate beyond an angle of 45 degrees (45 °) with respect to the elongated shaft. 115-117 are more than the mechanical benefits that can be articulated 90 degrees (90 °) on either side of the elongated shaft and that can be achieved with many commercially available endoscopic cutter configurations. Shown are portions of another surgical instrument 14010 that can provide significant mechanical benefits. As can be seen in these figures, the surgical instrument 14010 includes a surgical end effector 14300 that operably interfaces with an elongate shaft assembly 14200 that can employ many of the various shaft assembly features disclosed herein. Contains. The elongate shaft assembly 14200 defines a shaft axis SA-S. In addition, the surgical end effector 14300 may essentially include any of the various end effectors described herein, or other configured to perform other surgical procedures / procedures. A form of surgical end effector may be included. In the illustrated configuration, for example, the surgical end effector 14300 includes an elongate channel 14302 that can be adapted to support a surgical staple cartridge therein. The elongated channel 14302 defines an end effector axis EA. The elongate shaft assembly 14200 may include a spine 14210 that is pivotally coupled to the elongate channel 14302 by an articulation joint 14270. In the illustrated configuration, the elongated channel 14302 of the surgical end effector 14300 is coupled to the spine 14210 by an articulation pin 14818 that defines an articulation axis BB that traverses the shaft axis SA-SA. 115-117, the articulation axis BB may coincide with, for example, the central axis of the articulation pin 14818, and essentially protrudes from the page in each of these figures. The spine 14210 may be otherwise similar to the spine 210 described above, and may support the firing member and closure sleeve configurations described herein, and those firing members and closure sleeves. The configuration is not shown in detail in FIGS. 115-117 for clarity.

  In the illustrated example, the elongate shaft assembly 14200 includes an articulation system labeled 14800, which includes an articulation lock similar to the articulation locks 350, 810, and / or 10810 described above. And can be operated in any of the various ways described herein. Articulation system 14800 includes a distal joint driver 14820, which may include a portion of a joint lock (not shown), or surgical end effector 14300 about articulation axis BB. May simply interface with an articulation control system configured to selectively move the distal joint driver 14820 in the distal and proximal directions. Articulation system 14800 further includes a central link 14900 pivotally attached to spine 14210 by link pin 14902. In the illustrated configuration, the link pin 14901 defines a link axis LA that the center link 14900 can pivot about, deviated from the articulation axis BB. 115-117, the link axis LA may coincide with, for example, the center axis of the link pin 14901, and protrudes essentially from the page in each of these figures, and the articulation axis B-B. And is parallel to the articulation axis BB. As can be further seen in these figures, in the illustrated configuration, the central articulation link 14900 is pivotally coupled to the spine 14210 in an asymmetric configuration. More specifically, the first distance between the first end 14902 of the central joint link 14900 and the link axis LA is between the second end 14904 of the central joint link 14900 and the link axis LA. Shorter than the second distance.

  The articulation system 14800 in the illustrated embodiment further includes an intermediate driver link 14910 that is pivotally coupled to the end of the distal joint driver 14820 as well as the first end 14902 of the central joint link 14900. Articulation system 14800 also includes an end effector driver link 14920 having a first or distal driver link end 14922 that is pivotally or movably coupled to elongate channel 14302. The second or proximal driver link end 14924 of the end effector driver link 14920 is pivotally coupled to the second end 14904 of the central articulation link 14900. In the illustrated configuration, the intermediate link 14910 is the shortest of the three links 14910, 14900, and 14920, and in at least one configuration has a slightly arcuate shape. The end effector driver link 14920 is the longest of the three links 14910, 14900, and 14920, and similarly has a slightly arcuate shape in at least one configuration. When the distal joint driver 14820 is moved in the distal direction DD, the central joint link 14900 is in a clockwise direction CW about the articulation axis BB relative to the distal end of the elongate shaft assembly 14200. The end effector driver link 14920 pulls the end effector 14300. See FIG. 116. Depending on the amount of proximal movement of the distal joint driver 14820, the surgical end effector 14300 may be pivoted to the articulation position shown in FIG. 116, where the end effector axis EA is the shaft axis SA-SA ( 116 (represented by angle 14950 in FIG. 116). Similarly, movement of the distal joint driver 14820 in the proximal direction PD may cause the end effector driver to move in a counterclockwise direction CCW about the articulation axis BB relative to the distal end of the elongate shaft assembly 14200. The end effector 14300 is pushed into the link 14920. See FIG. 117. Depending on the amount of distal movement of the distal joint driver 14820, the surgical end effector 14300 may be pivoted to the articulation position shown in FIG. 117, where the end effector axis EA is the shaft axis SA-SA ( (Represented by the angle 14952 in FIG. 117).

  As can be seen in FIG. 115, when in the non-articulated position, the end effector axis EA is axially aligned with the shaft axis SA-SA. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. The embodiments of FIGS. 115-117 are more robust compared to conventional configurations, and are in a position that is 90 degrees (90 °) with respect to the shaft axis (through a 180 degree path across the shaft axis). Compared to a joint configuration that cannot result in articulation of the end effector, it results in a broader articulation. This embodiment may also effectively reduce the footprint of the end effector 14300 when articulated by translating the end effector 14300 toward the shaft axis SA-SA while being articulated. This wider articulation can also be achieved while providing a higher amount of resistance to bending forces. A second attachment point (link pin 14901) of elongate shaft assembly 14200 to spine 14210 may reduce the amount of backlash that occurs at articulation joint 14270. The articulated joint configuration of FIGS. 115-117 can also provide a high amount of mechanical benefit relative to the amount of force required to articulate end effector 14300. Further, when the asymmetric central link 14900 is rotated 180 degrees (180 °), a high amount of mechanical benefit can be obtained during de-joint movement. The end effector driver link 14920 translates forward and backward to articulate the end effector 14300 about the articulation axis BB. The proximal end 14912 of the smallest link (intermediate link 14910) rotates with the distal end 14914 of the small link (intermediate link 14910) about its proximal end (attachment point to the distal joint driver) Sometimes translate back and forth with the distal joint driver 14820. As the distal end 14914 of the small link 14910 pivots, a lever effect occurs in the central (grounded) link 14900, thereby reducing the backlash that occurs in the articulation system, while reducing articulation. The mechanical benefits of power arise. The center (grounded) link 14900 pivots about its pinned position (pin 14901) to push / pull the longest link (end effector driver 14920). The longest link 14920 then pivots to articulate the end effector 14300.

  As indicated above, the ability to articulate the surgical end effector at a relatively high angle relative to the shaft to which the surgical end effector is attached is often in a thoracic cavity or pelvic bowl, such as This is desirable when performing a variety of surgical procedures where ablation needs to occur in a limited space and access to the target soft tissue can be difficult. Commercially available endocutters typically cannot articulate beyond an angle of 45 degrees (45 °) with respect to the elongated shaft. 118 and 119 are generally achieved with many commercially available endoscopic cutter configurations while being capable of articulating 90 degrees (90 °) to one side of the elongate shaft. Shown are portions of another surgical instrument 15010 that can provide greater mechanical benefit than possible. As can be seen in these figures, the surgical instrument 15010 includes a surgical end effector 15300 that operably interfaces with an elongate shaft assembly 15200 that can employ many of the various shaft assembly features disclosed herein. Contains. The elongate shaft assembly 15200 defines a shaft axis SA-SA. In addition, surgical end effector 15300 may include essentially any of the various end effectors described herein, or other configurations configured to perform other surgical procedures / procedures. A form of surgical end effector may be included. In the illustrated configuration, for example, surgical end effector 15300 includes an elongated channel 15302 that can be adapted to support a surgical staple cartridge therein. In other end effector embodiments not specifically configured to cut and staple tissue, the element 15302 may include the end effector jaws or other portions. The elongated channel 15302 defines an end effector axis EA. The elongate shaft assembly 15200 may include a spine 15210 that is pivotally coupled to the elongate channel 15302 by an articulation joint 15270. In the illustrated configuration, the elongated channel 15302 of the surgical end effector 15300 is coupled to the spine 15210 by an articulation pin 15818 that defines an articulation axis BB that traverses the shaft axis SA-SA. In FIGS. 118 and 119, the articulation axis BB may coincide with, for example, the central axis of the articulation pin 15818, and essentially protrudes from the page in each of these figures. As can be seen in these figures, in the illustrated embodiment, the articulation axis BB is offset with respect to one outer portion of the shaft axis SA-SA. In other words, the articulation axis BB does not intersect the shaft axis SA-SA or the end effector axis EA. The spine 15210 may be otherwise similar to the spine 210 described above, and may support the firing member and closure sleeve configurations described herein, and those firing members and closure sleeves. The configuration is not shown in detail in FIGS. 118-119 for clarity.

  In the illustrated example, the elongate shaft assembly 15200 includes an articulation system labeled 15800, which includes an articulation lock similar to the articulation locks 350, 810 and / or 10810 described above. And can be operated in any of the various ways described herein. The articulation system 15800 includes a distal joint driver 15820, which may include a portion of a joint lock (not shown), or a surgical end effector 15300 about the articulation axis BB. May simply interface with an articulation control system configured to selectively move distal joint driver 15820 in the distal and proximal directions. The articulation system 15800 further includes an end effector link 15900 that is pivotally attached to the distal end of the distal joint driver 15820 as well as the elongated channel 15302 of the surgical end effector 15300. Thus, when the distal joint driver 15820 is moved in the proximal direction PD, the surgical end effector 15300 is pivoted in the counterclockwise CCW direction about the articulation axis BB.

  As can be seen in FIG. 118, the end effector axis EA is axially aligned with the shaft axis SA when in the non-articulated position. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. Advancement of the distal joint driver 15820 in the proximal direction PD will pivot the surgical end effector 15300 about the articulation axis BB in a counterclockwise direction. The proximal end 15305 of the elongate channel 15302 and the distal end 15211 of the spine 15210 are angled to allow the surgical end effector 15300 to pivot to a fully articulated position, where For example, the end effector axis EA is perpendicular to the shaft axis SA (the angle 15952 is 90 degrees (90 °)). See FIG. 119. In one configuration, the proximal end 15305 of the surgical end effector 15300 is oriented at an end effector angle 15307 relative to the end effector axis EA, and the distal end 15211 of the elongate shaft assembly 15200 is at the shaft axis SA-SA. In contrast, the shaft angle 15213 is oriented. In one configuration, end effector angle 15307 is equal to shaft angle 15213. For example, the end effector angle 15307 and the shaft angle 15213 may both be about 45 degrees (45 °).

  The embodiment of FIGS. 118 and 119 can also be attached to a portion of a surgical instrument that is configured to selectively apply only a pulling motion in the proximal direction PD to the disjoint member. Member 15910 is included. As can be seen in FIG. 119, the disjoint member 15910 is oriented to bend around the articulation pin 15818 during articulation of the surgical end effector 15300. In an alternative configuration, the de-articulation member is elastic and can be positioned on the spine 15210 or other portion of the surgical instrument 15010 in a position proximal to the articulation joint 15270, and even the elongated channel of the surgical end effector 15300. Attached to the proximal end 15305 of 15302 or other portion. The flexible de-joint member is made of, for example, spring tempered stainless steel, plastic material, nylon, etc., and de-joins the surgical end effector 15300 from the articulation position back to the non-articulation position. Can be formed into a flat band or cable to help. When the clinician wishes to return the surgical end effector 15300 to the non-articulated orientation, the distal joint driver 15820 is moved in the distal direction DD, thereby moving the surgical end effector in the clockwise CW direction. The disengagement member 15910 is pulled in the proximal direction PD. The disarticulation member 15910 also serves to help pull the surgical end effector in the clockwise CW direction again to the non-articulated position.

  The embodiment of FIGS. 118 and 119 may have several advantages over other commercially available articulating surgical instruments. Such a configuration may reduce the backlash that occurs during articulation, for example because the number of links is minimal. Such a configuration also results in increased articulation angles relative to conventional designs. As described above, the surgical end effector may comprise various types of surgical stapling configurations described herein. Such a configuration uses an axially movable firing member or firing bar or beam that experiences a certain amount of bending when the end effector is articulated. The embodiment of FIGS. 118 and 119 may provide an improved radius of curvature for the firing member by asymmetric articulation. In other words, the distal joint driver 15820 as well as the end effector link 15910 are located on one side of the shaft axis SA-SA, thereby achieving a more gradual bending of the firing member during articulation. In order to do this, a further clearance is provided. The configuration of such an offset articulation axis that results in articulation in a single articulation direction across the shaft axis is referred to herein as “asymmetrical, which may facilitate relatively high articulation angles. Sometimes referred to as a “joint configuration” or system. In this embodiment, the articulation axis BB is offset laterally from the shaft axis. In such embodiments, the distance from the intersection of the shaft axis and the end effector axis to the distal end of the end effector is shorter when the device is in an articulated state than when it is in a non-articulated state. Become.

  120-122 illustrate another articulating surgical including a surgical end effector 16300 that operably interfaces with an elongate shaft assembly 16200 that may use many of the features of the various shaft assemblies disclosed herein. Each part of the instrument 16010 is shown. The elongate shaft assembly 16200 defines a shaft axis SA-SA. In addition, surgical end effector 16300 may essentially include any of the various end effectors described herein, or other configured to perform other surgical procedures / procedures. A form of surgical end effector may be included. In the illustrated configuration, for example, the surgical end effector 16300 includes an elongate channel 16302 that can be adapted to support, for example, a surgical staple cartridge therein. In other end effector embodiments not specifically configured to cut and staple tissue, the element 16302 may include the end effector jaws or other portions. The elongated channel 16302 defines an end effector axis EA. The elongate shaft assembly 16200 may include a spine 16210 that is pivotally coupled to the elongate channel 16302 by an articulation joint 16270. In the illustrated configuration, the elongated channel 16302 of the surgical end effector 16300 includes a proximal protruding mounting arm 16309 that is coupled to the spine 16210 by a spring pin 16818 that defines an articulation axis BB. The articulation axis BB crosses the shaft axis SA-SA. In FIGS. 121 and 122, the articulation axis BB may coincide with, for example, the central axis of the spring pin 16818, and essentially protrudes from the page in each of these views. As can be seen in these figures, in the illustrated embodiment, the articulation axis BB is offset with respect to one outer portion of the shaft axis SA-SA. In other words, the articulation axis BB does not intersect the shaft axis SA-SA or the end effector axis EA. The spine 16210 may otherwise be similar to the spine 210 described above and can support the firing member and closure sleeve configuration described herein, and the firing member and closure sleeve. The configuration is not shown in detail in FIGS. 120-122 for clarity. Spring pin 16818 is configured to apply a biasing force to mounting arm 16309 to bias mounting arm 16309 and surgical end effector 16300 in a clockwise CW direction. Thus, the spring pin 16818 serves to bias the surgical end effector 16300 to the non-articulated position shown in FIG. 121 where the end effector axis EA and the shaft axis SA-SA are axially aligned. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA.

  In the illustrated example, the elongate shaft assembly 16200 also includes an articulation system, denoted 16800, which provides an articulation lock similar to the articulation locks 350, 810 and / or 10810 described above. It can be included and can be operated in any of the various ways described herein. Articulation system 16800 includes a distal joint driver 16820, which may include a portion of a joint lock (not shown), or a surgical end effector 16300 about an articulation axis BB. May simply interface with an articulation control system configured to selectively move the distal joint driver 16820 in the distal and proximal directions. Distal joint driver 16820 is pivotally pinned to proximal end 16305 of elongate channel 16302. As can be seen in FIG. 121, the distal joint driver 16820 is pinned to the elongated channel 16302 at a location on one side of the shaft axis SA-SA and the end effector axis EA. The articulation axis BB is located on the opposite side of the shaft axis with respect to the point where the distal joint driver is attached to the elongate channel 16302. As can also be seen in FIG. 121, in the configuration shown, the point at which the distal joint driver 16820 is attached to the elongate channel 16302 is distal to the articulation axis BB. When the distal joint driver 15820 is moved in the proximal direction, the surgical end effector 16300 is pivoted in the counterclockwise CCW direction about the articulation axis BB.

  As can be seen in FIG. 121, when in the non-articulated position, the end effector axis EA is axially aligned with the shaft axis SA. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. Advancement of the distal joint driver 16820 in the proximal direction PD will pivot the surgical end effector 16300 about the articulation axis BB in a counterclockwise direction. When the clinician wishes to return the surgical end effector 16300 to the non-articulating orientation, the distal joint driver 16820 is moved in the distal direction DD so that the surgical end effector 16300 is in the clockwise CW direction. It will begin to move. The spring pin 16818 also serves to help pull the surgical end effector 16300 in the clockwise CW direction again to the non-articulated position.

  FIGS. 123-128 illustrate another surgical instrument 17010 that includes a surgical end effector 17300 that operably interfaces with an elongate shaft assembly 17200 using many of the various shaft assembly features disclosed herein. Each part is shown. Surgical end effector 17300 may essentially include any of the various end effectors described herein, or other forms of surgery configured to perform other surgical procedures / procedures. An end effector may be included. In the illustrated configuration, for example, the surgical end effector 17300 is adapted to cut and staple tissue and is configured with an elongate channel 17302 configured to operably support a surgical staple cartridge 17304 therein. A first jaw in the form is included. See FIGS. 123 and 124. The illustrated surgical end effector 17300 further includes a second jaw in the form of an anvil 17310 that is supported on the elongated channel 17302 to move relative thereto. See FIG. 123. Anvil 17310 may be movably actuated by one of the closure systems described herein. For example, a first closure drive system can be used to actuate the closure sleeve 260 in the manner described herein. The closure sleeve 260 is attached to an end effector closure sleeve 272 that is pivotally attached to the closure sleeve 260 by a dual pivot closure sleeve assembly 271 in any of the manners described herein. As explained above, for example, the axial movement of the closure sleeve 260 can be controlled through the actuation of a closure trigger. As the end effector closure sleeve 272 is advanced in the distal direction DD, the anvil 17310 is cam driven and closed. In at least one configuration, a spring (not shown) may be used to pivot the anvil 17310 to the open position when the end effector closure sleeve 272 is retracted back to the start position.

  As can be seen in FIGS. 123-128, the surgical end effector 17300 can be articulated relative to the elongated shaft assembly 17200 about an articulation joint 17270. In the illustrated example, the elongate shaft assembly 17200 includes an articulation system labeled 17800 using a joint lock 17810 similar to the joint locks 350, 810, and 10810 described above. See FIGS. 124 and 125. For example, the components of the joint lock 17810 that are different from the components of the joint lock 810 and / or the joint lock 350 and / or the joint lock 10810 and may be necessary to understand the operation of the joint lock 17810 are described below. Further details will be described. As noted above, further details regarding the joint lock 350 can be found in US patent application Ser. No. 13 / 803,086, entitled “ARTICULABLE SURGICAL INSTRUMENT COMPRISINGING,” the entire disclosure of which is incorporated herein by reference. AN ARTICULATION LOCK ", current US Patent Application Publication No. 2014/0263541. The articulation lock 17810 may be configured and operated to selectively lock the surgical end effector 17300 in various articulation positions. Such a configuration allows the surgical end effector 17300 to rotate or articulate relative to the shaft closure sleeve 260 when the joint lock 17810 is in its unlocked state.

  Referring specifically to FIG. 125, the elongate shaft assembly 17200 includes a spine 210 that first slidably supports a firing member (not shown) therein and secondly. The closure sleeve 260 (FIG. 123) extending around the spine 210 is slidably supported. Spine 210 also slidably supports proximal joint driver 230. Proximal joint driver 230 has a distal end 231 configured to operably engage articulation lock 17810. The joint lock 17810 further comprises a shaft frame 17812 that is attached to the spine 210 in various ways as disclosed herein. Shaft frame 17812 is configured to movably support proximal portion 17821 of distal joint driver 17820 therein. The distal joint driver 17820 is responsive to an articulation control motion applied thereto, along a joint actuation axis AAA that is laterally offset from the shaft axis SA-SA and parallel to the shaft axis SA-SA. And is movably supported within the elongate shaft assembly 17200 for selective longitudinal movement in the distal direction DD and the proximal direction PD.

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

  As can be seen in FIG. 125, a link pin 17825 is formed on the distal end 17823 of the distal articulation link 17820 and is configured to be received in the hole 17904 in the proximal end 17902 of the cross link 17900. ing. Cross link 17900 extends across shaft axis SA-SA and includes a distal end portion 17906. A distal link hole 17908 is provided through the distal end portion 17906 of the cross link 17900 to pivotally receive therein a base pin 17398 extending from the bottom of the pivot base portion 17395 of the end effector mounting assembly 17390. It is configured. The base pin 17395 defines a link axis LA that is parallel to the articulation axis BB. 124 and 127 illustrate the surgical end effector 17300 in a non-articulated position. In other words, the end effector axis EA defined by the elongated channel 17302 is aligned with the shaft axis SA-SA. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. Movement of the distal joint driver 17820 in the proximal direction PD (in the manner described herein) causes the cross link 17900 to rotate about the articulation axis BB as shown in FIG. The surgical end effector 17300 is retracted in the surrounding CW direction. As the distal joint driver 17820 moves in the distal direction DD, the cross link 17900 moves the surgical end effector 17300 in the counterclockwise CCW direction about the articulation axis BB as shown in FIG. I will let you. As can be seen in this figure, the cross link 17900 has a curved shape that causes the cross link 17900 to move about the articulation pin 17818 when the surgical end effector 17300 is articulated in that direction. It is possible to bend. When the surgical end effector 17300 is in a fully articulated position on both sides of the shaft axis SA-SA, the articulation angle 17700 between the end effector axis EA and the shaft axis SA-SA is about 65 degrees (65 °). . Accordingly, the range of articulation at any of the shaft axes is from 1 degree (1 °) to 65 degrees (65 °).

  The surgical end effector 17300 of the embodiment shown in FIGS. 123-128 includes a surgical cutting and stapling device using the various types and configurations of the firing beam 220 described herein. However, the surgical end effector 17300 of this embodiment may include other forms of surgical end effectors that do not cut and / or staple tissue. In the illustrated configuration, a central support member 17950 is pivotally and slidably supported relative to the spine 210. As can be seen in FIG. 125, the central support member 17950 includes a slot 17952 that is adapted to receive a pin 17954 protruding from the spine 210 therein. Such a configuration allows the central support member 17950 to pivot and translate relative to the pin 17954 when the surgical end effector 17300 is articulated. A pivot pin 17958 projects from the underside of the central support member 17950 and is pivotally received within a corresponding pivot hole 17399 provided in the base portion 17395 of the end effector mounting assembly 17390. . Central support member 17950 further includes a slot 17960 for receiving firing beam 220 therethrough. The central support member 17950 serves to provide lateral support to the firing beam when the firing beam 220 is flexed to accommodate articulation of the surgical end effector 17300.

  FIGS. 129-131 illustrate another surgical instrument 18010 that includes a surgical end effector 18300 that operably interfaces with an elongate shaft assembly 18200 using many of the various shaft assembly features disclosed herein. Each part is shown. Surgical end effector 18300 is adapted to cut and staple tissue and has a first jaw in the form of an elongate channel 18302 configured to operably support a surgical staple cartridge therein. Is included. The illustrated surgical end effector 18300 further includes a second jaw in the form of an anvil 18310 supported on the elongated channel 18302 to move relative thereto. Anvil 18310 may be movably actuated by one of the closure systems described herein.

  The elongate shaft assembly 18200 includes a shaft spine 18210 that defines a shaft axis SA-SA that coincides with the center of the elongate shaft assembly 18200. In other words, the shaft axis SA-SA extends axially below the geometric center of the elongated shaft assembly 18200. The spine 18210 may be otherwise similar to the spine 210 described above, and may support the firing member and closure sleeve configurations described herein, and those firing members and closure sleeves. The configuration is not shown in detail in FIGS. 129-131 for clarity. As can be seen in FIG. 131, the surgical end effector 18300 can be articulated relative to the elongate shaft assembly 18200 about the articulation joint 18270. Articulation joint 18270 serves to couple elongate channel 18302 to distal end 18215 of spine 18210. Surgical end effector 18300, and more particularly, elongate channel 18302 of surgical end effector 18300, defines an end effector axis EA that represents the axis of elongate channel 18302. When surgical end effector 18300 is in a non-articulating orientation, end effector axis EA is axially aligned with shaft axis SA-SA as shown in FIG. As used in this context, the term “aligned with” may mean “aligned coaxially” with the shaft axis SA-SA or simply parallel to the shaft axis SA-SA. In the illustrated configuration, the elongated channel 18302 of the surgical end effector 18300 includes a proximal protruding mounting arm 18309 that is coupled to the spine 18210 by a spring pin 18818 defining an articulation axis BB. The articulation axis BB crosses the shaft axis SA-SA. In FIGS. 130 and 131, the articulation axis BB may coincide with, for example, the central axis of the spring pin 18818, and essentially protrudes from the page in each of these views. As can be seen from these figures, in the illustrated configuration, the articulation axis BB is offset with respect to one outer portion 18213 of the shaft axis SA-SA. In other words, the articulation axis BB does not intersect the shaft axis SA or the end effector axis EA. The spring pin 18818 is configured to apply a biasing force to the mounting arm 18309 to bias the mounting arm 18309 and the surgical end effector 18300 in the clockwise CW direction. Accordingly, the spring pin 18818 serves to bias the surgical end effector 18300 to the non-articulated position shown in FIG. 130 where the end effector axis EA and the shaft axis SA-SA are axially aligned.

  The illustrated embodiment further includes an articulation system, designated 18800, that uses a joint lock 18810 similar to the joint locks 350, 810, and 10810 described above. The articulation lock 18810 may be configured and operated to selectively lock the surgical end effector 18300 in various articulation positions. Such a configuration allows the surgical end effector 18300 to rotate or articulate relative to the elongate shaft assembly 18200 when the joint lock 18810 is in its unlocked state. Joint lock 18810 includes a distal joint driver 18820 that is movable within elongate shaft assembly 18200 for selective longitudinal movement in distal direction DD and proximal direction PD. It is supported by. The distal joint driver 18820 is movable along an articulation axis AAA that is laterally offset from and parallel to the shaft axis SA-SA in response to the applied articulation control motion. . In an alternative embodiment, the distal joint driver 18820 does not include a portion of the joint lock, but instead advances the distal joint driver 18820 selectively axially in the distal direction DD, and in the proximal direction. Operately interface with a source of articulation motion (in the handle or in the robotic system) that serves to retract the distal joint driver 18820 to the PD. Distal joint driver 18820 is pivotally pinned to proximal end 18305 of elongate channel 18302. As can be seen in FIG. 130, the distal joint driver 18820 is pinned to the elongate channel 18302 at a location on one outer portion 1821 of the shaft axis SA-SA and the end effector axis EA. The articulation axis BB is located on the outer side 18213 opposite the shaft axis SA-SA with respect to the point where the distal joint driver 18820 is attached to the elongated channel 18302. As can also be seen in FIG. 130, in the configuration shown, the point at which the distal joint driver 18820 is attached to the elongate channel 18302 is distal to the articulation axis BB. As can be seen in FIG. 130, when in the non-articulated position, the end effector axis EA is axially aligned with the shaft axis SA-SA. Advancement of the distal joint driver 18820 in the proximal direction PD causes the surgical end effector 18300 to pivot about the articulation axis BB in a counterclockwise direction CCW. In other words, the surgical end effector 18300 is articulatable to a position on one side of the shaft axis SA that coincides with the first side 18212 of the spine 18210. When the clinician wishes to return the surgical end effector 18300 to the non-articulated orientation, the distal joint driver 18820 is moved in the distal direction DD so that the surgical end effector 18300 is in the clockwise direction CW. It will begin to move. The spring pin 16818 also serves to help pull the surgical end effector 18300 in the clockwise direction CW again to the non-articulated position.

  The surgical end effector 18300 of the embodiment shown in FIGS. 129-131 includes a surgical cutting and stapling device using the various types and configurations of the firing beam 18220 described herein. In one configuration, for example, the firing beam 18220 may have a stacked structure as described herein. In the exemplary embodiment, firing beam 18220 is slidably supported within a path 18230 formed in spine 18210 to selectively advance firing beam 18220 in distal direction DD and launch in proximal direction PD. It interfaces with various types of launch systems described herein configured to retract beam 18220. The distal end of firing beam 18220 is coupled to or operatively interfaced with various types of firing members (not shown) or tissue cutting members disclosed herein. In at least one form, for example, firing member 18220 includes a tissue cutting surface, and staple support member (and staples supported thereon) when firing member 18220 is driven distally through the staple cartridge. It is configured to interact with a staple support member that is operatively supported within the staple cartridge for driving toward the anvil.

  The articulated joint 18270 of the illustrated embodiment facilitates articulation of the surgical end effector 18300 in only one direction (CCW). In other words, surgical end effector 18300 is pivotable to an articulation position that coincides with first outer portion 1821 of spine 18210. In one example, the surgical end effector 18300 can articulate to a fully articulated position as shown in FIG. 131 where the angle 18950 between the end effector axis EA and the shaft axis is about 75 degrees (75 degrees). To accommodate such a range of articulation, the distal end 18215 of the spine 18210 has a notch 18217 adjacent to the first side 1821 of the spine 18210.

  As indicated above, the firing beam 18220 is slidably supported within a path 18220 provided in the spine 18210. In the illustrated configuration, the path 18230 is a “first” or proximal portion 18232 that is axially aligned with the shaft axis SA-SA, and a “second” that is not axially aligned with the shaft axis SA-SA. A distal portion 18234. In the illustrated embodiment, the distal portion 18234 of the path 18230 is open at the distal end of the spine at a position that is not axially aligned with the shaft axis SA-SA. As can be seen in FIGS. 130 and 131, for example, the distal portion 18234 of the path 18230 is offset laterally with respect to the second outer portion 18213 of the shaft axis SA-SA (at 18236 in FIGS. 130 and 131). Open). Further, at least in the illustrated embodiment, the distal portion 18234 of the path 18230 is curved to begin bending the firing beam 18220 in the direction of articulation before the firing beam 18220 exits the spine 18210. Such a configuration is articulated in one direction and compared to the bending radius of the firing beam of other articulating end effector configurations where the firing beam exits the spine 18210 while aligned with the shaft axis SA-SA. A greater bending radius is provided to the firing beam 18220. Further, the path 18230 in the illustrated configuration includes a first or proximal portion 18232 axially aligned with the shaft axis SA-SA and a second curved away from the shaft axis SA-SA in a first direction. It includes an arcuate portion 18233 and a third arcuate section 18235 that curves toward the shaft axis SA-SA. As further seen in FIGS. 130 and 131, the position 18236 where the firing beam 18220 exits the spine 18210 is on the second side 18213 of the shaft axis SA, opposite the first side 1821 to which the end effector 18300 articulates. positioned. Accordingly, the distal portion 18234 of the path 18230 serves to position or bias the firing beam 18220 in an “off-axis position” (a position that is not axially aligned with the shaft axis SA) relative to the shaft axis SA-SA. . Such a configuration provides a gradual arc to the launch beam as it exits the spine 18210. This feature may serve to reduce the likelihood that the firing beam 18220 will buckle when the articulation joint 18270 expands to accommodate the surgical end effector 18300. In other configurations, the proximal portion of the path may be offset laterally from the shaft axis. In yet other configurations, the proximal portion of the path may be axially aligned with the shaft axis, and the distal portion of the path may be moved by the end effector when the firing beam exits the distal portion of the path. It may be angled to one side of the shaft axis such that the firing beam is axially offset to the opposite side of the possible shaft axis. In such a configuration, the distal portion of the path may be relatively straight and may not be curved. In still other configurations, the distal and proximal portions of the pathway may be along a common axis that is laterally offset from the shaft axis to the side opposite to the side on which the end effector is articulatable. Good. All such configurations are those that shift the firing beam off-axis as it exits the spine, resulting in a larger bending radius without adding space distal to the articulation axis. .

  The firing beam used in the various surgical instruments disclosed herein is configured to bend sufficiently to accommodate various articulation positions of the end effector. In some configurations, the firing beam may actually comprise a firing rod 18600 that is coupled to the flexible firing beam 18700 at a coupling or coupling 18702. See FIG. 132. The firing rod 18600 is slidably supported within the spine 18210 of the elongate shaft assembly and is translated, for example, in response to a drive motion initiated within the handle of the surgical instrument or by a robotic system. obtain. In various cases, firing rod 18600 may resist deformation, twisting, and / or bending when transmitting firing motion. For example, firing rod 18600 may be constructed of a rigid and / or inflexible material and / or structure.

  At connection 18702, firing rod 18600 is engaged with a downwardly projecting key 18701 of flexible firing beam 18700 (see, eg, FIG. 132A). For example, the key 18701 can extend into an elongated aperture 18606 formed in the distal end 18604 of the firing rod 18600. This firing rod and key engagement is configured to transmit the translation of the firing rod 18600 to the flexible firing beam 18700. In various cases, the coupling 18702 may be proximate to the articulation joint 18270 such that the flexible firing beam 18700 extends from the coupler 18702 through the articulation joint 18270.

  In the configuration shown in FIGS. 133 and 135, the flexible firing beam 18700 includes a plurality of outer portions or layers 18702a, 18702b, 18702c, 18702d, 18702e, and 18702f. In various cases, each portion 18702a, 18702b, 18702c, 18702d, 18702e, 18702f can be held together and can be movable and / or shiftable relative to each other. For example, the outer portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f can be secured together at the distal end of the flexible firing beam 18700. Each portion 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may be secured together at its distal end, eg, by welding, integral molding, fastening, and / or otherwise. At least a portion of the remaining length of the outer portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f move and / or shift relative to the adjacent outer portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f. Can be configured. For example, when the flexible firing beam 18700 bends at the articulation joint 18270, the outer portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f are bent at the articulation joint 18270 and the proximal end of the flexible firing beam 18700. Can be shifted into and out of alignment with each other. FIG. 134 shows a proximal end 18704 of one form of firing beam 18700 ′, wherein outer portions 18702a, 18702b, 18702c, 18702d, 18702e are coplanar with each other when firing beam 18700 is straight. . FIG. 135 shows another flexible beam configuration in which the layer portions 18702a, 18702b, 18702c, 18702d, 18702e, and 18702f are offset from one another at the proximal end 18704.

  Referring again to FIGS. 132 and 133, the proximal end 18704 of the flexible firing beam 18700 extends into a cavity 18608 formed in the distal end 18604 of the firing rod 18600 to allow flexible firing. Each portion 18702a, 18702b, 18702c, 18702d, 18702e, 18702f of beam 18700 may extend along the firing path through articulation joint 18270. When the end effector 18300 is articulated with respect to the elongate shaft assembly 18200, the flexible firing beam 18700 and its respective portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may be bent within the articulation joint 18270. In such cases, the outer portion adjacent to the outer portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may extend along a varying path when the end effector 18300. A bumper member 18610 is supported in the cavity to accommodate shifting of each portion 18702a, 18702b, 18702c, 18702d, 18702e, 18702f during articulation. For example, the bumper member 18610 can be expected that each portion 18702a, 18702b, 18702c, 18702d, 18702e, 18702f will be equally loaded (ie, advanced distally) by the bumper member 18610 during firing. In addition, the firing beam portions 18702a, 18702b, 18702c, 18702d, 18702e, 18702f may rotate within the cavity 18608 as they extend relative to each other. The bumper member 18610 may be made from a flexible material or may not be made from a flexible material. Additional details and specifications regarding the firing beam / fired rod configuration described above and other configurations that may be used with the various embodiments disclosed herein are hereby incorporated by reference in their entirety. US Patent Application No. 14 / 574,478, entitled “SURGICAL INSTRUMENT SYSTEM COMPRISING AN ARTICULABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING OF A FILE OF A FILE

  FIG. 132A shows a coupling configuration 18702 'using a one-way latch configuration to limit distal movement of the firing rod 18600'. As can be seen in this figure, firing rod 18600 ′ includes a lock aperture 18620 that is beveled distal surface 18622 and perpendicular to the direction in which firing rod 18600 ′ moves or And a vertical surface 18624 across the direction. A lock member 18630 is movably supported within the lock cavity 18640 of the shaft spine 18210. A lock spring 18642 is supported within the lock cavity 18640 to bias the lock member 18630 into sliding contact with the firing rod 18600 '. In the illustrated embodiment, the locking member 18630 has a beveled distal surface 18632 and a vertical posterior surface 18634 such that when the firing rod 18600 'is moved to a predetermined distal most position, the locking aperture. Dimensioned to extend into 18620. When the firing rod 18600 ′ is advanced distally to the position shown in FIG. 132A, the spring 18642 of the locking member 18630 urges the locking member into the locking aperture 18620, thereby further increasing the firing rod 18600 ′. Any distal movement is further prevented. However, when the firing rod 18600 ′ is retracted in the proximal direction PD, the firing rod 18600 ′ contacts the beveled distal surface 18632 and attaches the locking member 18630 into the locking cavity 18640 of the shaft spine 18210. This allows the firing rod 18600 'to move in the proximal direction PD over the locking member 18630.

  136 and 137 illustrate another surgical instrument 19010 that includes a surgical end effector 19300 that operably interfaces with an elongate shaft assembly 1920 using many of the various shaft assembly features disclosed herein. Each part is shown. For example, the elongate shaft assembly 19200 is similar to the elongate shaft assembly 200 'described in detail above, except for the differences described below. In the illustrated example, the elongate shaft assembly 19200 includes a dual articulated link configuration, designated 19800, using a joint lock 19810 similar to the joint locks 350, 810, and 10810 described above. The articulation lock 19810 can be configured and operated to selectively lock the surgical end effector 19300 in various articulation positions. Such a configuration allows surgical end effector 19300 to rotate or articulate relative to elongate shaft assembly 19200 when joint lock 19810 is in its unlocked state. The first distal joint driver 19820 is selectively elongated longitudinally in the distal direction DD and the proximal direction PD in response to a corresponding articulation control motion applied thereto, the elongated shaft assembly 19200. Of spine 19210. The downward projecting pivot pin 19818 is adapted to be pivotally received within a pivot hole (not shown) formed in the proximal end portion of the elongated channel 19302 of the surgical end effector 19800. Such a configuration facilitates pivotal movement of the elongated channel 19302 of the surgical end effector 19300 relative to the spine 19210 about the articulation axis BB defined by the pivot hole. As indicated above, the articulation axis BB traverses the shaft axis SA-SA defined by the elongate shaft assembly 19200.

  Still referring to FIGS. 136 and 137, the dual joint link configuration 19800 establishes a “push / pull” configuration when articulation forces are applied to the dual joint link configuration 19800 through the first distal joint driver 19820. Is configured to do. As can be seen in these figures, the first distal joint driver 19820 has a first drive rack 19842 formed therein. A first articulation rod 19844 projects distally from the first distal articulation driver 19820 and has a first axial slot 19845 therein. In addition, a first end effector link 19850 is movably coupled to the surgical end effector 19300. In one configuration, for example, the distal end 19852 of the first end effector link 19850 is pivotally pinned to the elongated channel 19302 of the end effector 19300. A proximal end 19854 of the first end effector link 19850 is slidably received within a first axial slot 19845 of the first articulation rod 19844 of the first distal joint driver 19820. Pin 19856 is included. The double articulated linkage arrangement 19800 further comprises a second distal articulated driver 19860 formed in the second drive rack 19862. The second distal joint driver 19860 is movably supported within the elongate shaft assembly 1920 for longitudinal movement in the distal direction DD and the proximal direction PD. A second articulation rod 19864 projects distally from the second distal articulation driver 19860 and has a second axial slot 19865 therein. In addition, a second end effector link 19870 is movably coupled to the surgical end effector 19300. In one configuration, for example, the distal end 19872 of the second end effector link 19870 is pivotally pinned to the elongated channel 19302 of the end effector 19300. The proximal end 19874 of the second end effector link 19870 is slidably received within the second axial slot 19865 of the second articulation rod 19864 of the second distal joint driver 19860. Pin 19876 is included. As can be seen in FIG. 136, the first end effector link 19850 is parallel to the first axial direction side of the shaft axis SA-SA and is located on the first axial side of the first articulation axis FA. Is attached to the elongate channel 19302 so as to move longitudinally therethrough. Second end effector link 19870 is attached to elongate channel 19302 for longitudinal movement along a second articulation axis SDA that is parallel to and away from a second outer portion of shaft axis SA-SA. It is done. See FIG. 136. Thus, by pulling one of the end effector links 19850, 19870 simultaneously, the surgical end effector 19300 is articulated relative to the elongated shaft assembly 1920 about the articulation axis BB. In the illustrated configuration, the first axial slot 19845 and the second slot 19865 are parallel to each other and parallel to the shaft axis SA-SA. As further seen in FIGS. 136 and 137, the first end effector link 19850 and the second end effector link 19870 each have a curvilinear or arcuate shape that curves around the articulation axis BB. Yes. Such a curvilinear shape can further lead to an expansion of the range of articulation. Further, each of the first and second axial slots 19845, 19865 may each have a predetermined length that promotes a desired amount of articulation.

  Similarly, as can be seen in FIGS. 136 and 137, the proximal pinion gear 19880 and the distal pinion gear 19882 are disposed in the center between the first drive rack 19842 and the second drive rack 19862, and engage with them. It ’s good. In alternative embodiments, only one pinion gear or more than two pinion gears may be used. Therefore, at least one pinion gear is used. Proximal pinion gear 19880 and distal pinion gear 19882 are rotatably supported to freely rotate relative to them within spine 19810 so that first distal joint driver 19820 moves in the distal direction DD. When done, the pinion gears 19880, 1988 serve to drive the second distal joint driver 19860 in the proximal direction PD. Similarly, when the first distal joint driver 19820 is pulled in the proximal direction PD, the pinion gears 19880, 19882 drive the second distal joint driver 19860 in the distal direction DD. As the first distal joint driver 19820 moves in the proximal direction, the pinion gears 19880, 19882 serve to drive the second distal joint driver 19860 in the distal direction DD. As the first and second distal joint drivers 19820, 19860 move in this manner, the surgical end effector 19300, more specifically, the elongated channel 19302 of the surgical end effector 19300, moves the articulation axis B- It pivots about B in the direction of the joint movement indicated by the arrow 19821. Conversely, to articulate end effector 19300 in the direction of arrow 19823, first distal joint driver 19820 is moved in the distal direction so that pinion gears 19880, 19882 are second distal joint driver 19860. Will be driven in the proximal direction PD. As the first and second distal joint drivers 19820, 19860 move in this manner, the surgical end effector 19300, more specifically, the elongated channel 19302 of the surgical end effector 19300, moves the articulation axis B- It will pivot about B in the joint motion direction of arrow 19823.

  The double integral link articulation configuration 19800 and variations thereof can provide a wider range of articulation to the surgical end effector compared to other articulated surgical end effector configurations. Specifically, the solid link articulation configuration disclosed herein may promote a range of articulation in the range of 1 degree (1 °) to 65 degrees (65 °). Using at least one pinion gear to interface between the distal joint drivers so that the end effector can be “pushed” and “pulled” into place is also in use. This can reduce the amount of end effector “slop” or unwanted or unintentional movement. The double integral link articulation configuration disclosed herein also includes an articulation system with improved strength characteristics compared to other articulation system configurations. The proximal end of the double link translates forward and backward along the respective slot when the end effector is articulated. These slots can provide the system with greater resistance to bending forces on the double link and reduced backlash by suppressing double link motion.

  FIGS. 138-142 illustrate another surgical instrument 20010 that includes a surgical end effector 20300 that operably interfaces with an elongate shaft assembly 20200 using many of the various shaft assembly features disclosed herein. Each part is shown. For example, the elongate shaft assembly 20200 is similar to the elongate shaft assembly 200 'described in detail above, except for the differences described below. The downward projecting pivot pin 20818 is adapted to be pivotally received within a pivot hole 20305 formed in the proximal end portion of the elongated channel 20302 of the surgical end effector 20300. See FIG. 139. Such a configuration facilitates pivotal movement of the elongated channel 20302 of the surgical end effector 20300 relative to the spine 20210 about the articulation axis BB defined by the pivot hole 20305. The articulation axis BB crosses the shaft axis SA-SA defined by the elongated shaft assembly 20200. In the illustrated example, the elongate shaft assembly 20200 includes a dual joint driver configuration labeled 20800 using a joint lock 20810 (FIG. 139) similar to the joint locks 350, 810, and 10810 described above. . Articulation lock 20810 may be configured and operated to selectively lock surgical end effector 20300 in various articulation positions. Such a configuration allows surgical end effector 20300 to rotate or articulate relative to elongate shaft assembly 20200 when joint lock 20810 is in its unlocked state. The first distal joint driver 20820 is selectively longitudinally along the first articulation axis FA in the distal direction DD and the proximal direction PD in response to a corresponding articulation control motion applied thereto. Is supported within the spine 20210 of the elongate shaft assembly 20200. The first articulation axis FA is parallel to the first outer portion of the shaft axis SA-SA and is located on the outer portion. The first distal joint driver 20820 includes a first proximal drive rack 20842 and a first distal drive rack 20844 formed therein. The double articulated link arrangement 20800 further comprises a second distal joint driver 20860 formed therein with a second proximal drive rack 20862 and a second distal drive rack 20864. The second distal joint driver 20860 is movably supported in the elongate shaft assembly 20200 for longitudinal movement along the second articulation axis SDA in the distal direction DD and the proximal direction PD. Yes. The second articulation axis SDA is parallel to the second outer portion of the shaft axis SA-SA and is located on the outer portion thereof. See FIG. 138. First and second distal joint drivers 20820, 20860 operably interface with central articulation member 20850. As can be seen in FIG. 140, the central articulation member 20850 is pivotally attached to the shaft spine 20210 by a pin 20851 that serves to define a gear axis GA about which the central articulation member 20850 can pivot. It has been. The gear axis GA is parallel to the articulation axis BB. See FIG. 139. Central articulation member 20850 includes a body portion 20852 having a gear portion 20854 formed thereon. The gear portion 20854 is in meshing engagement with the first distal drive rack 20844 and the second distal drive rack 20864.

  The surgical end effector 20300 of the embodiment shown in FIGS. 138-142 includes a surgical cutting and stapling device. The elongate channel 20302 is configured to operably support a surgical staple cartridge (not shown) and anvil assembly 20310. Surgical end effector 20300 also employs various types and configurations of a firing beam (not shown) as described herein. In the illustrated configuration, a central support member 20950 is pivotally and slidably supported with respect to the shaft spine frame 20810. As can be seen in FIG. 140, the central support member 20950 passes therethrough to laterally support the firing member as it traverses from the elongated shaft assembly 20200 over the articulation joint 20270 and into the elongated channel 20302. A central body portion 20952 that defines a central slot 20954 configured to slidably receive the firing member is included. Proximal tongue 20955 projects proximally from body portion 20952 such that it is movably coupled to central articulation member 20850. In the configuration shown, the mounting pin 20960 extends through the proximal hole 20956 of the proximal tongue 20955. Mounting pin 20960 is received in a mounting slot 20856 provided in body portion 20852 of central articulation member 20850. Proximal tongue 20955 further includes an elongated slot 20957 configured to receive a pivot pin 20211 formed in shaft spine 20210 therein. See FIG. 139. Central support member 20950 further includes a distal tongue 20958 movably coupled to the proximal portion of elongate channel 20302. As further seen in FIG. 139, a coupler assembly 20970 pivotally couples the central support member 20950 to the elongated channel 20302. More specifically, the coupler assembly 20970 includes a body plate 20972 having an end effector mounting pin 20974 protruding therefrom, which end effector mounting pin includes a first pivot hole 20307 and a center of the elongated channel 20302. The support member 20950 is configured to extend through the distal pivot hole 20959 of the distal tongue 20958. Such a configuration serves to facilitate pivoting movement of the central support member 20950 relative to the elongated channel 20302 about the end effector pivot axis EPA defined by the end effector mounting pin 20974. As can be seen in FIG. 139, the end effector pivot axis EPA is parallel to the articulation axis BB. In the illustrated configuration, the plurality of support link assemblies 920 further comprise a proximal support link 940 and a distal support link 950. See FIG. 139. Specific details regarding the operation of the proximal and distal support links and the central support member have been described above and will not be repeated for the sake of brevity.

  Dual joint driver configuration 20800 is configured to establish a “push / pull” configuration when articulation force is applied to it through first distal joint driver 20820. Similarly, as can be seen in FIGS. 138, 139, 141 and 142, the proximal pinion gear 20880 and the distal pinion gear 20882 are centrally disposed between the first proximal drive rack 20842 and the second proximal drive rack 20862. And in meshing engagement therewith. In alternative embodiments, only one pinion gear or more than two pinion gears may be used. Therefore, at least one pinion gear is used. Proximal pinion gear 20880 and distal pinion gear 20882 are rotatably supported to freely rotate relative thereto within spine 20810 so that first distal joint driver 20820 moves in distal direction DD. When done, the pinion gears 20880, 20882 serve to drive the second distal joint driver 20860 in the proximal direction PD. Similarly, when the first distal joint driver 20820 is pulled in the proximal direction PD, the pinion gears 20880, 20882 drive the second distal joint driver 20860 in the distal direction DD. As the first distal joint driver 20820 moves in the proximal direction, the pinion gears 20880, 20882 serve to drive the second distal joint driver 20860 in the distal direction DD. With such movement of the first and second distal joint drivers 20820, 20860, the central articulation member 20850 moves the surgical end effector 20300 through the central support member 20950, more specifically the surgical end effector 20300. The elongated channel 20302 is articulated about the articulation axis BB in the articulation direction of arrow 20821. Refer to FIG. Conversely, to articulate the end effector 20300 in the direction of the arrow 20823, the first distal joint driver 20820 is moved in the distal direction DD so that the pinion gears 20880, 20882 are second distal joint drivers. 20860 will be driven in the proximal direction PD. As the first and second distal joint drivers 20820, 20860 move in this manner, the surgical end effector 20300, more specifically, the elongated channel 20302 of the surgical end effector 20300, can move the articulation axis B- It will pivot about B in the articulation direction of arrow 20823. See FIG. 142.

  The dual monolithic joint driver configuration 20800 and variations thereof can provide a wider range of articulation to the surgical end effector as compared to other articulated surgical end effector configurations. Specifically, the dual integral driver articulation configuration disclosed herein may promote a range of articulations in the range of 65 degrees (65 °). Using at least one pinion gear to interface between the distal joint drivers so that the end effector can be “pushed” and “pulled” into place is also in use. This can reduce the amount of end effector “slop” or unwanted or unintentional movement. The dual integrated driver articulation configuration disclosed herein also includes an articulation system with improved strength characteristics compared to other articulation system configurations.

  FIGS. 143 and 144 illustrate a portion of an elongate shaft assembly 21200 that is substantially similar to elongate shaft assembly 1200 described above, except for various differences that will be described in further detail below. As can be seen in FIG. 143, the elongate shaft assembly 21200 includes a joint lock 21810 that is substantially equivalent to the joint locks 810 and 1810 and operates in an essentially similar manner. As can be seen in FIG. 22, the elongate shaft assembly 21200 includes a shaft frame 21812 that includes a portion of the shaft frame 21210. The first distal joint driver 21820 is within the elongated shaft assembly 21200 to selectively move longitudinally in the distal direction DD and the proximal direction PD in response to an articulation control motion applied thereto. It is supported movably. The shaft frame 21812 further includes a distal end portion 21814 having a pivot pin 21818 formed thereon. The pivot pin 21818 pivots into a pivot hole (not shown) provided on a distal pulley 21340 that is non-rotatably formed on the proximal end 21320 of the elongated channel 21302 of the surgical end effector 21300. It is adapted to be accepted as possible. See FIG. 144. Such a configuration provides for pivotal movement (ie, articulation) of the elongated channel 21302 of the surgical end effector 21300 relative to the shaft frame 21812 about the articulation axis BB defined by the pivot hole and pin 21818. Promoted. The shaft frame 21812 further includes a centrally disposed cavity 21817 and a distal notch 21819 that is disposed between the distal end 21814 and the centrally disposed cavity 21817.

  The shaft assembly 21200 further includes a second distal joint driver 21860 that includes a cable member 21862 that is rotatably supported on the proximal pulley assembly 21840 and the distal pulley 21340. Prepare. In one form, cable member 21862 comprises a cable made from, for example, stainless steel, tungsten, aluminum, titanium, and the like. The cable may have a braid or multiple strand structure with various numbers of strands to obtain the desired level of tensile strength and flexibility. In various configurations, for example, the cable member 21862 may range from 0.08 centimeters to 0.2 centimeters (0.03 inches to 0.08 inches), more preferably from 0.1 centimeters to 0.2 centimeters. It may have a diameter of meters (range 0.05 inch to 0.08 inch). Preferred cables can be made from, for example, semi-rigid to fully rigid 300 series stainless steel. In various configurations, the cable 21862 can also be coated with, for example, Teflon, copper, etc., for example, to improve lubricity and / or reduce stretch. For example, by crimping, the first lug 21863 is attached to one end of the cable 21862 and the second lug 21864 is attached to the other end of the cable 21862. See FIG. 144.

  Still referring to FIG. 144, the cable member 21862 is coupled to the distal end 21821 of the first distal joint driver 21820 by a coupler assembly 21830. Coupler assembly 21830 includes a coupler body 21832 formed therein with a proximal lug cavity 21834 and a distal lug cavity 21836 formed therein. The first lug 21863 is configured to be retentively received within the first lug cavity 21835, and the second lug 21835 is configured to be retentively received within the second lug cavity 2183. ing. Other fastening configurations, screws, rivets, clamps, adhesives, etc. may also be used. When cable member 21862 is pivoted on pulleys 21840 and 21340, coupler assembly 21830 is pivoted within distal notch 21819 of shaft frame 21812 in response to axial movement of first distal joint driver 21820. Move freely in any direction. Articulation motion generated by the axial movement of the first distal joint driver 21820 is transmitted to the second distal joint driver 21860 or the cable member 21862. A mounting ball or lug 21866 is attached to the cable member 21862 and is received in a groove or pocket (not shown) formed in the distal pulley 21340. Accordingly, movement of the endless member 21862 is transmitted to the surgical end effector 21300, more specifically to the elongated channel 21302 of the surgical end effector 21300, to articulate the end effector about the articulation axis BB. Thus, when the first distal joint driver 21820 is moved in the distal direction DD, the cable member 21862 articulates the surgical end effector 21300 in one articulation direction about the articulation axis BB. Also, when the first distal joint driver 21820 is moved in the proximal direction PD, the cable member 21862 articulates the surgical end effector 21300 about the articulation axis BB in the opposite articulation direction. Let

  In the illustrated configuration, the proximal pulley assembly 21840 is configured to selectively introduce tension into the cable member 21862. For example, as can be seen in FIG. 144, the proximal pulley assembly 21840 includes a proximal pulley 21842 that is rotatably mounted on a pulley mount or bearing 21844. The axis of the pulley mount 21844 is concentric with the central pulley axis CPA so that the proximal pulley 21842 can freely rotate on the pulley mount 21844. The pulley mount 21844 is secured to the shaft frame 21812 by an eccentric mounting shaft 2184 attached to the pulley mount 21844. In other words, the central axis MSA of the mounting shaft 21846 is offset from the central pulley axis CPA (and the central axis of the pulley mount). See FIG. 143. The mounting shaft 21846 is dimensioned to be frictionally received in a mounting hole 21813 provided in the shaft frame 21812. A hex socket 21848 configured to receive a standard hex wrench is provided on the pulley mount 21844. See FIG. 143. Accordingly, the tension of the cable member 21862 can be increased by inserting a hex wrench into the hex socket 21848 and turning the mounting shaft 21846 in the appropriate direction. Such an action will cause the mounting shaft 2184 as well as the pulley mantle 21844 to rotate. Since the central axis CPA of the pulley mount 21844 is offset from the central axis MSA of the mounting shaft 2184, the central axis CPA is central to the distal pulley 21340 (may be coaxial with the articulation axis BB). Can be moved further away from the cable, thereby increasing the tension of the cable member 21862.

  FIGS. 145-147 illustrate a portion of an elongate shaft assembly 22200 that is substantially similar to elongate shaft assembly 1200 described above, except for various differences described in more detail below. The components of the elongate shaft assembly 1200 described in detail above are referred to by like element numbers, and for the sake of brevity, are detailed beyond what may be necessary to understand the operation of the shaft assembly 22200. Will not be further described. As can be seen in FIG. 147, the elongate shaft assembly 22200 includes a joint lock 22810 that is substantially equivalent to the joint locks 810 and 1810 and operates in an essentially similar manner. As can be seen in FIG. 147, the elongate shaft assembly 22200 includes a shaft frame 22812 that includes a portion of the shaft spine 22210. The first distal joint driver—omitted for brevity in FIGS. 145-147—selects in the distal direction DD and proximal direction PD in response to the applied articulation control motion. Is movably supported within the elongated shaft assembly 22200 for general longitudinal movement. The shaft frame 22812 further includes a distal end portion 22814 having a pivot pin 22818 formed thereon. The pivot pin 22818 is pivotally received within a pivot hole 22342 provided on a distal pulley 22340 that is non-rotatably formed in the proximal end portion 22320 of the elongated channel 22302 of the surgical end effector 22300. Has been adapted to. See FIG. Such a configuration facilitates pivotal movement (ie, articulation) of the elongated channel 22302 relative to the shaft frame 22812 about the articulation axis BB defined by the pivot hole 22342 and the pin 22818. The shaft frame 22812 further includes a centrally disposed cavity 22817 and a distal notch 22819 that is disposed between the distal end 22814 and the centrally disposed cavity 22817.

  The shaft assembly 22200 further includes a second distal joint driver 22860 that includes a cable member 1862 rotatably supported on the proximal pulley assembly 22840 and the distal pulley 22340. Prepare. In one form, the cable member 1862 comprises a cable made from, for example, stainless steel, tungsten, aluminum, titanium, or the like. The cable may have a braid or multiple strand structure with various numbers of strands to obtain the desired level of tensile strength and flexibility. In various configurations, for example, the cable member 1862 may range from 0.08 centimeters to 0.2 centimeters (0.03 inches to 0.08 inches), more preferably from 0.1 centimeters to 0.2 centimeters. It may have a diameter in the range of meters (0.05 inches to 0.08 inches). Preferred cables can be made from, for example, semi-rigid to fully rigid 300 series stainless steel. In various configurations, the cable may also be coated with, for example, Teflon, copper, etc., for example, to improve lubricity and / or reduce stretch. For example, the first lug 1863 is attached to one end of the cable and the second lug 1864 is attached to the other end of the cable member 1862 by crimping.

  Referring now to FIGS. 145 and 147, the cable member 1862 is coupled to the distal end 1821 of the first distal joint driver by a coupler assembly 1830. The joint driver may include the distal joint driver portion of the joint lock 22810 and is not shown in FIGS. 145 and 147 for simplicity. Coupler assembly 1830 includes an upper coupler portion (not shown) formed on the distal end of a first distal joint driver (not shown) and a lower coupler portion 1834. The lower coupler portion 1834 is formed with two cradle 1835 configured to receive lugs 1862, 1864 therein. A pair of mounting pins 1836 are configured to be pressed into holes (not shown) in the upper coupler portion (not shown) to secure the two coupler portions together. Other fastening configurations, screws, rivets, adhesives, etc. may be used. When the cable member 1862 is pivoted on the proximal pulley assembly 22840 and the distal pulley assembly 22340, the coupler assembly 1830 reacts to the axial movement of the first distal articulation driver in response to the distal movement of the shaft frame 22812. It moves freely in the axial direction within the displacement notch 22819. Articulation motion generated by the axial movement of the first distal joint driver is transmitted to the second distal joint driver 22860 or cable member 1862. A mounting ball or lug 1866 is attached to the cable member 1862 and received in a groove or pocket 1342 formed in the distal pulley 22340. Accordingly, movement of the cable member 1862 is transmitted to the surgical end effector 22300, more specifically to the elongated channel 22302 of the surgical end effector 22300, causing the end effector to articulate about the articulation axis BB. Thus, when the first distal joint driver is moved in the distal direction DD, the cable member 1862 articulates the surgical end effector 22300 in one articulation direction about the articulation axis BB, Also, when the first distal joint driver is moved in the proximal direction PD, the cable member 1862 articulates the surgical end effector 22300 in the opposite articulation direction about the articulation axis BB.

  In the illustrated configuration, the proximal pulley assembly 22840 is configured to selectively introduce tension into the cable member 1862. For example, as can be seen in FIG. 147, the proximal pulley assembly 22840 includes a proximal pulley 22842 that is rotatably mounted on a pulley mount or bearing 22844. The pulley mount 22844 is attached to a mounting block 22846 that is movably received within an axial mounting cavity 22821 formed in the shaft frame 22812. A tensioning screw 22823 is disposed in the shaft frame 22812 to adjust the position of the mounting block 22846 within the axial mounting cavity 22821. See FIGS. 145 and 147. When the tensioning screw 22823 is turned inward, the end 22825 of the tensioning screw 22823 urges the mounting block 22846 proximally to introduce tension into the cable member 1862. Such an action would move the central axis CPA of the proximal pulley 22842 away from the central axis of the distal pulley 22340 by a tension distance DT. Therefore, when the tension distance DT increases, the tension of the cable member 1862 also increases.

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

  FIG. 150 shows another second distal joint driver 23860 with a cable member 1862 rotatably supported on the proximal pulley 23842 and the distal pulley 22340. For example, by crimping, the first lug 1863 is attached to one end of the cable 1862 and the second lug 1864 is attached to the other end of the cable 1862. The cable member 1862 is coupled to the distal end 1821 of the first distal joint driver 1820 by the coupler assembly 1830 in the manner described herein. In this embodiment, a cable tensioning assembly 23900 is used to introduce a desired amount of tension into the cable member 1862. As can be seen in FIG. 150, the cable tensioning assembly 23900 is oriented to contact the mounting bracket 23902 attached to one outer portion of the shaft frame and the cable member 1862 near the second outer portion of the shaft frame. Tension roller assembly 23910. The tension roller assembly 23910 includes an outer bracket 23912 that is movably coupled to the mounting bracket 23902. In the illustrated configuration, the outer bracket 23912 is configured to be threadedly engaged with the mounting bracket 23902. The tension roller 23914 is attached to the outer bracket 23912 in contact with the cable member 1862. To increase the tension of the cable member 1862, the outer bracket 23912 is moved in the lateral direction LD toward the mounting bracket. Such movement causes the tension roller 23914 to move laterally inward toward the mounting member and contact the cable member 1862 to attach the cable member 1862 to the transverse LD across the rotational direction RD1 and rotational direction RD2. Thereby increasing the tension of the cable member 1862.

  FIG. 151 shows another second distal joint driver 23860 ′ comprising a cable member 1862 that is pivotally supported on a proximal pulley (not shown) and a distal pulley (not shown). . For example, by crimping, the first lug 1863 is attached to one end of the cable 1862 and the second lug 1864 is attached to the other end of the cable 1862. Cable member 1862 is coupled to distal end 1821 of first distal joint driver 1820 by tensioning assembly 1830 'in the manner described herein. In this embodiment, the distal end 1821 'of the first distal joint driver 1820' includes a proximal cleat 1823 'and a distal cleat 1825'. Distal cleat 1825 'is movably secured to proximal cleat 1823' by tensioning screw member 23900 '. In the illustrated configuration, the tensioning screw member 23900 ′ includes a first or proximal threaded portion 23922 that is threaded into the threaded hole 23940 of the proximal cleat 1823 ′ in a first threading direction, and a first A second or distal threaded portion 23924 that is threaded into a threaded hole 23924 of the distal cleat 1825 ′ in a second threading direction opposite to the threading direction of the distal cleat 1825 ′. At a central location between the first threaded portion 23922 and the second threaded portion 23924, an actuating nut 23926 is secured to the threaded member 23900 '. The tensioning screw 23900 'can be rotated by rotating the actuation nut 23926 using a wrench or other suitable tool. The rotation of the tensioning screw 23900 ′ in the first direction causes the proximal cleat 1823 ′ and the distal cleat to face each other in the first direction along a tensioning axis TA that is parallel to the cable member axis CA. Will be attracted. As the proximal cleat 1823 ′ and the distal cleat 1825 ′ move toward each other, the first and second lugs 1863, 1864 also move toward each other to introduce tension in the cable member 1862. The rotation of the tensioning screw 23920 in the second opposite direction will drive the first cleat and the second cleat away from each other along the tensioning axis TA. As the first and second cleats 1823 ′, 1825 ′ move so away from each other, the first and second lugs 1863, 1864 move away from each other, thereby causing tension in the cable member 1862. Can be reduced.

  FIG. 152 illustrates a closure sleeve 260 that can be utilized to close and / or open the anvil of the end effector 300 as detailed above, or in other words, the closure sleeve is surgical surgical. It can be used to close the movable jaw of the end effector. As shown in cross section in the figure, the closure sleeve 260 includes a proximal end 261 having an annular slot 262 therein. Such a configuration serves to attach the closure sleeve 260 to the closure shuttle for axial movement with the closure shuttle, while allowing the closure sleeve 260 to rotate relative to the closure shuttle about the shaft axis. . As also described above, the closure shuttle is actuated axially by a corresponding closure system or closure drive system configured to generate a closing actuation motion. The closure sleeve 260 further includes an opening 266 that allows the mount on the rotating nozzle to extend through the opening and be seated in a recess in the shaft spine. Such a configuration facilitates rotation of the shaft spine and closure sleeve 260 about the shaft axis when the nozzle is rotated relative to the handle. As also described above, the elongate shaft assembly 200 further includes a switch drum 500 that is rotatably received on the closure sleeve 260. See FIGS. 3 and 4. The switch drum 500 includes a hollow shaft segment 502 formed with a shaft boss 504 for receiving an outwardly projecting actuating pin 410 therein. In various situations, the actuation pin 410 extends through the slot 267 into a longitudinal slot 408 provided in the lock sleeve 402 when the lock sleeve 402 is engaged with the proximal joint driver 230. The axial movement of the locking sleeve 402 is facilitated. Further details regarding their structure and their operation are given above. As further described above, closure sleeve 260 also includes a double pivot closure sleeve assembly to facilitate attachment of closure sleeve 260 to end effector closure sleeve 272. To facilitate such attachment in the various manners described above, upper and lower tongues 264 and 265 are formed at the distal end of closure sleeve 260.

  Similarly, as described above, to close the end effector anvil (or to apply a closing motion to the end effector jaws or other portion), the closure sleeve 260 may include a closure system or a closure drive system. In operation, it is advanced axially in the distal direction DD. The axial distance that the closure sleeve 260 must travel on the shaft spine to move the anvil (or jaw) to the closed position is called the “closure stroke”. The maximum axial distance that the closure sleeve must travel to completely close the jaws or other parts of the end effector may be referred to herein as the “fully closed stroke distance”. This distance may include, for example, the full axial distance that the closure sleeve 260 moves from a start or non-actuated position to an end position corresponding to the fully closed end effector position. In one embodiment, the full closure stroke distance of the closure sleeve 260 is, for example, about 0.530 centimeters (0.230 inches).

  FIG. 153 illustrates a multi-part closure member assembly 24260 configured to be movably supported on a spine assembly (not shown) of various types of elongated shaft assemblies disclosed herein. As described below, a “distal closure member” or “distal closure sleeve” 24400 has a corresponding “proximal closure member” or “proximal closure sleeve” 24261 subjected to a closing actuation motion from the closure system. It is configured to move on the spine assembly by an “axial closing distance” that is shorter than a “fully closing stroke distance” that moves in response. As can be seen in FIG. 153, the proximal closure sleeve 24261 may be identical to the portion of the closure sleeve 260 that is proximal to the point that the diameter of the closure sleeve 260 is reduced. Accordingly, the configuration of the proximal closure sleeve 24261 that is identical to the configuration of the closure sleeve 260 is identified by similar element numbers in FIG. Proximal closure sleeve 24261 differs from closure sleeve 260 as follows. First, the proximal closure sleeve 24261 terminates in a “necked portion” generally designated 24300 and includes an internal stop wall or contact portion 24302. In the illustrated embodiment, the distal end 24402 of the distal closure sleeve 24400 is identical to the distal end of the closure sleeve 260 and is attached to the end effector closure sleeve in various ways as disclosed herein. In order to facilitate, upper and lower tongues 264 and 265 are included. Proximal end 24404 of distal closure sleeve 24400 extends slidably through opening 24304 at the necked portion or distal end 24300 of proximal closure sleeve 24261. Proximal end 24404 of distal closure sleeve portion 24400 prevents distal closure sleeve 24400 from separating from proximal closure sleeve 24261 while facilitating relative sliding between those components. Therefore, it is flare outward. Still referring to FIG. 153, such a configuration allows the proximal closure sleeve 24261 to move in the distal direction DD by a certain axial distance before the distal closure sleeve 24400 is axially advanced. Facilitate. This distance is referred to as the “proximal movement zone” or “dead zone” noted at 24307. In one configuration, for example, proximal closure sleeve 24261 is configured to move over a full closure stroke distance of 0.530 centimeters (0.230 inches). In such a configuration, for example (see FIG. 153), the “proximal axial length” DZ of the proximal movement zone 24307 is, for example, 0.127 centimeters to 0.381 centimeters (0.050 inches). ˜0.150 inch). Accordingly, the proximal axial length DZ is shorter than the full closing stroke distance that the proximal closing sleeve 24261 moves from the starting position to the ending position corresponding to the fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial movement of the distal closure sleeve during operation of the closure system. Such a configuration also allows the distal closure sleeve 24400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 24261.

  FIG. 154 illustrates another multi-part closure member assembly 25260 that may be used with the variously structured elongated shaft assemblies described herein, including a spine assembly or configuration in which the closure member assembly 25260 may be movably supported. Yes. In this embodiment, when the proximal closure sleeve 25261 is advanced axially by the closure system over a complete closure stroke or sequence, the axial movement of the distal closure sleeve 25400 is shorter than the axial movement of the proximal closure sleeve 25261. . The proximal closure sleeve 25261 may be identical to the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve 260 is reduced. Accordingly, features of proximal closure sleeve 25261 that are identical to features of closure sleeve 260 are identified by similar element numbers. Proximal closure sleeve 25261 interfaces with a closure system or closure drive system in the manner described above, so that when closure system is activated, proximal closure sleeve 25261 is axial in which closure sleeve 260 moves in operation. It moves in the axial direction by the same axial distance as the distance. Proximal closure sleeve 25261 differs from closure sleeve 260 as follows. First, the proximal closure sleeve 25261 terminates in a necked portion, generally designated 25300. The distal end 24402 of the distal closure sleeve portion 24400 is identical to the distal end of the closure sleeve 260 to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. Includes upper and lower tongues. Proximal end 25404 of distal closure sleeve 25400 extends slidably through opening 25304 at necked portion 25300 of proximal closure sleeve 25261. The proximal end 25404 of the distal closure sleeve 25400 includes an opening 25406 through which a central tab member 25306 extends. The central tab member 25306 serves to prevent the distal closure sleeve 25400 from separating from the proximal closure sleeve 25261. In addition, proximal end 25404 includes diametrically opposed slots 25308 configured to receive corresponding upper and lower tabs 25310 therein. Such a configuration facilitates the proximal closure sleeve 25261 to move a certain axial distance in the distal direction DD before the distal closure sleeve 24400 is axially advanced. The space between tab 25310 and the bottom of slot 25308 is referred to as the “proximal movement zone” or “dead zone” noted at 25307. The proximal closure sleeve 25261 is configured to move over a full closure stroke distance of 0.584 centimeters (0.230 inches). In such a configuration, for example (see FIG. 154), the “proximal axial length” DZ of the proximal travel zone 25307 is, for example, 0.127 centimeters to 0.381 centimeters (0.050 inches). ˜0.150 inch). Accordingly, the proximal axial length DZ is shorter than the full closing stroke distance that the proximal closing sleeve 25261 moves from the starting position to the ending position corresponding to the fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial movement of the distal closure sleeve during operation of the closure system. Such a configuration also allows the distal closure sleeve 25400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 25261.

  FIG. 155 illustrates another two-part closure member assembly 26260 that may be used with the variously structured elongated shaft assemblies described herein, including a spine assembly or configuration in which the closure member assembly 26260 may be movably supported. . In this embodiment, when the proximal closure sleeve 26261 is advanced axially by the closure system over a complete closure stroke or sequence, the axial movement of the distal closure sleeve 26400 is shorter than the axial movement of the proximal closure sleeve 26261. . The proximal closure sleeve 26261 may be identical to the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve is reduced. Accordingly, the configuration of the proximal closure sleeve portion 26261 that is identical to the configuration of the closure sleeve 260 is identified by a similar element number. Proximal closure sleeve 26261 interfaces with the closure system in the manner described above, so that when closure system or closure drive system is activated, proximal closure sleeve portion 26261 is the distance that closure sleeve 260 travels in operation. Can move in the axial direction by the same distance. Proximal closure sleeve 26261 differs from closure sleeve 260 as follows. First, the proximal closure sleeve 26261 has a flanged distal end 26300. Specifically, an annular flange 26302 extends inwardly from the distal end 26300 and defines an opening 26304. The distal end of the distal closure sleeve 26400 is identical to the distal end of the closure sleeve 260 and is topped to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. And a lower tongue. Proximal end 26404 of distal closure sleeve 26400 extends slidably through opening 26304 at distal end 26300 of proximal closure sleeve 26261. The proximal end 26404 of the distal closure sleeve 26400 extends through the opening 26304 and includes an outwardly extending annular flange 26406 that cooperates with the inwardly extending annular flange 26302 to cooperate with the distal closure sleeve. 26400 prevents separation from the proximal closure sleeve 26261. In addition, the proximal closure sleeve 26261 includes a stop portion that is proximal to the distal end 26300. In the illustrated configuration, the stop portion includes a pleated portion 26306 extending inwardly. Such a configuration is such that the proximal closure sleeve 26261 is in the distal direction DD before the pleated portion 26306 contacts the annular flange 26406 to axially drive the distal closure sleeve 26400 in the distal direction DD. Facilitates moving by an axial distance. The space between the pleated portion 26306 and the outwardly extending flange 26406 is referred to as the “proximal movement zone” or “dead zone” noted 26307. Proximal closure sleeve 26261 is configured to move over a full closure stroke distance of, for example, 0.530 centimeters (0.230 inches). In such a configuration, for example (see FIG. 154), the “proximal axial length” DZ of the proximal movement zone 26307 is, for example, 0.127 centimeters to 0.381 centimeters (0.050 inches). ˜0.150 inch). Accordingly, the proximal axial length DZ is shorter than the full closing stroke distance that the proximal closing sleeve 26261 moves axially from the starting position to the ending position corresponding to the fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial movement of the distal closure sleeve during operation of the closure system. Such a configuration also allows the distal closure sleeve 26400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 26261.

  FIG. 156 illustrates another two-part closure member assembly 27260 that may be used with various configurations of the elongate shaft assembly described herein, including a spine assembly or configuration in which the closure member assembly 27260 may be movably supported. . In this embodiment, when the proximal closure sleeve 27261 is advanced axially by the closure system over a complete closure stroke or sequence, the axial movement of the distal closure sleeve 27400 is shorter than the axial movement of the proximal closure sleeve 27261. . The proximal closure sleeve portion 27261 may be identical to the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve is reduced. Accordingly, the configuration of the proximal closure sleeve portion 27261 that is identical to the configuration of the closure sleeve 260 is identified by a similar element number. Proximal closure sleeve portion 27261 interfaces with a closure system or closure drive system in the manner described above, so that when closure system or closure drive system is activated, proximal closure sleeve 27261 is activated by closure sleeve 260. Sometimes it can move in the axial direction by the same distance as it travels. Proximal closure sleeve 27261 differs from closure sleeve 260 as follows. First, the proximal closure sleeve 27261 has a flanged distal end 27300. Specifically, an annular flange 27302 extends inwardly from the distal end 27300 and defines an opening 27304. The distal end of the distal closure sleeve 27400 is identical to the distal end of the closure sleeve 260 and is topped to facilitate attachment to the end effector closure sleeve in the various manners disclosed herein. And a lower tongue. The proximal end 27404 of the distal closure sleeve 27400 extends slidably through the opening 27304 at the distal end 27300 of the proximal closure sleeve 27261. The proximal end 27404 of the distal closure sleeve 27400 extends through the opening 27304 and includes an outwardly extending annular flange 27406 that cooperates with the inwardly extending annular flange 27302 to provide a distal closure sleeve. This prevents the 27400 from separating from the proximal closure sleeve 27261. In addition, a stop ring 27305 is attached to the proximal closure sleeve 27261 in the distal end 27300. Stop ring 27305 may be welded to proximal closure sleeve 27261, for example. Stop ring 27305 includes a proximal stop flange 27306 extending inwardly. Such a configuration is such that the proximal closure sleeve 27261 is in the distal direction DD before the stop flange 27306 contacts the annular flange 27406 to axially drive the distal closure sleeve portion 27400 in the distal direction DD. Facilitates moving by axial distance. The space 27307 between the proximal stop flange 27306 and the outwardly extending flange 27406 is referred to as the “proximal movement zone” or “dead zone”. For example, in one configuration having a fully closed stroke distance of 0.584 centimeters (0.230 inches), the “proximal axial length” DZ of the proximal travel zone 27307 is, for example, 0.127 centimeters to 0 It may be in the range of .381 centimeters (0.050 inches to 0.150 inches). Accordingly, the proximal axial length DZ is shorter than the full closing stroke distance that the proximal closing sleeve 27261 moves axially from the starting position to the ending position corresponding to the fully closed state of the end effector. In other words, this configuration serves to reduce the amount of axial movement of the distal closure sleeve during operation of the closure system. Such a configuration also allows the distal closure sleeve 27400 to have a diameter that is smaller than the diameter of the proximal closure sleeve 27261.

  FIGS. 157-158 illustrate another multi-part closure sleeve embodiment 28260, wherein the distal closure sleeve portion 28400 is a proximal closure sleeve when the closure system is actuated over a full closure stroke or sequence. The portion 28261 moves by a distance shorter than the moving distance. The proximal closure sleeve portion 28261 may be essentially the same as the portion of the closure sleeve 260 that is proximal to the point where the diameter of the closure sleeve is reduced. Accordingly, the configuration of the proximal closure sleeve portion 28261 that is identical to the configuration of the closure sleeve 260 is identified by a similar element number. The proximal closure sleeve 28261 interfaces with the closure system in the manner described above, so that when the closure system is activated, the proximal closure sleeve portion 28261 is the same distance that the closure sleeve 260 moves in operation. It can move in the axial direction. Proximal closure sleeve portion 28261 is different from closure sleeve 260 as described below. First, the proximal closure sleeve portion 28261 is configured to interface with a closure stroke reduction assembly generally designated 29000.

  As can be seen in FIGS. 157-158, in the illustrated configuration, the closure stroke reduction assembly 29000 includes a proximal mounting ring 29002 that receives the distal end 28300 of the proximal closure sleeve 28261 and It has a proximal hub portion 29004 attached to it. For example, the distal end 28300 of the proximal closure sleeve 28261 may be attached to the proximal hub portion 29004 by welding, adhesive, or the like. Thus, the proximal mounting ring 29002 will move axially with the proximal closure sleeve 28261. As can be further seen in FIGS. 157 and 158, an inwardly extending proximal flange 29006 extends from the proximal end of the proximal hub portion 29004. A hole 29008 is provided through the proximal flange 29006 for slidably receiving the shaft spine assembly 2210, 2212 therethrough. A distal cone shaped member 29010 is attached to the distal end of the proximal mounting ring 29002. The distal conical member 29010 can be attached to the proximal mounting ring 29002, for example, by welding, adhesive, etc., and the distal closure sleeve when the proximal mounting ring 29002 is advanced distally. Slide freely on portion 28400.

  Proximal mounting ring 29002 is slidably supported on distal mounting ring 29020 attached to distal closure sleeve portion 28400. Distal mounting ring 29020 includes a distal portion 29002 having a proximal mounting hub 29024 protruding therefrom. Proximal mounting hub 29024 has a diameter that is smaller than the diameter of distal portion 29002 of distal mounting ring 29020. The proximal mounting hub 29024 can be attached to the proximal end 28404 of the distal closure sleeve portion 28400 by welding, adhesive, or the like. Proximal hub portion 29004 of proximal mounting ring 29002 is slidably received for axial movement on proximal mounting hub 29024. A compression spring 29032 is received in a spring cavity 29030 formed between the distal portion 29902 of the distal mounting ring 29020 and the proximal hub portion 29004 of the proximal mounting ring 29002. When the closure system is in a non-articulated configuration, the proximal flange 29006 of the proximal hub portion 29004 is only a “proximal movement zone” or “proximal dead zone” 29209 from the proximal end 28404 of the distal closure sleeve 28400. Spaced apart. The proximal axial length of the proximal movement zone 29209 is marked DZ. Spring cavity 29030 is also sometimes referred to as a “distal movement zone” or “distal dead zone” and has a distal axial length DS that is the dead zone axial direction. In addition to the length DZ, it may include the amount of clearance required to accommodate the compression spring 29032 when in a fully compressed state. For example, in one configuration having a fully closed stroke distance of 0.584 centimeters (0.230 inches), the “proximal axial length” DZ of the proximal travel zone 29209 is, for example, 0.127 centimeters to .0. The distal axial length DS may be in the range of 381 centimeters (0.050 inches to 0.150 inches) and is 0.254 centimeters to 0.508 centimeters (0.100 inches to 0.200 inches). ) Range plus the length necessary to accommodate a fully compressed compression spring 29032. In other words, in the illustrated configuration, DS is always greater than DZ. Accordingly, the proximal axial length DZ is shorter than the full closing stroke distance that the proximal closing sleeve 27261 moves axially from the starting position to the ending position corresponding to the fully closed state of the end effector. Such a configuration is such that the proximal flange 29006 of the proximal mounting ring 29002 contacts the proximal end 28404 of the distal closure sleeve portion 28400 to axially drive the distal closure sleeve portion 28400 in the distal direction DD. Previously, the proximal closure sleeve portion 28261 facilitates moving the distal direction DD by an axial distance. The closed stroke reduction assembly 29000 is provided as a plurality of parts to facilitate ease of assembly. This configuration serves to reduce the amount of axial movement of the distal closure sleeve portion 28400 during operation of the closure system. Such a configuration uses a distal closure sleeve portion 28400 having an outer diameter that is smaller than the outer diameter of the proximal closure sleeve portion 28261. In alternative embodiments, the closed stroke reduction assembly may be placed anywhere in the shaft assembly (eg, in the nozzle portion, along the length of the shaft, in the articulation joint or at the end effector pivot point). . Specifically, there may be a slot at the end effector pivot point / joint to provide a dead stroke during closure.

  Although the surgical instrument system described herein is operated by an electric motor, the surgical instrument system described herein can be operated in any suitable manner. In various instances, the surgical instrument system described herein can be operated by, for example, a manually operated trigger. The motor may comprise part of a robot control system.

  Although the surgical instrument system described herein has been described in connection with staple deployment and deformation, the embodiments described herein are not so limited. Various embodiments are also contemplated that deploy fasteners other than staples, such as clamps or tacks. In addition, various embodiments are contemplated that utilize any suitable means for sealing tissue. For example, end effectors according to various embodiments can include electrodes configured to heat and seal tissue. Also for example, an end effector according to certain embodiments can apply vibrational energy to seal tissue.

  Although the surgical instrument systems described herein are operated by one or more electric motors, the surgical instrument systems described herein can be operated in any suitable manner. In various instances, the surgical instrument system described herein can be operated by, for example, a manually operated trigger.

  Example 1-Surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivoted to the elongate shaft assembly to selectively articulate relative to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis and laterally offset from the shaft axis. It is combined as possible. The surgical end effector defines an end effector axis, a non-articulated position where the end effector axis is axially aligned with the shaft axis, and one of the shaft axes where the end effector axis is perpendicular to the shaft axis. It is configured to be selectively articulated between the side maximum articulation positions. The articulation system is operatively interfaced with the surgical end effector to selectively move the surgical end effector between a non-articulated position and an articulated position.

  Example 2-A surgical system according to Example 1, wherein the articulation system comprises an articulation member operably coupled to the surgical end effector to selectively apply push and pull motion to the surgical end effector. Instruments.

  Example 3-A surgical instrument as in Example 1 or 2, wherein the articulation system comprises a disarticulation member configured to selectively apply only tensile motion to the surgical end effector.

  Example 4 The surgical instrument of Examples 1, 2, or 3, wherein the articulation system comprises an end effector driver link coupled to the surgical end effector. A distal joint driver is coupled to the end effector driver link and is configured to selectively apply push and pull motion to the end effector driver link. A de-articulation member is attached to the surgical end effector and is configured to apply only a tensile motion to the surgical end effector.

  Example 5 The surgical instrument of Examples 1, 2, or 3, wherein the articulation system comprises an end effector driver link coupled to the surgical end effector. A distal joint driver is coupled to the end effector driver link and is configured to selectively apply push and pull motion to the end effector driver link. A de-articulation member is configured to apply a de-articulation motion to the surgical end effector.

  Example 6 The surgical end effector is pivotally coupled to the elongate shaft assembly by a spring pin, the spring pin defining an articulation axis and applying a disarticulation biasing motion to the surgical end effector The surgical instrument according to any one of Examples 1, 2, 3, 4 or 5 configured.

  Example 7-Surgical instrument comprising an elongate shaft assembly defining a shaft axis. The surgical instrument further comprises a surgical end effector defining an end effector axis. The articulation joint is surgical for an elongate shaft assembly between a non-articulated position where the end effector axis is axially aligned with the shaft axis and a fully articulated position where the end effector axis is perpendicular to the shaft axis. It is configured to facilitate articulation of the end effector. The surgical instrument further comprises means for applying articulation motion to the surgical end effector. The means for adding is arranged only along one outer part of the shaft axis.

  Example 8-The proximal end of the surgical end effector is angled with respect to the end effector axis, and the distal end of the elongate shaft assembly is angled with respect to the shaft axis. The surgical instrument as described.

  Example 9-The proximal end of a surgical end effector is oriented at an end effector angle with respect to the end effector axis and the distal end of the elongated shaft assembly is oriented at a shaft angle with respect to the shaft axis The surgical instrument as described in Example 8.

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

  Example 11-A surgical instrument as in example 7, 8, 9 or 10, further comprising means for applying a disjoint motion to the surgical end effector.

  Example 12-A surgical instrument comprising an elongate shaft assembly defining a shaft axis and including a distal end. The surgical instrument is configured to selectively pivot relative to the elongate shaft assembly about an articulation axis that is laterally offset from the shaft axis and that extends transversely to the shaft axis. A surgical end effector further comprising a proximal end pivotally coupled to the distal end of the assembly. The surgical instrument further comprises an articulation system comprising an end effector driver link operably coupled to the surgical end effector. The joint driver is supported to move longitudinally in the distal and proximal directions when articulation motion is applied. A joint driver is coupled to the end effector driver link for selectively articulating the surgical end effector relative to the elongated shaft assembly about the articulation axis. A flexible de-articulation member is coupled to the elongate shaft assembly and the surgical end effector for applying a de-articulation motion to the surgical end effector.

  Example 13-A surgical instrument as in example 12, wherein the joint driver is configured to apply a first articulation motion to the surgical end effector in only one articulation direction across the shaft axis. .

  Example 14-A surgical end effector defines an end effector axis, and the end effector has a non-articulated position where the end effector axis is axially aligned with the shaft axis, and the end effector axis is relative to the shaft axis. 14. A surgical instrument as in example 12 or 13, which is movable between a maximum articulation position on one outer side of the shaft axis that is vertical.

  Example 15-A surgical according to Examples 12, 13 or 14, wherein the joint driver and end effector driver link are located on one outer side of the shaft axis when the surgical end effector is in a non-articulating orientation. Appliances.

  Example 16-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongate shaft assembly further comprising an axially movable firing beam, and an axially movable firing beam The surgical instrument according to example 12, 13, 14 or 15, operatively interfaced with the firing member and selectively movable in a distal direction in response to the firing motion being applied. . The firing beam is also selectively movable in the proximal direction in response to the applied backward motion.

  Example 17-The proximal end of the surgical end effector is pivotally pinned to the distal end of the elongate shaft assembly by an articulating pin, and the flexible disarticulation member is connected to the surgical end effector. The surgical instrument according to example 12, 13, 14, 15 or 16, configured to bend around an articulation pin when articulated about an axis of motion.

  Example 18-The proximal end of the surgical end effector is angled with respect to the end effector axis and the distal end of the elongate shaft assembly is angled with respect to the shaft axis, Example 12. The surgical instrument according to 13, 14, 15, 16 or 17.

  Example 19-The proximal end of a surgical end effector is oriented at an end effector angle with respect to the end effector axis and the distal end of the elongate shaft assembly is oriented at a shaft angle with respect to the shaft axis The surgical instrument as described in Example 18.

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

  Example 21-A surgical instrument comprising an elongate shaft assembly that defines a shaft axis and includes a distal end. The surgical instrument further comprises a proximal end pivotally coupled to the distal end of the elongate shaft assembly so that the surgical end effector is in a fully articulated position relative to the shaft axis. It can be selectively moved between joint movement positions. A firing beam is movably supported in the path of the elongate shaft assembly for selective longitudinal movement. The path is configured to place a portion of the firing beam that exits the distal end of the elongated shaft member at an off-axis position relative to the shaft axis.

  Example 22--a path comprises a first path portion aligned on the shaft axis and a second arcuate path portion communicating with the first path portion and curved in a first direction away from the shaft axis A surgical instrument as in example 21, comprising: The path further includes a third arcuate path portion that communicates with the second arcuate path portion and curves in a second direction toward the shaft axis.

  Example 23-A surgical instrument according to example 22 or 21, wherein the surgical end effector is configured to articulate only in one articulation direction across the shaft axis.

  Example 24-The proximal end of a surgical end effector is selected between a non-articulated position and a fully articulated position about an articulation axis that extends transversely to the shaft axis but does not intersect the shaft axis. 24. The surgical instrument of example 21, 22 or 23, pivotally coupled to the elongate shaft assembly at an attachment location on the distal end of the elongate shaft assembly for general pivoting movement .

  Example 25--Embodiment further comprising an articulation driver supported for longitudinal movement relative to the elongate shaft assembly and coupled to the surgical end effector to apply articulation motion to the surgical end effector The surgical instrument according to 21, 22, 23 or 24.

  Example 26-The surgical instrument of example 25, wherein the joint driver is configured to apply push and pull motion to the surgical end effector.

  Example 27-A path includes a first path portion axially aligned on the shaft axis, a second path communicating with and extending distally from the first path portion. Embodiments 21, 23, comprising: a path portion, wherein at least a portion of the second path portion is not axially aligned with the shaft axis. A surgical instrument according to 24, 25 or 26.

  Example 28-A surgical instrument as in example 21, 22, 23, 24, 25, 26 or 27, wherein the firing beam comprises a plurality of beam layers laminated together.

  Example 29-A surgical end effector comprises a firing member operatively interfaced with a firing beam and configured to move axially within the surgical end effector. A surgical instrument according to 24, 25, 26, 27 or 28.

  Example 30-A surgical instrument comprising an elongate shaft assembly that defines a shaft axis and includes a distal end. The surgical instrument further comprises a surgical end effector including a proximal end. An articulation joint couples the proximal end of the surgical end effector to the distal end of the elongate shaft assembly. A firing beam is movably supported within the elongate shaft assembly for longitudinal movement within the elongate shaft assembly along the shaft axis. The surgical instrument further comprises means for biasing a portion of the firing beam into an arcuate configuration to deviate from axial alignment with the shaft axis prior to the articulation joint.

  Example 31-An articulation joint is selectively articulated relative to an elongate shaft assembly about an articulation axis that is transverse to the shaft axis and laterally offset from the shaft axis. The surgical instrument of example 30, wherein the effector proximal end is pivotally coupled to the distal end of the elongate shaft assembly.

  Example 32-A surgical end effector defines an end effector axis, and the surgical end effector includes a non-articulated position where the end effector axis is axially aligned with the shaft axis and one outer portion of the shaft axis. 32. A surgical instrument as in Example 30 or 31, wherein the surgical instrument is selectively articulated between a fully articulated position located at

  Example 33- Surgical instrument according to Example 30, 31 or 32, wherein the firing beam comprises a plurality of beam layers laminated together.

  Example 34-A surgical end effector comprising a firing member operatively interfaced with a firing beam and configured to move axially within the surgical end effector The surgical instrument according to 33.

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

  Example 36-A surgical end effector such that the articulation joint selectively articulates with respect to the elongate shaft assembly about an articulation axis that is transverse to the shaft axis and laterally offset from the shaft axis. The surgical instrument of example 35, wherein the proximal end of the device is pivotally coupled to the distal end of the elongate shaft assembly.

  Example 37-A surgical end effector defines an end effector axis, and the surgical end effector includes a non-articulated position where the end effector axis is axially aligned with the shaft axis, and one outer portion of the shaft axis. 37. The surgical instrument of example 35 or 36, wherein the surgical instrument is selectively articable between a fully articulated position located in

  Example 38-A surgical instrument as in example 35, 36, or 37, wherein the firing beam comprises a plurality of beam layers laminated together.

  Example 39-A surgical end effector comprising a firing member operably interfaced with a firing beam and configured to move axially within the surgical end effector The surgical instrument of claim 38.

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

  Example 41-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further comprises an articulation system that includes a single joint driver that is supported to move longitudinally along a path that is laterally offset from the shaft axis. A cross link is coupled to the joint driver and extends across the shaft axis to be coupled to the surgical end effector.

  Example 42-The surgical instrument of example 41, wherein the articulation axis intersects the shaft axis.

  Example 43-A surgical end effector defines an end effector axis, and a surgical end effector includes a non-articulated position where the end effector axis is axially aligned with the shaft axis, and the end effector axis defines the shaft axis. 42. The surgical instrument of example 41, wherein the surgical instrument is selectively articable between traversing and fully articulated positions located on one outer portion of the shaft axis.

  Example 44- The surgical instrument of example 43, wherein the end effector axis is positioned at an articulation angle relative to the shaft axis when the surgical end effector is in a fully articulated position. The articulation angle is at least 65 degrees.

  Example 45-The surgical stapling instrument according to example 43 or 44, wherein the surgical end effector is selectively articulatable to another fully articulated position located on another outer portion of the shaft axis.

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

  Example 47- The surgical instrument of Examples 41, 42, 43, 44, 45, or 46, wherein a single distal joint driver is configured to apply push and pull motion to the cross link.

  Example 48-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongated shaft assembly further comprising an axially movable firing beam, wherein the axially movable firing beam is Operatively interface with the firing member and selectively moveable in a distal direction in response to a firing motion being applied and in a proximal direction in response to a retracting motion being applied. A surgical instrument according to example 41, 42, 43, 44, 45, 46 or 47.

  Example 49-The surgical of example 48, further comprising a central support member configured to support the firing member laterally when the surgical end effector is articulated about the articulation axis. Appliances. A central support member is pivotally coupled to the surgical end effector and is pivotally and slidably supported relative to the elongated shaft assembly.

  Example 50-A surgical instrument comprising an elongate shaft assembly that defines a shaft axis and includes a distal end. The surgical instrument is pivoted to the elongate shaft assembly at an attachment location on the distal end of the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. It further comprises a surgical end effector including a proximal end that is operatively coupled thereto. The articulation drive assembly moves longitudinally relative to the elongate shaft assembly along an articulation axis that is parallel to the shaft axis and spaced from the first outer portion of the shaft axis. Supported. The articulation drive assembly is coupled to the surgical end effector at a single attachment location located at another outer portion of the shaft axis.

  Example 51-A joint drive assembly comprises a distal joint driver supported by an elongate shaft assembly to move longitudinally along a joint actuation axis in response to an articulation control motion being applied. The surgical instrument as described in Example 50. A cross link is coupled to the distal joint driver and extends across the shaft axis to be coupled to the surgical end effector at a single attachment location.

  Example 52-The proximal end of a surgical end effector is pivotally coupled to the distal end of an elongate shaft assembly by a pivot member that defines an articulation axis. The surgical instrument as described.

  Example 53-The surgical instrument of example 51 or 52, wherein the crosslink has a curvilinear shape.

  Example 54-A surgical instrument comprising an elongate shaft assembly that defines a shaft axis and includes a distal end. The surgical instrument is relative to the shaft axis over a first range of articulation angles on the first outer portion of the shaft axis and over a second range of articulation angles on the second outer portion of the shaft axis. A proximal end pivotally coupled to the elongate shaft assembly at a mounting location on the distal end of the elongate shaft assembly for selective pivoting about a laterally extending articulation axis. And a surgical end effector. The joint drive assembly is parallel to one of the first outer portion and the second outer portion of the shaft axis and is laterally offset in one of the first outer portion and the second outer portion of the shaft axis. It is supported for longitudinal movement with respect to the elongated shaft assembly along the associated articulation axis. The articulation drive assembly is surgically operated at a single mounting location located on the other of the first outer and second outer portions of the shaft axis for selectively applying pull and push motion to the surgical end effector. It is connected to the end effector.

  Example 55-The surgical stapling instrument of Example 54, wherein the first range of articulation angles is 1 to 65 degrees and the second range of articulation angles is 1 to 65 degrees.

  Example 56-The joint drive assembly comprises a distal joint driver supported by an elongate shaft assembly to move longitudinally in response to an articulation control motion being applied. Surgical stapling instrument. A cross link is coupled to the distal joint driver and extends across the shaft axis so as to be coupled to the surgical end effector in the attachment position.

  Example 57-When the distal joint driver is moved in the distal direction, the surgical end effector is pivoted in the first articulation direction and when the distal joint driver is moved in the proximal direction, The surgical stapling instrument according to embodiment 56, wherein the end effector is pivoted in the second articulation direction.

  Example 58-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongate shaft assembly further comprising an axially movable firing beam, and an axially movable firing beam Is operatively interfaced with the firing member and is selectively movable in a distal direction in response to a firing motion being applied and in a proximal direction in response to a retracting motion being applied The surgical stapling instrument of Example 57, wherein

  Example 59- The example of embodiment 58 further comprising a central support member configured to support the firing member laterally when the surgical end effector is articulated about the articulation axis. Surgical stapling instrument. A central support member is pivotally coupled to the surgical end effector and is pivotally and slidably supported relative to the elongated shaft assembly.

  Example 60-A surgical instrument comprising an elongated shaft assembly that defines a shaft axis and includes a distal end. The surgical instrument includes a proximal end that is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis. An end effector is further provided. The articulation link arrangement is configured to rotate relative to the shaft axis such that rotation of the articulation link arrangement induces articulation of the surgical end effector about the articulation axis relative to the elongated shaft assembly. Yes. The surgical instrument further comprises means for selectively rotating the articulation link arrangement about the shaft axis.

  Example 61 The surgical instrument of Example 60, wherein the articulation link configuration comprises a central articulation link movably coupled to the distal end of the elongate shaft assembly. An end effector driver link is movably coupled to the central joint link for pivotal movement relative to the central joint link. The end effector driver link is operably coupled to the surgical end effector for selective pivoting and axial movement relative to the surgical end effector. The means for selectively rotating comprises a joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. The joint driver is operably coupled to the central joint link.

  Example 62-An end effector driver link is a proximal driver link end pivotally coupled to a central articulation link and a shaft configured to slidably receive an end effector mounting member therein The surgical instrument of example 61, comprising a distal driver link end with a directional slot.

  Example 63- The surgical instrument of Example 62, wherein the proximal driver link end is in pivotal engagement by engagement with the distal end of the elongate shaft assembly.

  Example 64-The surgical instrument of example 62, wherein the joint driver is movably coupled to the central joint link by an intermediate driver link.

  Example 65-The central joint link is pivotally coupled to the distal end of the elongate shaft assembly for pivotal movement relative to the elongate shaft assembly about the articulation axis. The surgical instrument according to 62, 63 or 64.

  Example 66-A central articulation link is a triangular shape pivotally coupled to the distal end of an elongate shaft assembly for pivotal movement relative to the elongate shaft assembly about an articulation axis. The surgical instrument of example 62, 63, 64 or 65, comprising a link.

  Example 67-A surgical end effector defines an end effector axis that is configured to be axially aligned with a shaft axis when the surgical end effector is in a non-articulated position, An end effector mounting member is supported on the second outer portion of the end effector shaft axis corresponding to the second outer portion of the shaft axis. The surgical instrument according to example 62, 63, 64, 65 or 66, wherein the surgical instrument is in place.

  Example 68-The distal end of the elongate shaft assembly comprises an arcuate central gear section and the end effector driver link comprises a planetary gear portion in meshing engagement with the arcuate central gear section. The surgical instrument according to 62, 63, 64, 65, 66 or 67.

  Example 69 The surgical instrument of Example 68, wherein the planetary gear portion comprises a plurality of planetary gear teeth formed at a proximal end of the end effector driver link.

  Example 70-A surgical instrument comprising an elongate shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further includes an articulation system comprising a joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. The articulation system further comprises means for operably coupling the joint driver to the surgical end effector. The means for operatively coupling is configured to apply articulation motion to the surgical end effector in response to the longitudinal movement of the joint driver. The means for operatively coupling is further configured to pivotably and axially move relative to the surgical end effector.

  Example 71-A joint driver is coupled to means for operably coupling at one outer portion of the shaft axis, the means for operative coupling being a surgical end effector at another outer portion of the shaft axis The surgical instrument of claim 70, wherein the surgical instrument is coupled to

  Example 72-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongate shaft assembly further comprising an axially movable firing beam, and an axially movable firing beam Is operatively interfaced with the firing member and is selectively movable in a distal direction in response to a firing motion being applied and in a proximal direction in response to a retracting motion being applied The surgical instrument of Example 70 or 71, wherein

  Example 73-The means for operatively coupling comprises a triangular link, the triangular link comprising a first link corner portion operably coupled to the joint driver. 72. The surgical instrument according to 72. The triangular link further includes a second link corner portion operably interfaced with the surgical end effector and a third link corner portion pivotally coupled to the distal end of the elongate shaft assembly. Prepare.

  Example 74-A third link corner portion is pivotally coupled to a distal end of an elongate shaft assembly for pivotal movement relative to the elongate shaft assembly about an articulation axis. The surgical instrument as described in Example 73.

  Example 75--A second corner portion of a triangular link is attached to an end effector driver link coupled to a surgical end effector for pivotal and axial movement relative to the surgical end effector. The surgical instrument of example 73 or 74, wherein the surgical instrument is operably coupled.

  Example 76-An end effector driver link is configured to slidably receive an end effector mounting member therein, with an intermediate proximal drive link end pivotally coupled to a triangular link. 76. The surgical instrument of example 73, 74 or 75, comprising an end effector driver link end comprising an axial slot.

  Example 77-A surgical instrument comprising an elongate shaft assembly including a distal end and a shaft axis. A surgical end effector is pivotally coupled to the distal end of the elongate shaft assembly for selective pivoting about an articulation axis transverse to the shaft axis. A stationary central gear section is on the distal end of the elongate shaft assembly. The surgical instrument is in meshing engagement with a stationary central gear section and a distal end coupled to the end effector for pivotal and axial movement relative to the end effector. And an end effector driver link including a proximal end with a supported planetary gear section. A selectively movable joint driver assembly operably interfaces with the end effector driver link to apply articulation motion to the end effector driver link.

  Example 78-A joint driver assembly is selectively longitudinally oriented with respect to an elongated shaft assembly in a distal direction and a proximal direction along an axis that is offset from and parallel to the shaft axis. The surgical instrument of example 77, comprising an articulation driver member supported to move. A linkage assembly is coupled to the distal joint driver member at a first attachment location on one side of the shaft axis. In addition, the linkage assembly is further coupled to the end effector driver link.

  Example 79-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongated shaft assembly further comprising an axially movable firing beam, wherein the axially movable firing beam is Operatively interface with the firing member and selectively moveable in a distal direction in response to a firing motion being applied and in a proximal direction in response to a retracting motion being applied. A surgical instrument according to example 77 or 78.

  Example 80-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further comprises an articulation system comprising a first joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. The articulation system further comprises a first end effector link movably coupled to the surgical end effector. The first end effector link is coupled to the first joint driver for axial and pivotal movement relative to the first joint driver. A second articulation driver is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. A second end effector link is movably coupled to the surgical end effector. The second end effector link is coupled to the second joint driver for axial and pivotal movement relative to the second joint driver.

  Example 81--A first end effector link is coupled to a first joint member by a first coupler member received in a first axial slot of a first joint driver for selective axial movement. An embodiment coupled to the driver, wherein the second end effector link is coupled to the second joint driver by a second coupler member received in the second axial slot of the second joint driver. 80. Surgical instrument according to 80.

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

  Example 83--a first coupler member comprises a first pin dimensioned to rotate and move axially within a first axial slot, the second coupler member comprising: 83. A surgical instrument as in example 81 or 82, comprising a second pin dimensioned to rotate and move axially within the axial slot.

  Example 84--A first joint driver is supported for selective longitudinal movement along a first articulation axis extending along one outer portion of the shaft axis, and the second joint driver is 84. The surgical of embodiment 80, 81, 82 or 83, supported for selective longitudinal movement along a second articulation axis extending along another outer portion of the shaft axis. Instruments.

  Example 85-A surgical end effector is provided over a first range of articulation angles at a first outer portion of a shaft axis and over a second range of articulation angles at a second outer portion of the shaft axis. 85. The surgical instrument of example 80, 81, 82, 83, or 84 configured to pivot about an axis of motion.

  Example 86-The surgical instrument of example 85, wherein the first range of articulation angles is 1 to 65 degrees and the second range of articulation angles is 1 to 65 degrees.

  Example 87-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongate shaft assembly further comprising an axially movable firing beam, wherein the axially movable firing beam is Operatively interface with the firing member and selectively moveable in a distal direction in response to a firing motion being applied and in a proximal direction in response to a retracting motion being applied. The surgical instrument of any of Examples 80, 81, 82, 83, 84, 85, or 86.

  Example 88- The surgical of embodiment 80, 81, 82, 83, 84, 85, 86 or 87, wherein the first end effector link is curved and the second end effector link is curved. Instruments.

  Example 89-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further comprises an articulation system comprising a first joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. The first end effector link is pivotally coupled to the surgical end effector. The first end effector link is coupled to the first joint driver at a first attachment point. A second articulation driver is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. The second end effector link is pivotally coupled to the surgical end effector. The second end effector link is coupled to the second joint driver at a second attachment point. The articulation system further comprises first means for inhibiting movement of the first attachment point to a first path having a first predetermined shape and a first length. The articulation system further comprises second means for inhibiting movement of the second attachment point to a second path having a second predetermined shape and a second length.

  Example 90-A first means for restraining comprises a first axial slot at a first distal end of a first articulated driver, and a second means for restraining is a second 90. The surgical instrument of example 89, comprising a second axial slot at the second distal end of the joint driver.

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

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

  Example 93-The first end effector link is pivotable about a first attachment point and the second end effector link is pivotable about a second attachment point, Example 89, Surgical instrument according to 90, 91 or 92.

  Example 94-A surgical end effector over a first range of articulation angles at a first outer portion of a shaft axis and over a second range of articulation angles at a second outer portion of a shaft axis 94. The surgical instrument of example 89, 90, 91, 92 or 93 configured to pivot about a motion axis.

  Example 95-The surgical instrument of example 94, wherein the first range of articulation angles is 1 to 65 degrees and the second range of articulation angles is 1 to 65 degrees.

  Example 96-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further comprises an articulation system comprising a first joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. A first curved end effector link is pivotally coupled to the surgical end effector and is movably coupled to the first articulation driver. A first pin protrudes from the first curved end effector link and is movably received within the first axial slot of the first joint driver. A second articulation driver is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. A second curved end effector link is pivotally coupled to the surgical end effector and movably coupled to the second articulation driver. A second pin projects from the second curved end effector link and is movably received in the second axial slot of the second articulation driver.

  Example 97- The surgical instrument of example 96, wherein the first pin is rotatable within the first axial slot and the second pin is rotatable within the second axial slot.

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

  Example 99-A surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongated shaft assembly further comprising an axially movable firing beam, wherein the axially movable firing beam is Operatively interface with the firing member and selectively moveable in a distal direction in response to a firing motion being applied and in a proximal direction in response to a retracting motion being applied. A surgical instrument as in example 96, 97 or 98.

  Example 100-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further comprises an articulation system comprising a joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. A central articulation link is pivotally coupled to the elongate shaft assembly for pivotal movement relative to the elongate shaft assembly. An intermediate link is movably coupled to the joint driver and the central joint link. An end effector driver is movably coupled to the central articulation link and the surgical end effector.

  Example 101-A central articulation link is pivotally coupled to an elongate shaft assembly for pivotal movement relative to the elongate shaft assembly about a link axis that is offset from an articulation axis. The surgical instrument as described in Example 100.

  Example 102-The surgical instrument of example 101 wherein the first axial slot is parallel to the shaft axis and the second axial slot is parallel to the shaft axis.

  Example 103-A central articulation link comprises a first central link end movably coupled to an intermediate link and a second central link end movably attached to an end effector driver; The first center link end is at a first distance from the link axis, the second center link end is at a second distance from the link axis, and the first distance is different from the second distance. The surgical instrument of Example 101 or 102.

  Example 104-The surgical instrument of example 103, wherein the first distance is less than the second distance.

  Example 105-The central articulation link has a first length, the intermediate link has a second length, the end effector driver has a third length, and the second length is the first length. And the surgical instrument of Examples 100, 101, 102, 103 or 104, which is shorter than the third length.

  Example 106-The surgical instrument according to example 105, wherein the first length is shorter than the third length.

  Example 107-A surgical instrument as in example 100, 101, 102, 103, 104, 105 or 106, wherein the intermediate link is curved in a first direction.

  Example 108-The surgical stapling instrument according to Example 107, wherein the end effector driver curves in a second direction that is opposite to the first direction.

  Example 109-A surgical end effector is pushed in a first articulation direction when a tensile motion is applied to a joint driver, and a surgical end effector is a second articulation when a pushing motion is applied to the joint driver. 109. The surgical instrument of example 100, 101, 102, 103, 104, 105, 106, 107 or 108 being pulled in a direction.

  Example 110-A surgical end effector is selectively articulatable between a non-articulated position and a first articulated position over a first range of articulation angles, Examples 100, 101, 102, 103, 104, 105, 106, 107, 108, or capable of articulation between a non-articulation position and a second articulation position over a second range of articulation angles 109. The surgical instrument of claim 109.

  Example 111-The surgical instrument of example 110, wherein the first range of articulation angles is 1 to 90 degrees and the second range of articulation angles is 1 to 90 degrees.

  Example 112-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical instrument further includes an articulation system comprising a joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. A central articulation link is pivotally coupled to the elongate shaft assembly for selective pivotal movement about a link axis that is offset from the articulation axis. A curved intermediate link is movably coupled to the joint driver and the central joint link. A curved end effector driver is movably coupled to the central articulation link and the surgical end effector.

  Example 113-A central articulation link comprises a first central link end movably coupled to an intermediate link and a second central link end movably attached to an end effector driver; The first center link end is at a first distance from the link axis, the second center link end is at a second distance from the link axis, and the first distance is different from the second distance. The surgical instrument as described in example 112.

  Example 114-The surgical instrument of example 113 wherein the first distance is less than the second distance.

  Example 115-The central articulation link has a first length, the intermediate link has a second length, the end effector driver has a third length, and the second length is the first length. And the surgical instrument of example 112, 113 or 114, shorter than the third length.

  Example 116- The surgical instrument of example 115, wherein the first length is shorter than the third length.

  Example 117-Surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical end effector also includes a firing member configured to move axially within the surgical end effector. The surgical instrument further includes an articulation system comprising a distal joint driver that is supported for selective longitudinal movement relative to the elongated shaft assembly in the distal and proximal directions. A central articulation link is movably pinned to the distal end of the elongate shaft assembly. An intermediate link is movably coupled to the distal joint link and the central joint link. An end effector driver is movably coupled to the central link and the surgical end effector.

  Example 118-A surgical end effector defines an end effector axis, and the surgical end effector includes a first non-articulated position where the end effector axis is aligned with the shaft axis, and the end effector axis is on the shaft axis. A first maximum articulation position at a first outer portion of the shaft axis extending perpendicularly to the second and a second at an outer portion of the shaft axis, the end effector axis being perpendicular to the shaft axis. 118. The surgical instrument of example 117, wherein the surgical instrument is selectively articulated between a maximum articulation position of

  Example 119-A central articulation link comprises a first central link end movably coupled to an intermediate link and a second central link end movably attached to an end effector driver; The first center link end is at a first distance from the link axis, the second center link end is at a second distance from the link axis, and the first distance is different from the second distance. The surgical instrument of Example 117 or 118.

  Example 120-A surgical instrument comprising an elongate shaft assembly defining a shaft axis. The surgical instrument further comprises a surgical end effector comprising a distal end and a proximal end. The proximal end is pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transverse to the shaft axis. The surgical end effector is configured so that the distal end of the surgical end effector is non-articulated from a non-articulated position where the distal end of the surgical end effector is located at a non-articulated distance from the articulation axis. It is possible to selectively pivot about the articulation axis to an articulation position that is located at a corresponding articulation distance from the articulation axis that is shorter than the distance.

  Example 121-An elongate shaft assembly comprising a pivot member defining an articulation axis, wherein the proximal end of the surgical end effector is configured to slidably receive the pivot member therein. The surgical instrument of example 120, comprising a slot.

  Example 122- A surgical instrument according to Example 120 or 121, further comprising means for applying articulation motion to the surgical end effector.

  Example 123-The surgical instrument of Example 122, wherein the means for selectively adding comprises a rotating gear in meshing engagement with the surgical end effector.

  Example 124- The surgical instrument of Example 123, wherein the proximal end of the surgical end effector comprises an elliptical gear profile that is in meshing engagement with a rotating gear.

  Example 125-The surgical instrument of example 123 or 124, wherein the means for selectively adding comprises a selectively axially movable distal joint driver operatively interfaced with the rotating gear.

  Example 126--an example further comprising a drive slot in a distal articulated driver that is selectively axially movable, and a drive pin attached to the rotating gear and slidably received in the drive slot. 125. A surgical instrument according to 125.

  Example 127-A surgical end effector defines an end effector axis that is arranged such that the end effector axis is aligned with the shaft axis when the surgical end effector is in a non-articulated position. Embodiments 120, 121, 122, 123, 124, when the surgical end effector is articulated to the maximum of the articulation positions, the end effector axis is perpendicular to the shaft axis. 125. A surgical instrument according to 125 or 126.

  Example 128-A surgical procedure as in Example 122, 123, 124, 125, 126 or 127, wherein the means for selectively comprising a central articulated link supported for rotational movement about an articulation axis. Appliances. A selectively axially movable joint driver interfaces with the central joint link at a first position on a first side of the shaft axis. The means for selectively adding includes a first end coupled to the surgical end effector and a second end coupled to the central articulation link at a second position on the second side of the shaft axis. And a joint drive link.

  Example 129-The means for selectively adding comprises a central articulation gear supported to move about an articulation axis and a gear profile at the second end of the articulation link. The surgical instrument of claim 128. The gear profile is in meshing engagement with the central joint gear.

  Example 130-A surgical instrument comprising an elongated shaft assembly that defines a shaft axis and includes a distal shaft portion. The surgical instrument further comprises a surgical end effector that defines an end effector axis and includes a distal end and a proximal end. The proximal end is a non-articulated position where the end effector axis is aligned with the shaft axis and the distal end of the surgical end effector is located at a non-articulated distance from the distal end portion of the elongate shaft assembly An articulation position wherein the end effector axis is transverse to the shaft axis and the distal end of the surgical end effector is located at a corresponding articulation distance from the distal shaft portion that is shorter than the non-articulation distance Movably coupled to the distal shaft portion for selective movement there between.

  Example 131-The proximal end of a surgical end effector is movably coupled to the distal shaft portion of an elongate shaft assembly by a selectively axially movable joint driver and joint link. The surgical instrument according to 1.

  Example 132-The surgical instrument of example 130 or 131, wherein when the surgical end effector is articulated to one of the articulation positions, the end effector axis is perpendicular to the shaft axis.

  Example 133-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical instrument further comprises a surgical end effector including a distal end and a proximal end. Proximal end is selectively pivotable about an articulation axis extending transverse to the shaft axis and is movable to the elongate shaft assembly for translation relative to the articulation axis Is bound to. The articulation system operably interfaces with the surgical end effector to selectively apply articulation motion to the surgical end effector.

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

  Example 135-The surgical instrument of example 134 further comprising an elliptical gear section on the proximal end of the surgical end effector that is in meshing engagement with the rotating gear.

  Example 136-A means for rotating a rotating gear includes a selectively articulatable distal joint driver including a driving slot, and a slidably received in the driving slot attached to the rotating gear. 135. The surgical instrument of example 134 or 135, comprising: a driven pin.

  Example 137- The surgical instrument of Example 136, wherein the drive slot traverses the shaft axis.

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

  Example 139-The surgical instrument of examples 133, 134, 135, 136, 137, or 138, wherein the articulation system comprises a central articulation link that is supported for rotational movement about the articulation axis. A selectively axially movable joint driver interfaces with the central joint link at a first position on a first side of the shaft axis. The articulation system includes a first end coupled to the surgical end effector and a second end coupled to the central articulation link at a second position on a second side of the shaft axis. A drive link is further provided.

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

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

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

  Example 143-The surgical instrument of Example 140, 141 or 142, wherein the adjustable tensioning assembly comprises a pulley mount that supports the proximal pulley thereon. A mounting shaft is coupled to the pulley mount and is supported on a portion of the elongate shaft assembly for selective rotation relative to the elongate shaft assembly. The mounting shaft is mounted eccentrically to the pulley mount, so that rotation of the mounting shaft moves the proximal pulley axially to adjust the tension distance between the proximal pulley axis and the mounting point.

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

  Example 145-The surgical instrument of Example 140, 141 or 142, wherein the adjustable tensioning assembly comprises a pulley mount that supports the proximal pulley thereon. A mounting member is coupled to the pulley mount and is slidably supported on the elongate shaft assembly for selective axial movement relative to the elongate shaft assembly. The adjustable tensioning assembly further comprises means for selectively axially moving the mounting member on the elongated shaft assembly.

  Example 146-The means for selectively axially moving comprises a tensioning screw that is mounted to the elongate shaft assembly and moves the mounting member axially within an axial slot of the elongate shaft assembly The surgical instrument of example 145, wherein the surgical instrument is configured to cause

  Example 147—The means for selectively axially moving comprises a rotating cam assembly that is mounted to an elongate shaft assembly and moves the mounting member axially within an axial slot of the elongate shaft assembly. The surgical instrument of example 145, wherein the surgical instrument is configured to cause

  Example 148-The surgical instrument of Example 147, wherein the rotating cam assembly comprises a tension cam configured to be in cam contact with the mounting member. A mounting spindle is coupled to the tension cam and is supported on a portion of the elongate shaft assembly for selective rotation relative to the elongate shaft assembly. The mounting spindle is attached to the tension cam so that when the mounting spindle rotates in the first direction, the tension cam biases the mounting member in the axial direction within the axial slot.

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

  Example 150-A surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that intersects the shaft axis. The surgical instrument further includes an articulation system including a distal pulley attached to the surgical end effector and a joint cable pivoted on a proximal pulley supported on the elongate shaft assembly. The joint driver is coupled to the joint cable to selectively rotate the joint cable about the proximal pulley in first and second rotational directions. An adjustable tensioning assembly is supported on the elongate shaft assembly and is selectively with a portion of the articulated cable in a direction transverse to the first and second rotational directions to increase the amount of articulated cable tension. It is comprised so that it may contact.

  Example 151-A surgical procedure according to Example 150, wherein the joint cable comprises a first cable end and a second cable end, the first and second cable ends operatively interface with the joint driver. Appliances.

  Example 152-The surgical instrument of example 151 wherein the joint driver comprises a distal end portion that includes a pair of cleats. The cleats define a mounting space between them. The first cable end includes a first lug attached to the cable received in the mounting space, the second cable end attached to the second cable end, and a pair of cleats A second lug received in the mounting space between the two.

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

  Example 154- Surgical instrument comprising an elongated shaft assembly defining a shaft axis. The surgical end effector is pivotally coupled to the elongate shaft assembly for selective articulation relative to the elongate shaft assembly about an articulation axis that intersects the shaft axis. The surgical instrument further includes an articulation system including a distal pulley attached to the surgical end effector and a joint cable pivoted on a proximal pulley supported on the elongate shaft assembly. The joint cable includes a first cable end and a second cable end. The articulation system further comprises a joint driver for selectively rotating the articulation cable about the proximal pulley in the first and second articulation directions. The joint driver includes a first cleat attached to the first cable end and a second cleat attached to the second cable end and spaced from the first cleat. The articulation system also includes means coupled to the first and second cleats to move the first and second cable ends toward each other to increase the amount of tension in the articulated cable.

  Example 155-Means coupled to the first and second cleats to move the first and second cable ends toward each other comprises a rotating member coupled to the first and second cleats. Thus, rotation of the rotating member in the first rotation direction moves the first and second cleats toward each other, and rotation of the rotating member in the second rotation direction causes the first and second cleats to move. The surgical instrument of example 154, wherein the surgical instrument is adapted to be moved away from each other.

  Example 156-The surgical instrument of example 155, wherein the rotating member comprises a tension screw in threaded engagement with the first and second cleats.

  Example 157-The first cable end comprises a first la attached to the cable received between the first cleat and the second cleat, the second cable end comprising: The surgical instrument of example 154, comprising a second lug attached to the cable and received between the first cleat and the second cleat.

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

  Example 159-The surgical instrument according to examples 154, 155, 156, 157 or 158, wherein the surgical end effector is configured to cut and staple tissue.

  Example 160-A surgical instrument comprising a surgical end effector including a first jaw and a second jaw, one of the first jaw and the second jaw being a surgical end A surgical instrument that is selectively movable relative to the other of the first jaw and the second jaw when a closing motion is applied to the effector. The surgical instrument further comprises an elongate shaft assembly that includes a closure member assembly that is supported for axial movement relative to the surgical end effector. The closure member assembly includes a proximal closure member configured to be axially advanced by a full closure stroke distance when a closure actuation motion is applied. The distal closure member movably interfaces with the proximal closure member so that the distal closure member moves by an axial closure distance in response to axial movement of the proximal closure member over the full closure stroke distance Thus, the distal closure member will exert a closing motion on the surgical end effector, where the axial closing distance is shorter than the full closing stroke distance.

  Example 161--A proximal closure member includes a distal end, and the distal closure member includes a proximal end slidably secured to the distal end of the proximal closure member, so When the distal closure member moves over the full closure stroke distance, the distal closure member may begin to move axially over the axial closure distance until the proximal closure member moves axially over a portion of the full closure stroke distance. The surgical instrument of Example 160, not present.

  Example 162-An elongate shaft assembly comprises a spine assembly coupled to a surgical end effector, wherein the proximal closure member is over a portion of the spine assembly for axial movement over the spine assembly over a full closure stroke distance. A proximal closure sleeve supported by the distal closure member, the distal closure member comprising a distal closure sleeve slidably pivoted on another portion of the spine assembly and movable to the proximal closure sleeve The surgical instrument of example 161, wherein the surgical instrument is coupled.

  Example 163--A proximal closure sleeve has an opening at its distal end, the proximal end of the distal closure sleeve extends through the opening, and the proximal end of the distal closure sleeve is near The surgical instrument of example 162, configured to prevent separation from the distal end of the distal closure sleeve.

  Example 164-The distal end of the proximal closure sleeve is flared inwardly around the opening, and the proximal end of the distal closure sleeve spans a portion of the full closure stroke distance relative to the distal closure sleeve Flared outwardly to facilitate axial movement of the proximal closure sleeve and at the same time prevent the proximal end of the distal closure sleeve from separating from the distal end of the proximal closure sleeve The surgical instrument of Example 163, wherein:

  Example 165-A proximal closure sleeve comprises an inwardly extending flange having an opening at its distal end, the proximal end of the distal closure sleeve extending through the opening, and the distal closure sleeve 162. The surgical of embodiment 162, comprising an outwardly extending flange cooperating with the inwardly extending flange to prevent the proximal end of the proximal end from separating from the distal end of the proximal closure sleeve. Instruments.

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

  Example 167-The surgical instrument of example 166, wherein the contact portion comprises a pleated portion of the proximal closure sleeve.

  Example 168-The contact portion comprises at least one inwardly extending tab member that is formed in the proximal closure sleeve to contact a corresponding portion of the proximal end of the distal closure sleeve. The surgical instrument of example 166, oriented to

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

  Example 170-Surgical instrument comprising a surgical end effector including a first jaw and a second jaw, one of the first jaw and the second jaw being a surgical end A surgical instrument that is selectively movable relative to the other of the first jaw and the second jaw when a closing motion is applied to the effector. The surgical instrument further comprises an elongate shaft assembly that includes a closure member assembly that is supported for axial movement relative to the surgical end effector. The closure member assembly includes a proximal closure member configured to be axially advanced by a full closure stroke distance when a closure actuation motion is applied. A distal closure member is supported for axial movement by an axial closure distance that is less than the full closure stroke distance to apply a closing motion to the surgical end effector. The closure stroke reduction assembly interfaces with the proximal closure member and the distal closure member so that when the proximal closure member moves over the full closure stroke distance, the proximal closure member moves axially over a portion of the full closure stroke distance Until then, the distal closure member does not begin to move axially over the closure distance.

  Example 171- An elongate shaft assembly comprises a spine assembly coupled to a surgical end effector, wherein the proximal closure member is over a portion of the spine assembly for axial movement over the spine assembly over a full closure stroke distance. A proximal closure sleeve supported by the distal closure member, the distal closure member comprising a distal closure sleeve slidably supported on another portion of the spine assembly for axial movement over a closure distance. The surgical instrument as described in Example 170.

  Example 172-A closure stroke reduction assembly includes a proximal mounting member coupled to a proximal closure sleeve for axial movement with a proximal closure sleeve over a full closure stroke distance, and a shaft with a distal closure sleeve over a closure distance 172. The surgical instrument of example 170 or 171 comprising a distal mounting member coupled to the distal closure sleeve for movement in a direction.

  Example 173-A proximal mounting member includes a contact portion configured to contact at least one of the proximal mounting member and the proximal closure sleeve after the proximal closure sleeve has moved over a portion of the full closure stroke distance. The surgical instrument as described in Example 172.

  Example 174-A distal mounting member defines a distal ledge, a proximal mounting member defines a proximal ledge spaced from the distal ledge to form a distal movement zone therebetween, and the contacting portion is 180. The embodiment of example 173, spaced from at least one of the proximal mounting member and the proximal closure sleeve, defining a proximal movement zone between the contact portion and at least one of the proximal mounting member and the proximal closure sleeve. Surgical instruments.

  Example 175-The surgical instrument of example 174, wherein the proximal movement zone has a proximal axial width and the distal movement zone has a distal axial width that is different from the proximal axial width.

  Example 176-The surgical instrument of example 172, 173, 174 or 175, further comprising a biasing member disposed between the proximal and distal mounting members.

  Example 177-The surgical instrument of example 174 or 175, further comprising a biasing member supported within the distal movement zone.

  Example 178-Surgical instrument comprising a surgical end effector including a first jaw and a second jaw, wherein one of the first jaw and the second jaw is a surgical end A surgical instrument that is selectively movable relative to the other of the first jaw and the second jaw when a closing motion is applied to the effector. The surgical instrument further comprises an elongate shaft assembly that includes a closure member assembly that is supported for axial movement relative to the surgical end effector. The closure member assembly includes a proximal closure member configured to be axially advanced by a full closure stroke distance when a closure actuation motion is applied. The proximal closure member is configured to apply a maximum closure force when the end of the maximum closure stroke distance is reached. A distal closure member is supported for axial movement by an axial closure distance that is less than the full closure stroke distance to apply a closing motion to the surgical end effector. The closure stroke reduction assembly interfaces with the proximal closure member and the distal closure member so that when the proximal closure member moves over the full closure stroke distance, the proximal closure member has another closure force that is less than the maximum closure force. To the distal closure member.

  Example 179-A surgical closure according to Example 178, wherein the closure stroke reduction assembly comprises a proximal mounting member coupled to the proximal closure member for axial movement with the proximal closure member over a full closure stroke distance. Instruments. A distal mounting member is coupled to the distal closure member for axial movement with the distal closure member over an axial closure distance. A biasing member is disposed between a portion of the proximal mounting member and another portion of the distal mounting member.

The entire disclosure below is incorporated herein by reference:
U.S. Pat. No. 5,403,312 issued on April 4, 1995, title of the invention "ELECTROSURICALIC HEMOSSTATIC DEVICE",
US Patent No. 7,000,818 issued on February 21, 2006, title of invention "SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSEING AND FIRING SYSTEMS",
US Pat. No. 7,422,139 issued on September 9, 2008, the title of the invention “MOTOR-DRIVEN SURGICAL CUTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK”,
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US Pat. No. 7,670,334 issued on March 2, 2010, the title of the invention “SURGICAL INSTRUMENT HAVING AN ARTURALING END EFFECTOR”,
US Pat. No. 7,753,245 issued on July 13, 2010, the title of the invention “SURGICAL STAPLING INSTRUMENTS”,
US Patent No. 8,393,514 issued on March 12, 2013, the title of the invention "SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE",
US patent application Ser. No. 11 / 343,803, entitled “SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES”, currently US Pat. No. 7,845,537,
US patent application Ser. No. 12 / 031,573, filed Feb. 14, 2008; title of invention “SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES”;
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US patent application Ser. No. 12 / 235,782, title of invention “MOTOR-DRIVEN SURGICAL COUNTING INSTRUMENT”, currently US Pat. No. 8,210,411,
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  Although various embodiments of the device have been described herein in connection with certain disclosed embodiments, many modifications and changes can be made to those embodiments. Also, although materials have been disclosed for specific components, other materials may be used. Further, in accordance with various embodiments, a single component may be replaced with multiple components, and multiple components may be replaced with a single component to perform a given function. . The foregoing description and the following claims are intended to cover all such modifications and changes.

  The devices disclosed herein can be designed to be discarded after a single use, or can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of equipment disassembly steps followed by cleaning or replacement of specific parts and subsequent reassembly steps. In particular, the device can be disassembled and any number of the particular parts or portions of the device can be selectively replaced or removed in any combination. After cleaning and / or replacing certain parts, the device can be reassembled for later use either at a reconditioning facility or by a surgical team immediately prior to a surgical procedure. One skilled in the art will appreciate that device reconditioning can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques and the resulting reconditioned device are all within the scope of the present invention.

  Merely by way of example, the aspects described herein may be processed before surgery. Initially, new or used instruments may be obtained and cleaned as needed. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument can then be placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high energy electrons. Radiation can kill bacteria on the instrument and in the container. After this, the sterilized instrument can be stored in a sterile container. The sealed container can keep the instrument sterile until it is opened in the medical facility. The device can also be sterilized using any other technique known in the art including, but not limited to, beta or gamma radiation, ethylene oxide, hydrogen peroxide plasma, or water vapor.

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

  Any patents, publications or other disclosures referred to, in whole or in part, that are incorporated herein by reference shall be incorporated into the existing definitions, descriptions, or others described in this disclosure To the extent that they are not inconsistent with this disclosure. As such and to the extent necessary, the disclosure expressly set forth herein shall supersede any conflicting description incorporated herein by reference. Any reference, or part thereof, that is incorporated herein by reference, but that conflicts with existing definitions, descriptions, or other disclosed references contained herein, It shall be incorporated only to the extent that no contradiction arises between the disclosure content.

Embodiment
(1) a surgical instrument,
An elongated shaft assembly that defines a shaft axis;
A surgical end effector pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis;
An articulation system,
A first joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in a distal direction and a proximal direction;
A first end effector link movably coupled to the surgical end effector, wherein the first joint driver is adapted to move axially and pivotally relative to the first joint driver. A first end effector link coupled to
A second joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in the distal direction and the proximal direction;
A second end effector link movably coupled to the surgical end effector, wherein the second articulation driver is adapted to move axially and pivotally relative to the second articulation driver. A surgical instrument comprising: a second end effector link coupled to the articulation system.
(2) wherein the first end effector link is received by the first coupler member received in the first axial slot of the first articulated driver for selective axial movement; And the second end effector link is coupled to the second joint driver by a second coupler member received in a second axial slot of the second joint driver. The surgical instrument of claim 1, wherein
(3) The surgical instrument according to embodiment 2, wherein the first axial slot is parallel to the shaft axis, and the second axial slot is parallel to the shaft axis.
(4) The first coupler member includes a first pin dimensioned to rotate and move axially within the first axial slot, and the second coupler member includes: The surgical instrument of claim 2, comprising a second pin dimensioned to rotate and move axially within the second axial slot.
(5) The first joint driver is supported so as to selectively move in the longitudinal direction along a first joint motion axis extending along one outer portion of the shaft axis, and the second joint The surgical instrument of embodiment 1, wherein a driver is supported for selective longitudinal movement along a second articulation axis extending along another outer portion of the shaft axis.

(6) The surgical end effector extends over a first range of articulation angles at a first outer portion of the shaft axis and over a second range of articulation angles at a second outer portion of the shaft axis. The surgical instrument of embodiment 1, wherein the surgical instrument is configured to pivot about the articulation axis.
(7) The surgical instrument according to embodiment 6, wherein a first range of the articulation angle is 1 degree to 65 degrees, and a second range of the articulation angle is 1 degree to 65 degrees.
(8) The surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongate shaft assembly further comprising an axially movable firing beam, the axially movable A firing beam operatively interfaces with the firing member and in the distal direction in response to a firing motion being applied and in the proximal direction in response to a retracting motion being applied, The surgical instrument of embodiment 1, wherein the surgical instrument is selectively movable.
(9) The surgical instrument according to embodiment 1, wherein the first end effector link is curved and the second end effector link is curved.
(10) a surgical instrument,
An elongated shaft assembly that defines a shaft axis;
A surgical end effector pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis;
An articulation system,
A first joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in a distal direction and a proximal direction;
A first end effector link pivotally coupled to the surgical end effector, wherein the first end effector link is coupled to the first joint driver at a first attachment point;
A second joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in the distal direction and the proximal direction;
A second end effector link pivotally coupled to the surgical end effector, wherein the second end effector link is coupled to the second joint driver at a second attachment point;
First means for inhibiting movement of the first attachment point to a first path having a first predetermined shape and a first length;
A surgical system comprising: an articulation system comprising: a second means for inhibiting movement of the second attachment point to a second path having a second predetermined shape and a second length. Appliances.

(11) The first means for restraining comprises a first axial slot in a first distal end of the first joint driver, and the second means for restraining comprises: The surgical instrument of embodiment 10, comprising a second axial slot at a second distal end of the second joint driver.
12. The surgical instrument of embodiment 11, wherein the first axial slot and the second axial slot are parallel to each other.
(13) The surgical instrument according to embodiment 11, wherein the first length and the second length are equal to each other.
(14) The first end effector link is pivotable about the first attachment point, and the second end effector link is pivotable about the second attachment point. The surgical instrument according to aspect 10.
(15) The surgical end effector extends over a first range of articulation angles at a first outer portion of the shaft axis and over a second range of articulation angles at a second outer portion of the shaft axis. The surgical instrument according to embodiment 10, wherein the surgical instrument is configured to pivot about the articulation axis.

(16) The surgical instrument according to embodiment 15, wherein a first range of the articulation angle is 1 degree to 65 degrees, and a second range of the articulation angle is 1 degree to 65 degrees.
(17) a surgical instrument,
An elongated shaft assembly that defines a shaft axis;
A surgical end effector pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis;
An articulation system,
A first joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in a distal direction and a proximal direction;
A first curved end effector link pivotally coupled to the surgical end effector and movably coupled to the first joint driver;
A first pin protruding from the first curvilinear end effector link and movably received in a first axial slot of the first joint driver;
A second joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in the distal direction and the proximal direction;
A second curved end effector link pivotally coupled to the surgical end effector and movably coupled to the second joint driver;
An articulation system comprising: a second pin protruding from the second curved end effector link and movably received in a second axial slot of the second articulated driver; Surgical instrument provided.
18. The surgical of embodiment 17, wherein the first pin is rotatable within the first axial slot and the second pin is rotatable within the second axial slot. Appliances.
19. The surgical instrument of embodiment 18, wherein the first axial slot and the second axial slot are parallel to each other.
(20) The surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongate shaft assembly further comprising an axially movable firing beam, the axially movable A firing beam operatively interfaces with the firing member and in the distal direction in response to a firing motion being applied and in the proximal direction in response to a retracting motion being applied, The surgical instrument of embodiment 17, wherein the surgical instrument is selectively movable.

Claims (20)

A surgical instrument,
An elongated shaft assembly that defines a shaft axis;
A surgical end effector pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis;
An articulation system,
A first joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in a distal direction and a proximal direction;
A first end effector link movably coupled to the surgical end effector, wherein the first joint driver is adapted to move axially and pivotally relative to the first joint driver. A first end effector link coupled to
A second joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in the distal direction and the proximal direction;
A second end effector link movably coupled to the surgical end effector, wherein the second articulation driver is adapted to move axially and pivotally relative to the second articulation driver. A surgical instrument comprising: a second end effector link coupled to the articulation system.   The first end effector link is coupled to the first joint driver by a first coupler member that is received in a first axial slot of the first joint driver for selective axial movement. And the second end effector link is coupled to the second joint driver by a second coupler member received in a second axial slot of the second joint driver. The surgical instrument according to claim 1.   The surgical instrument according to claim 2, wherein the first axial slot is parallel to the shaft axis and the second axial slot is parallel to the shaft axis.   The first coupler member comprises a first pin dimensioned to rotate and move axially within the first axial slot, and the second coupler member includes the second coupler member The surgical instrument according to claim 2, comprising a second pin dimensioned to rotate and move axially within the axial slot.   The first joint driver is supported to selectively move longitudinally along a first articulation axis extending along one outer portion of the shaft axis, and the second joint driver is The surgical instrument according to claim 1, wherein the surgical instrument is supported for selective longitudinal movement along a second articulation axis extending along another outer portion of the shaft axis.   The surgical end effector extends over the first range of articulation angles at the first outer portion of the shaft axis and over the second range of articulation angles at the second outer portion of the shaft axis. The surgical instrument according to claim 1, wherein the surgical instrument is configured to pivot about an axis of motion.   The surgical instrument according to claim 6, wherein the first range of articulation angles is 1 to 65 degrees, and the second range of articulation angles is 1 to 65 degrees.   The surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongated shaft assembly further comprising an axially movable firing beam, wherein the axially movable firing beam is Operatively interface with the firing member and selectively in the distal direction in response to a firing motion being applied and in the proximal direction in response to a retracting motion being applied The surgical instrument of claim 1, wherein the surgical instrument is movable.   The surgical instrument according to claim 1, wherein the first end effector link is curved and the second end effector link is curved. A surgical instrument,
An elongated shaft assembly that defines a shaft axis;
A surgical end effector pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis;
An articulation system,
A first joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in a distal direction and a proximal direction;
A first end effector link pivotally coupled to the surgical end effector, wherein the first end effector link is coupled to the first joint driver at a first attachment point;
A second joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in the distal direction and the proximal direction;
A second end effector link pivotally coupled to the surgical end effector, wherein the second end effector link is coupled to the second joint driver at a second attachment point;
First means for inhibiting movement of the first attachment point to a first path having a first predetermined shape and a first length;
A surgical system comprising: an articulation system comprising: a second means for inhibiting movement of the second attachment point to a second path having a second predetermined shape and a second length. Appliances.   The first means for restraining comprises a first axial slot at a first distal end of the first articulated driver, and the second means for restraining comprises the second The surgical instrument of claim 10, comprising a second axial slot at a second distal end of the joint driver.   The surgical instrument according to claim 11, wherein the first axial slot and the second axial slot are parallel to each other.   The surgical instrument according to claim 11, wherein the first length and the second length are equal to each other.   11. The first end effector link is pivotable about the first attachment point and the second end effector link is pivotable about the second attachment point. The surgical instrument as described.   The surgical end effector extends over the first range of articulation angles at the first outer portion of the shaft axis and over the second range of articulation angles at the second outer portion of the shaft axis. The surgical instrument according to claim 10, wherein the surgical instrument is configured to pivot about an axis of motion.   The surgical instrument of claim 15, wherein the first range of articulation angles is 1 to 65 degrees and the second range of articulation angles is 1 to 65 degrees. A surgical instrument,
An elongated shaft assembly that defines a shaft axis;
A surgical end effector pivotally coupled to the elongate shaft assembly for selective pivotal movement about an articulation axis extending transversely to the shaft axis;
An articulation system,
A first joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in a distal direction and a proximal direction;
A first curved end effector link pivotally coupled to the surgical end effector and movably coupled to the first joint driver;
A first pin protruding from the first curvilinear end effector link and movably received in a first axial slot of the first joint driver;
A second joint driver supported for selective longitudinal movement relative to the elongate shaft assembly in the distal direction and the proximal direction;
A second curved end effector link pivotally coupled to the surgical end effector and movably coupled to the second joint driver;
An articulation system comprising: a second pin protruding from the second curved end effector link and movably received in a second axial slot of the second articulated driver; Surgical instrument provided.   The surgical instrument according to claim 17, wherein the first pin is rotatable within the first axial slot and the second pin is rotatable within the second axial slot.   The surgical instrument according to claim 18, wherein the first axial slot and the second axial slot are parallel to each other.   The surgical end effector comprises a firing member configured to move axially within the surgical end effector, the elongated shaft assembly further comprising an axially movable firing beam, wherein the axially movable firing beam is Operatively interface with the firing member and selectively in the distal direction in response to a firing motion being applied and in the proximal direction in response to a retracting motion being applied The surgical instrument of claim 17, wherein the surgical instrument is movable.

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