JP2019513065A - Surgical cutting and stapling end effector with anvil concentric drive member - Google Patents

Abstract

A surgical end effector is disclosed for use with a surgical instrument that includes an elongated shaft assembly that includes a rotational output drive shaft. An elongate channel is attached to the elongate shaft assembly. An anvil frame having a proximal end and a distal end is selectively moveable between an open position and a closed position relative to the elongated channel. An anvil concentric drive member is rotatably supported by the anvil frame and configured to receive rotational drive motion from the rotational output drive shaft of the surgical instrument when the anvil frame is in the closed position. A firing member is drivingly engaged with the anvil concentric drive member to move linearly through the end effector.

Description

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

Various features of the embodiments described herein, as well as their advantages, can be understood by the following description in conjunction with the accompanying drawings in which:
FIG. 1 is a perspective view of a surgical instrument including a replaceable surgical tool assembly according to at least one embodiment. FIG. 7 is another perspective view of the handle assembly of the surgical instrument of FIG. 1 with a portion of the handle housing omitted to expose components contained therein. FIG. 3 is an exploded view of portions of the handle assembly of the surgical instrument of FIGS. 1 and 2; FIG. 5 is a cross-sectional perspective view of the handle assembly of FIGS. 2 and 3; The portion of the handle assembly of FIGS. 2 to 4 shown in solid lines at one position relative to the primary housing portion of the handle assembly and in phantom at another position relative to the primary housing portion. FIG. 6 is an end cross-sectional view of the handle assembly of FIGS. 2-5, taken along line 6-6 of FIG. 5; 7 is another end cross-sectional view of the handle assembly of FIGS. 2-6, taken along line 7-7 of FIG. 5; FIG. 8 is another end cross-sectional view of the handle assembly of FIGS. 2-7, showing the shifter gear in meshing engagement with the drive gear on the rotary drive socket; 10 is another end cross-sectional view of the handle assembly of FIGS. 2-8, showing the position of the shifter solenoid when the shifter gear is in meshing engagement with the drive gear on the rotational drive socket; FIG. FIG. 10 is another perspective view of the handle assembly of FIGS. 2-9, with certain portions shown in cross section and the access panel portion in phantom. FIG. 12 is a top view of the handle assembly of FIGS. 2-11, showing the bailout system in an operable position; FIG. 12 is a perspective view of the bail-out handle of the bail-out system shown in FIGS. FIG. 13 is an exploded view of portions of the bail out handle of FIG. 12 showing the portions in cross section. FIG. 12 is a cross-sectional view of the handle assembly of FIG. FIG. 12 is a perspective view of the tool attachment module portion of the handle assembly of FIGS. 2-11 and the interchangeable surgical tool assembly of FIG. 1; FIG. 16 is a partial cross-sectional perspective view of the tool attachment module portion of FIG. 15; FIG. 17 is an exploded view of portions of the replaceable surgical tool assembly of FIG. 16; FIG. 17 is an exploded view of the tool mounting module of FIG. 16; FIG. 10 is a perspective view of one form of a shaft coupler release assembly. FIG. 19 is a side cross-sectional view of the tool mounting module of FIGS. 16 and 18 being aligned for introduction onto the tool mounting portion of the handle assembly of FIG. 1; FIG. 21 is another side cross-sectional view of the tool mounting module of FIG. 20 initially inserted into the tool mounting portion of the handle assembly of FIG. 1; FIG. 20 is another side cross-sectional view of the tool mounting module of FIGS. 20 and 21 attached to the tool mounting portion of the handle assembly of FIG. 1; FIG. 2 is a perspective view of the replaceable surgical tool assembly of FIG. 1; FIG. 24 is a cross-sectional perspective view of the interchangeable surgical tool assembly of FIG. 23; FIG. 24 is a perspective view of the surgical end effector portion of the interchangeable surgical tool assembly of FIG. 23; FIG. 26 is a cross-sectional perspective view of the surgical end effector of FIG. 25. FIG. 26 is an exploded view of the surgical end effector of FIG. 25. FIG. 26 is a partial rear cross-sectional view of the surgical end effector of FIG. 25; FIG. 10 is a cross-sectional perspective view of a firing member or cutting member according to at least one embodiment. FIG. 5 is a cross-sectional view of an articulation joint according to at least one embodiment. 30 is a cross-sectional view of the surgical end effector of FIG. 25 with the firing member of FIG. 29 in a firing position; 30 is another cross-sectional view of the surgical end effector of FIG. 25 with the firing member of FIG. 29 in an end position; FIG. 26 is another cross-sectional view of a portion of the surgical end effector of FIG. 25 with the anvil assembly in an open position; FIG. 30 is another cross-sectional view of a portion of the surgical end effector of FIG. 25 with the launch member of FIG. 29 in a pre-launch position; FIG. 35 is another cross-sectional view of the portion of the surgical end effector of FIG. 34 with the firing member returned to the start position, thereby compressing the female threaded closure nut into engagement with the closure screw segment on the distal power shaft; I am united. FIG. 7 is a perspective view of a bearing spring according to at least one embodiment. FIG. 31 is an exploded view of the articulation joint of FIG. 30. FIG. 31 is a top view of the articulation joint of FIG. 30 with the surgical end effector of FIG. 25 in an unarticulated orientation. FIG. 31 is another top view of the articulation joint of FIG. 30 with the surgical end effector in a maximum articulation orientation. FIG. 32 is a perspective view of a portion of the elongate shaft assembly of FIG. 23 showing portions of the articulating joint and surgical end effector rotational locking system of FIG. 30; FIG. 5 is a partially exploded perspective view of the articulation joint and the end effector showing one configuration for facilitating the delivery of electrical signals to the end effector around the articulation joint, according to at least one embodiment. FIG. 40B is a side view of the articulation joint and end effector of FIG. 40A showing some components in cross section. FIG. 41A is a partial cross-sectional perspective view of the surgical end effector rotational locking system of FIG. 40 in an unlocked orientation; FIG. 50 is another partial cross-sectional perspective view of the surgical end effector rotational locking system of FIGS. 40 and 41 in an unlocked orientation; FIG. 45 is a top view of the surgical end effector rotational locking system of FIGS. 40-42 in a locked orientation. FIG. 45 is a top view of the surgical end effector rotational locking system of FIGS. 40-43 in an unlocked orientation.

  Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set forth herein illustrate the various embodiments of the invention in one form, and such exemplifications should be construed as limiting the scope of the invention in any manner. Absent.

The applicants of the present application own the following patent applications filed the same day as the present application, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. ____________, title of the invention "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM", Attorney Docket No. END 7821 USNP / 150 535,
-U.S. Patent Application No. ____________, title of the invention "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY", Attorney Docket No. END 7822 USNP / 150536,
-U.S. Patent Application No. ____________, entitled "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD", Attorney Docket No. END 7822 USNP 1 / 150536-1,
-U.S. Patent Application No. ____________, entitled "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION", Attorney Docket No. END 7823 USNP / 150537,
-U.S. Patent Application No. ____________, title of the invention "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUALS BAILOUT SYSTEM", Attorney Docket No. END 7824 USNP / 150538,
-U.S. Patent Application No. _____________, title of the invention "CLOSURE SYSTEM ARRANGEMENTS FOR SURGICAL CUTTING AND STAPLING DEVICES WITH SEPARATE AND DISTINCT FIRING SHAFTS", Attorney Docket No. END 7826 USNP / 150 540,
-U.S. Patent Application No. ____________, title of the invention "INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS", Attorney Docket No. END 7827 USNP / 150 541,
-U.S. Patent Application No. ____________, entitled "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION", Attorney Docket Number END 7829 USNP / 150543,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE", Attorney Docket No. END 7830 USNP / 150544,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT", Attorney Docket No. END 7831 USNP / 150545,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT", Attorney Docket No. END 7832 USNP / 150 546,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT", Attorney Docket No. END 7833 USNP / 150547,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT", Attorney Docket No. END 7834 USNP / 150548,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT", Attorney Docket No. END 7835 USNP / 150549,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT", Attorney Docket No. END 7836 USNP / 150 550,
-U.S. Patent Application No. ____________, entitled "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM", Attorney Docket No. END 7837 USNP / 150551,
-U.S. Patent Application No. ____________, title of the invention "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS", Attorney Docket No. END 7838 USNP / 150552,
-U.S. Patent Application No. ____________, title "SURGICAL STAPLING INSTRUMENT", Attorney Docket No. END 7839 USNP / 150553,
-U.S. Patent Application No. ____________, entitled "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DIFFERENT HEIGHTS", Attorney Docket No. END 7840 USNP / 150 554,
-U.S. Patent Application No. ____________, entitled "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET", Attorney Docket No. END 7841 USNP / 150555,
-U.S. Patent Application No. ____________, title of the invention "ANVIL MODIFICATION MEMBERS FOR SURGICAL STAPLERS", Attorney Docket No. END7842USNP / 150556,
-U.S. Patent Application No. ____________, entitled "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES", Attorney Docket No. END7843USNP / 150557,
-U.S. Patent Application No. ____________, title of the invention "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT", Attorney Docket No. END 7844 USNP / 150 558,
-U.S. Patent Application No. ____________, title of the invention "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM", Attorney Docket No. END 7845 USNP / 150559, and-U.S. Patent Application No. ____________, title of the invention "CIRCULAR STAPLING SYSTEM COMPRISING LOAD CONTROL Attorney Docket No. END 7845 USNP 1 / 150559-1.

The applicant of the present application also owns the US patent applications filed on December 31, 2015 and identified below, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 14 / 984,488, entitled "MECHANISMS FOR COMPENSATING FOR BATTERY PACKURE IN POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 14/984, 525, title of the invention "MECHANISMS FOR COMPENSATING FOR DRIVE TRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS", and-US Provisional Patent Application No. 14/984, 552, title of the invention "SURGICAL INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS.

The applicant of the present application also owns the US patent applications filed on February 9, 2016 and identified below, which are incorporated herein by reference in their entirety:
-US Provisional Patent Application No. 15 / 019,220, entitled "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR",
-U.S. Patent Application No. 15 / 019,228, entitled "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS",
-U.S. Patent Application No. 15 / 019,196, entitled "SURGICAL INSTRUMENT ATICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT",
-U.S. Patent Application No. 15 / 019,206, entitled "SURGICAL INSTRUMENTS WITH AN END EFFECT EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY",
-U.S. Patent Application No. 15 / 019,215, entitled "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTIFICATION ARRANGEMENTS",
-U.S. Patent Application No. 15 / 019,227, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS",
-U.S. Patent Application No. 15 / 019,235, entitled "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS",
-U.S. Patent Application No. 15 / 019,230, "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS",-U.S. Patent Application No. 15 / 019,245, "SURGICAL INSTRUMENTS WITH CLOSURE STROKE" REDUCTION ARRANGEMENTS ".

The applicant of the present application also owns the US patent applications filed on February 12, 2016 and identified below, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 15 / 043,254, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 15 / 043,259, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 15 / 043,275, title of the invention "MECHANISMS FOR COMPENSATING FOR DRIVE TRAIN FAILURE IN POWERED SURGICAL INSTRUMENTS", and-U.S. Patent Application No. 15 / 043,289, title of the invention "INTERACTIVE FEEDBACK SYSTEM FOR POWERED" SURGICAL INSTRUMENTS ".

The applicant of the present application owns the following patent applications filed on June 18, 2015, each of which is incorporated herein by reference in its entirety:
-U.S. Patent Application No. 14 / 742,925, entitled "SURGICAL END EFFECTS WITH POSITIVE JAW OPENING ARRANGEMENTS",
-U.S. Patent Application No. 14 / 742,941, entitled "SURGICAL END EFFECTS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES";
No. 14 / 742,914, entitled "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 14 / 742,900, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION SUPPORT",
-U.S. Patent Application No. 14 / 742,885, the name "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", and-U.S. Patent Application No. 14 / 742,876, the name "PUSH / PULL ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL INSTRUMENTS"".

The applicant of the present application owns the following patent applications filed on March 6, 2015, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 14 / 640,746, entitled "POWERED SURGICAL INSTRUMENT",
No. 14 / 640,795, entitled "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 CLOSURE RATE FOR MULTIPLE TISSUE TYPES", Attorney Docket No. END 7557 USNP / 140482,
No. 14 / 640,935, entitled "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION",
-US 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, entitled "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES",
-U.S. Patent Application No. 14 / 640,817, entitled "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
No. 14 / 640,844, entitled "CONTROL TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROL PROCESSING FROM HANDLE",
-US patent application Ser. No. 14 / 640,837, entitled "SMART SENSORS WITH LOCAL SIGNAL PROCESSING",
-U.S. Patent Application No. 14 / 640,765, entitled "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER",
-U.S. Patent Application No. 14 / 640,799, title of the invention "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", and-U.S. Patent Application No. 14 / 640,780, title of the invention "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING ".

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

The applicants of the present application own the following patent applications filed on December 18, 2014, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 14 / 574,478, entitled "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING",
No. 14 / 574,483, entitled "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS",
-U.S. Patent Application No. 14 / 575,139, entitled "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 14 / 575,148, entitled "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULA TABLE SURGICAL END EFFECTORS";
No. 14 / 575,130, entitled "SURGICAL INSTRUMENT WITH ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE",
-U.S. Patent Application No. 14 / 575,143, entitled "SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS",
-U.S. Patent Application No. 14 / 575,117, entitled "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS",
-U.S. Patent Application No. 14 / 575,154, entitled "SURGICAL INSTRUMENTS WITH ARTICULA TABLE END EFFECTS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS",
-U.S. Patent Application No. 14/5744, 493, "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", and-U.S. Patent Application No. 14/574, 500, "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION" SYSTEM ".

The applicant of the present application owns the following patent applications filed on March 1, 2013, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 13 / 782,295, entitled "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION", currently U.S. Patent Application Publication No. 2014/0246471,
-U.S. patent application Ser. No. 13 / 782,323, entitled "ROTARY POWERED ARTICULATIONS JOINTS FOR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2014/0246472,
-U.S. Patent Application No. 13 / 782,338, entitled "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2014/0249557,
-U.S. patent application Ser. No. 13 / 782,499, entitled "ELECTROMECHANICAL SURGICAL 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, entitled "JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2014/0246477,
-U.S. patent application Ser. No. 13 / 782,481, entitled "SENSOR STRAIGHT ENDED EFFECT EFFECTOR DURING REMOVAL THROUGH TROCAR", now U.S. Patent Application Publication No. 2014/0246479,
No. 13 / 782,518, entitled "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS", now U.S. Patent Application Publication No. 2014/0246475,
-U.S. Patent Application No. 13 / 782,375, "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM", now U.S. Patent Application Publication No. 2014/0246473, and
-U.S. Patent Application No. 13 / 782,536, entitled "SURGICAL INSTRUMENT SOFT STOP", now U.S. Patent Application Publication No. 2014/0246476.

The applicant of the present application also owns the following patent applications filed on March 14, 2013, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 13 / 803,097, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now U.S. Patent Application Publication No. 2014 / 026,354;
No. 13 / 803,193, entitled "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0263537,
-U.S. Patent Application No. 13 / 803,053, entitled "INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0263564,
-U.S. Patent Application No. 13 / 803,086, entitled "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTIFICATION LOCK", now U.S. Patent Application Publication No. 2014/0263541,
No. 13 / 803,210, entitled "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", currently U.S. Patent Application Publication No. 2014/0263538,
-U.S. Patent Application No. 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0263554,
-US patent application Ser. No. 13 / 803,066, entitled "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263565,
US patent application Ser. No. 13 / 803,117, entitled "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263553,
-U.S. patent application Ser. No. 13 / 803,130, entitled "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS", currently U.S. Patent Application Publication No. 2014/0263543, and
US patent application Ser. No. 13 / 803,159, entitled "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0277017.

The applicant of the present application also owns the following patent application filed on March 7, 2014, the entire content of which is incorporated herein by reference:
U.S. Patent Application No. 14 / 200,111, entitled "CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS", now U.S. Patent Application Publication No. 2014/0263539.

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

The applicant of the present application also owns the following patent applications filed on September 5, 2014, which are incorporated herein by reference in their respective entire contents:
-U.S. Patent Application No. 14 / 479,103, entitled "CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE", now U.S. Patent Application Publication No. 2016/0066912,
-U.S. Patent Application No. 14 / 479,119, entitled "ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION", now U.S. Patent Application Publication No. 2016/0066914,
-U.S. Patent Application No. 14 / 478,908, entitled "MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION", now U.S. Patent Application Publication No. 2016/0066910,
-U.S. Patent Application No. 14 / 478,895, entitled "MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION", now U.S. Patent Application Publication No. 2016/0066909,
No. 14 / 479,110, entitled "USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE", now U.S. Patent Application Publication No. 2016/0066915,
No. 14 / 479,098, entitled "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION", now U.S. Patent Application Publication No. 2016/0066911,
-U.S. Patent Application No. 14 / 479,115, "MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE", now U.S. Patent Application Publication No. 2016/0066916, and-U.S. Patent Application No. 14 / 479,108, Title of the invention "LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION", currently U.S. Patent Application Publication No. 2016/0066913.

The applicant of the present application also owns the following patent applications filed on April 9, 2014, which are incorporated herein by reference in their entirety:
-U.S. Patent Application No. 14 / 248,590, entitled "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now U.S. Patent Application Publication No. 2014/0305987,
-U.S. Patent Application No. 14 / 248,581, entitled "SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTA TABLE OUTPUT", now U.S. Patent Application Publication No. 2014/0305989.
-U.S. Patent Application No. 14 / 248,595, entitled "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", currently U.S. Patent Application Publication No. 2014/0305988,
-U.S. Patent Application No. 14 / 248,588, entitled "POWERED LINEAR SURGICAL STAPLER", now U.S. Patent Application Publication No. 2014/0309666,
-U.S. Patent Application No. 14 / 248,591, entitled "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. 2014/0305991,
-U.S. Patent Application No. 14 / 248,584, entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS", currently U.S. Patent Application Publication No. 2014/0305994,
No. 14 / 248,587, entitled POWERED SURGICAL STAPLER, now U.S. Patent Application Publication No. 2014/0309665,
-U.S. Patent Application No. 14 / 248,586, entitled "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now U.S. Patent Application Publication No. The present application entitled "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", currently U.S. Patent Application Publication No. 2014/0305992.

The applicant of the present application also owns the following patent applications filed on April 16, 2013, which are incorporated herein by reference in their entirety:
US Provisional Patent Application No. 61 / 812,365, entitled "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR",
-US Provisional Patent Application No. 61 / 812,376, entitled "LINEAR CUTTER WITH POWER",
-US Provisional Patent Application No. 61 / 812,382, entitled "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP",
-U.S. Provisional Patent Application No. 61 / 812,385, "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL", and-U.S. Provisional Patent Application No. 61 / 812,372, "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. It is understood by the reader 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 to get. Variations and modifications thereto can be made without departing from the scope of the claims.

  The terms "comprise" (any form of comprise, such as "comprises" and "comprises"), "have" (any term of have, such as "has" and "having"), "include (including "include" (any form of include such as "includes" and "including") and "contain" (any form of contain such as "contains" and "containing") It is a verb. As a result, a surgical system, device, or apparatus that “includes”, “haves”, “includes” or “contains” one or more elements may be one or more of them. Although having elements, it is not limited to having only one or more elements. Similarly, an element of a system, device, or apparatus that "includes", "has", "includes", or "contains" one or more features, one or more of them. However, the present invention is not limited to having only one or two or more features.

  The terms "proximal" and "distal" are used herein as a reference to the clinician operating the handle portion of the surgical instrument. The term "proximal" refers to the part closest to the clinician and the term "distal" refers to the part at a distance from the clinician. It will be further understood that, for convenience and clarity, spatial terms such as "vertical", "horizontal", "above", and "below" may be used herein for the drawings. I will. 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, it is readily understood by the reader 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 "Forms for Carrying Out the Invention" herein, the reader can use the various instruments disclosed herein to create an incision or puncture in the tissue, eg, through a natural opening. 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 portion of these instruments can be inserted directly into the patient's body or through the access device with working channels that allow the surgical tool end effector and the elongate shaft to be advanced It can also be done.

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

  The staple cartridge comprises 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 a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp tissue against the deck. The staples removably stored in the cartridge body can then be deployed in the tissue. The cartridge body includes a staple cavity defined therein, wherein the staples are removably stored within the staple cavity. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are located on the first side of the longitudinal slot and three rows of staple cavities are located on the second side of the longitudinal slot. Other arrangements of staple cavities and staples may also be possible.

  The 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 firing position which ejects the staples from the staple cavity. The driver is retained within the cartridge body by a retainer extending around the bottom of the cartridge body, and includes an elastic member configured to grip the cartridge body and retain the retainer relative to the cartridge body. . The driver is movable by the sled between its unfired position and its fired position. The thread is movable between a proximal position adjacent to the proximal end and a distal position adjacent to the distal end. The sled includes a plurality of ramps configured to slide under the driver and lift the driver, with the staples supported thereon and facing 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 towards the distal end. A longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam engaged to the first jaw and a second cam engaged to the second jaw. When advancing the firing member distally, the first and second cams can control the distance between the deck of the staple cartridge and the anvil, ie, the tissue clearance. The firing member also comprises a knife configured to cut tissue captured intermediate the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the bevel so that the staples are ejected forward of the knife.

Handle Assembly FIG. 1 illustrates a motorized surgical system 10 that may be used to perform a variety of different surgical procedures. In the illustrated embodiment, the motorized surgical system 10 includes a selectively reconfigurable housing or handle assembly 20 attached to one form of a replaceable surgical tool assembly 1000. For example, the system 10 shown in FIG. 1 includes a replaceable surgical tool assembly 1000 with a surgical cutting and fastening instrument that may be referred to as an endcutter. As discussed in further detail below, the replaceable surgical tool assembly includes end effectors adapted to support various sizes and types of staple cartridges, such as various shaft lengths, sizes, and types, etc. It can have Such an arrangement may, for example, clamp tissue using any suitable fastener. 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 surgical tool assembly. Other surgical tool assemblies may also be used interchangeably with the handle assembly 20. For example, replaceable surgical tool assembly 1000 may be removed from handle assembly 20 and replaced with a different surgical tool assembly configured to perform other surgical procedures. In other configurations, the surgical tool assembly may, for example, not be interchangeable with other surgical tool assemblies, and essentially comprises a dedicated shaft that is nonremovably secured or coupled to the handle assembly 20. The surgical tool assembly may also be referred to as an elongated shaft assembly. The surgical tool assembly may be reusable, or in other configurations, the surgical tool assembly may be designed to be disposed of after a single use.

  As we progress through the detailed description of the present invention, the various forms of interchangeable surgical tool assemblies disclosed herein can also be effectively used in conjunction with a robotically controlled surgical system. It will be understood. Thus, the terms "housing" and "housing assembly" may also be used to generate and apply at least one control motion that may be used to actuate the elongated shaft assemblies disclosed herein and their respective equivalents. And 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 refer to a portion of a robotically controlled surgical instrument and / or a portion of a robotic system that may be used to operatively control a surgical instrument. For example, the surgical tool assembly disclosed herein is disclosed in US patent application Ser. No. 13 / 118,241 entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, the contents of which are incorporated herein by reference in its entirety. ", May be used with, but not limited to, various robotic systems, instruments, components, and methods as disclosed in the current U.S. Patent Application Publication No. 2012/0298719.

  Referring now to FIGS. 1 and 2, the housing assembly or handle assembly 20 includes a primary housing portion 30 which may be formed from a pair of housing segments 40, 70, which housing segments are plastic, polymeric material , Made of metal, etc. and can be joined together by suitable fastener arrangements, such as, for example, adhesives, screws, press-fit mechanisms, snap-fit mechanisms, latches and the like. As discussed further below, primary housing portion 30 is configured to generate and apply various control motions to corresponding portions of the replaceable surgical tool assembly operably attached to the drive system. The drive system of the vehicle is operatively supported. The handle assembly 20 further comprises a grip portion 100 which is movably coupled to the primary housing portion 30 and is gripped and manipulated relative to the primary housing portion 30 at various locations by the clinician. Is configured as. The grip portion 100 may be made of a pair of grip segments 110, 120, which may be made of plastic, polymeric material, metal or the like, and for assembly and maintenance purposes, for example, adhesives, screws, press-fit mechanisms , Snap-fit mechanisms, latches, etc. are joined together by appropriate fastening arrangements.

  As can be seen in FIG. 2, the grip portion 100 comprises a grip housing 130, which is configured to operably support the drive motor and gearbox as discussed in more detail below. It is defined. The upper portion 134 of the grip housing 130 extends through an opening 80 in the primary housing portion 30 and is configured to be pivotally supported on a pivot shaft 180. The pivot shaft 180 defines a pivot axis marked as "PA". See FIG. For reference, the handle assembly 20 defines a handle axis, shown as "HA", which is at the shaft axis "SA" of the elongated shaft assembly of the interchangeable surgical tool that is operably attached to the handle assembly 20. It may be parallel to each other. The pivot axis PA is transverse to the handle axis HA. See FIG. With such an arrangement, the grip portion 100 is pivoted relative to the primary housing portion 30 about the pivot axis PA to a position that is best for a replaceable surgical tool type of the type coupled to the handle assembly 20. It becomes possible. Grip housing 130 defines a grip axis generally designated as "GA". See FIG. When the replaceable surgical tool assembly coupled to the handle assembly 20 includes, for example, an endcutter, the clinician is aware that the grip axis GA is perpendicular or nearly perpendicular (angle "H1") to the handle axis HA As such (referred to herein as the "first grip position"), it may be desirable to position the grip portion 100 relative to the primary housing portion 30. See FIG. However, if the handle assembly 20 is used to control, for example, a replaceable surgical tool assembly that includes a circular stapler, the clinician may use the grip axis GA at 45 degrees or about 45 degrees to the handle axis HA. It may be desirable to pivot the grip portion 100 relative to the primary housing portion 30 to a position that makes an angle or other suitable acute angle (angle "H2"). This position is referred to herein as the "second grip position". FIG. 5 shows in phantom the grip portion 100 in the second grip position.

  Referring now to FIGS. 3-5, the handle assembly 20 also includes a grip locking system, shown generally as 150, which is desired for the grip portion 100 relative to the primary housing portion 30. To selectively lock in the orientation of In one configuration, the grip locking system 150 includes an arcuate row 152 of sharp teeth 154. The teeth 154 are spaced from one another and form a locking groove 156 therebetween. Each locking groove 156 corresponds to a locking position at a particular angle relative to the grip portion 100. For example, in at least one configuration, the teeth 154 and the locking groove or "locking position" 156 are locked at intervals of 10 degrees to 15 degrees between the first grip position and the second grip position of the grip portion 100. To be able to This configuration may use two stop positions that are adjusted to the type of instrument (shaft configuration) used. For example, in the case of an end-cutter shaft configuration, it may be about 90 degrees to the shaft, and in the case of a circular stapler configuration, the angle to the shaft while it is swept forward towards the surgeon It may be about 45 degrees. The grip locking system 150 further includes a locking button 160 which has a locking portion configured to lockingly engage the locking groove 156. For example, the locking button 160 is pivotally mounted on the pivot pin 131 in the primary handle portion 30 such that the locking button 160 can pivot into engagement with the corresponding locking groove 156. The locking spring 164 acts to bias the locking button 160 into an engaged or locked position with the corresponding locking groove 156. The locking portion and tooth configuration work to allow the teeth 154 to slide past the locking portion when the clinician presses the locking button 160. In this way, to adjust the angular position of the grip portion 100 relative to the primary housing portion 30, the clinician depresses the locking button 160 and then pivots the grip portion 100 to the desired angular position. Once the grip portion 100 is moved to the desired position, the clinician releases the locking button 160. The locking spring 164 then biases the locking button 160 towards the row of teeth 154 such that in use the locking portion enters the corresponding locking groove 156 and holds the grip portion 100 in that position.

Drive System The handle assembly 20 operably supports the first rotational drive system 300, the second rotational drive system 320, and the third axial drive system 400. The rotary drive systems 300, 320 are each powered by a motor 200 operatively supported within the grip portion 100. As seen in FIG. 2, for example, the motor 200 includes a gearbox assembly 202 supported within the cavity 132 of the grip portion 100 and having an output drive shaft 204 projecting therefrom. In various embodiments, motor 200 may be a brushed DC drive motor, for example, having a maximum number of revolutions of about 25,000 RPM. In other configurations, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 200 may be powered by a power supply 210, which in one form may include a removable power pack 212. Power supply 210 is disclosed in further detail in, for example, US Patent Application Publication No. 2015/0272575, entitled "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", the entire disclosure of which is incorporated herein by reference. Any of a variety of power supply configurations may be provided. In the illustrated configuration, for example, power pack 212 may include a proximal housing portion 214 configured for attachment to distal housing portion 216. The proximal housing portion 214 and the distal housing portion 216 are configured to operably support the plurality of cells 218 therein. The cells 218 may each include, for example, lithium ion ("LI") or other suitable cells. Distal housing portion 216 is configured to be removably and operably attached to handle circuit board assembly 220, which is also operably coupled to motor 200. The handle circuit board assembly 220 may also be generally referred to as a "control system or CPU 224". A number of batteries 218 may be directly connected and may be used as a power source for the handle assembly 20. In addition, power supply 210 may be replaceable and / or rechargeable. In other embodiments, the surgical instrument 10 may be powered by, for example, alternating current (AC). Motor 200 may be controlled by a rocker switch 206 mounted to grip portion 100.

  As outlined above, motor 200 is operatively coupled to a gearbox assembly 202 that includes an output drive shaft 204. A drive bevel gear 230 is attached to the output drive shaft 204. The motor 200, gearbox assembly 202, output drive shaft 204 and drive bevel gear 230 may also be collectively referred to herein as "motor assembly 231". The drive bevel gear 230 interfaces with a driven bevel gear 234 attached to the system drive shaft 232 as well as a pivoting bevel gear 238 which is pivotally supported on the pivot shaft 180. The driven bevel gear 234 is in an engaged position where the driven bevel gear 234 engages with the drive bevel gear 230 (FIG. 5) and an engaged position where the driven bevel gear 234 disengages from the driven engagement with the drive bevel gear 230 (FIG. 14) And axially movable on a system drive shaft 232 between the two. A drive system spring 235 is pivotally supported between drive bevel gear 234 and a proximal end flange 236 formed on a proximal portion of system drive shaft 232. See FIGS. 4 and 14. Drive system spring 235 acts to bias driven bevel gear 234 out of meshing engagement with drive bevel gear 230, as discussed in further detail below. The pivoting bevel gear 238 facilitates the pivotal movement of the output drive shaft 204 and the driving bevel gear 230 with the grip portion 100 relative to the primary handle portion 30.

  In the illustrated example, system drive shaft 232 interfaces with a rotary drive selector system, shown generally as 240. In at least one form, for example, rotary drive selector system 240 includes a shifter gear 250 that is selectively moveable between first rotary drive system 300 and second rotary drive system 320. As seen in FIGS. 6-9, for example, the drive selector system 240 includes a shifter mounting plate 242 that is immovably mounted within the primary handle portion 30. As shown in FIG. For example, the shifter mounting plate 242 may be frictionally held between mounting lugs (not shown) formed on the housing segments 40, 70, or alternatively, by means of screws, adhesives etc. It may be held in. Still referring to FIGS. 6-9, system drive shaft 232 extends through a hole in shifter mounting plate 242 and has a central or system drive gear 237 non-rotatably attached to system drive shaft 232. There is. For example, central drive gear 237 may be attached to system drive shaft 232 by keyway arrangement 233. See Figures 6-9. In other configurations, system drive shaft 232 may be rotatably supported in shifter mounting plate 242 by a corresponding bearing (not shown) mounted thereto. In any event, rotation of system drive shaft 232 results in rotation of central drive gear 234.

  As seen in FIG. 3, the first drive system 300 includes a first drive socket 302 rotatably supported within a distal wall 32 formed in the primary handle portion 30. The first drive socket 302 may comprise a first body portion 304 having a slotted socket formed therein. A first driven gear 306 is formed on the first body portion 304 or is immovably attached to the first body portion 304. The first body portion 304 may be rotatably supported in corresponding holes or passageways provided in the distal wall 32 or, alternatively, may be provided with corresponding bearings mounted on the distal wall 32 (not shown) ) May be rotatably supported. Similarly, the second rotational drive system 320 includes a second drive socket 322 also rotatably supported within the distal wall 32 of the primary handle portion 30. The second drive socket 322 may comprise a second body portion 324 having a slotted socket formed therein. A second driven gear 326 is formed on the second body portion 324 or is non-rotatably mounted to the second body portion 324. The second body portion 324 may be rotatably supported in corresponding holes or passageways provided in the distal wall 32 or, alternatively, corresponding bearings mounted on the distal wall 32 (not shown) ) May be rotatably supported. The first drive socket 302 and the second drive 322 are spaced apart from one another at each outer side of the handle axis HA. See, for example, FIG.

  As indicated above, in the illustrated example, rotary drive selector system 240 includes shifter gear 250. As can be seen in FIGS. 6-9, shifter gear 250 is rotatably mounted on idler shaft 252 which is movably supported within arcuate slot 244 of shifter mounting plate 242. Shifter gear 250 is mounted for free rotation on idler shaft 252 and is still in meshing engagement with central drive gear 234. The idler shaft 252 is coupled to the end of the shaft 262 of the shifter solenoid 260. Shifter solenoid 260 is pinned or otherwise mounted to primary handle housing 30, and when shifter solenoid 260 is actuated, shifter gear 250 is moved to move first driven gear 306 or the second driven gear 306. It is in meshing engagement with one of the gears 326. For example, in one configuration, when the solenoid shaft 262 is retracted (FIGS. 6 and 7), the shifter gear 250 meshes with the central drive gear 234 and the first driven gear 306, such that the motor 200 operates As a result, rotation of the first drive socket 302 will occur. As can be seen in FIGS. 6 and 7, shifter spring 266 may be used to bias shifter gear 250 to its first operating position. Thus, if power to the surgical instrument 10 is lost, the shifter spring 266 will automatically bias the shifter gear 250 to the first position. When the shifter gear 250 is in that position, subsequent actuation of the motor 200 results in rotation of the first drive socket 302 of the first rotational drive system 300. When the shifter solenoid is actuated, the shifter gear 250 is moved into meshing engagement with the second driven gear 326 on the second drive socket 322. Thereafter, actuation of the motor 200 results in actuation or rotation of the second drive socket 322 of the second rotational drive system 320.

Bailout System As discussed in further detail below, the first rotary drive system 300 and the second rotary drive system 320 power the various component parts of the replaceable surgical tool assembly coupled thereto. Can be used to As indicated above, in at least one configuration, shifter spring 266 biases shifter gear 250 to the first position if power to the motor is lost during operation of the replaceable surgical tool assembly. It will be. The rotational drive motion to the first drive system 300 to allow the replaceable surgical tool assembly to be removed from the patient depending on which component portion of the replaceable surgical tool assembly has been operated. It may be necessary to reverse the application of. The handle assembly 20 of the illustrated example uses a manually actuatable "bail out" system, shown generally as 330, which may, for example, be the first rotational drive system 300 in the scenario described above. To manually add rotational drive motion.

  Referring now to FIGS. 3, 10 and 11, the bailout system 330 shown includes a bailout drive train 332 that includes a planetary gear assembly 334. In at least one form, the planetary gear assembly 334 includes a planetary gear housing 336 housing a planetary gear assembly (not shown) that includes the planetary bevel gear 338. Planetary gear assembly 334 includes a bail out drive shaft 340 operatively coupled to a planetary gear assembly within planetary gear housing 336. The rotation of the planetary bevel gear 338 rotates the planetary gear system, which ultimately rotates the bailout drive shaft 340. Bail-out drive gear 342 is pivotally supported on bail-out drive shaft 340 such that bail-out drive gear 342 can move axially on bail-out drive shaft 340 and still rotate with the bail-out drive shaft . Bail out drive gear 342 is movable between a spring stop flange 344 formed on bail out drive shaft 340 and a shaft end stop 346 formed on the distal end of bail out drive shaft 340 . Bail out shaft spring 348 is pivotally supported on bail out drive shaft 340 between bail out drive gear 342 and spring stop flange 344. Bail out shaft spring 348 biases bail out drive gear 342 distally on bail out drive shaft 340. When the bailout drive gear 342 is at its most distal position on the bailout drive shaft 340, it engages with the bailout driven gear 350 non-rotatably mounted to the system drive shaft 232. See FIG.

  Referring now to FIGS. 12 and 13, the bailout system 330 includes a bailout actuator assembly or bailout handle assembly 360 that facilitates manually applying a bailout drive motion to the bailout drive train 332. There is. As seen in these figures, the bail out handle assembly 360 includes a bail out bevel gear assembly 362 that includes a bail out bevel gear 364 and a ratchet gear 366. The bail out handle assembly 360 further includes a bail out handle 370 movably coupled to the bail out bevel gear assembly 362 by a pivoting yoke 372 pivotally mounted on a ratchet gear 366. Bail out handle 370 is pivotally coupled to pivot yoke 372 by pin 374 for selective pivotal movement between storage position "SP" and actuation position "AP". See FIG. A handle spring 376 is used to bias the bail out handle 370 to the actuated position AP. In at least one configuration, the angle between the axis SP representing the storage position and the axis AP representing the actuation position may be, for example, about 30 degrees. See FIG. As seen in FIG. 13, the bail out handle assembly 360 further includes a ratchet pawl 378 rotatably mounted within the cavity or hole 377 of the pivoting yoke 372. The ratchet pawl 378 is configured to be in meshing engagement with the ratchet gear 366 when rotated in the actuating direction "AD" and to rotate out of meshing engagement when rotated in the opposite direction. There is. A ratchet spring 384 and a ball member 386 are movably supported within the cavity 379 of the pivoting yoke 372 and in locking engagement with the detents 380, 382 of the ratchet pawl 378 when the bail out handle 370 is actuated (ratcheting) work.

  Referring now to FIGS. 3 and 10, the bailout system 330 further includes a bailout access panel 390 operable between an open position and a closed position. In the illustrated configuration, the bail-out access panel 390 is configured to be removably coupled to the housing segment 70 of the primary housing portion 30. Thus, at least in this embodiment, when the bail-out access panel 390 is being removed or removed from the primary housing portion 30, it is said to be in the "open" position and the bail-out access panel 390 is as shown. When attached to the primary housing portion 30, it is said to be in the "closed" position. However, other embodiments are contemplated where the access panel is movably coupled to the primary housing portion so as to remain attached to the primary housing portion even when the access panel is in the open position. For example, in such an embodiment, the access panel may be pivotally attached to the primary housing portion, or may be slidably attached to the primary housing portion, and operated between open and closed positions. It may be possible. In the illustrated example, the bailout access panel 390 is configured to snap into engagement with corresponding portions of the housing segment 70 to releasably hold the bailout access panel in the "closed" position. . Other forms of mechanical fasteners, such as screws, pins, etc. may also be used.

  Regardless of whether the bail-out access panel 390 is removable from the primary housing portion 30 or remains movably attached to the primary housing portion 30, the bail-out access panels 390 each have a bail-out access It includes a drive system locking member or yoke 392 and a bail out locking member or yoke 396 projecting from the back of the panel or otherwise formed on the bail out access panel. The drive system locking yoke 392 includes a drive shaft notch 394 which has the bail out access panel 390 introduced into the primary housing portion 30 (ie, the bail out access panel in the "closed" position) And when configured, is configured to receive a portion of the system drive shaft 232 therein. When the bailout access panel 390 is positioned or introduced in the closed position, the drive system locking yoke 392 biases the driven bevel gear 234 (against the bias of the drive system spring 235) into meshing engagement with the drive bevel gear 230. Work to engage. In addition, the bailout locking yoke 396 includes a bailout drive shaft notch 397 that is coupled to the bailout drive shaft 340 when the bailout access panel 390 is introduced or positioned in the closed position. It is configured to receive a portion of As seen in FIGS. 5 and 10, the bail out locking yoke 396 also biases the bail out drive gear 342 (against the bias of the bail out shaft spring 348) into meshing engagement with the bail out drive gear 350. Work out of engagement. Thus, the bailout locking yoke 396 prevents the bailout drive gear 342 from interfering with the rotation of the system drive shaft 232 when the bailout access panel 390 is in the closed position or in the closed position. In addition, the bail out locking yoke 396 includes a handle notch 398 which engages the bail out handle 370 and holds the bail out handle in the stored position SP.

  FIGS. 4, 5 and 10 illustrate the configuration of drive system components and bailout system components when the bailout access panel 390 is installed or in the closed position. As can be seen in these figures, drive system locking member 392 biases driven bevel gear 234 into meshing engagement with drive bevel gear 230. Thus, when the bail-out access panel 390 is introduced or in the closed position, actuation of the motor 200 results in rotating the drive bevel gear 230 and ultimately the system drive shaft 232. Also, when in this position, the bail out locking yoke 396 acts to bias the bail out drive gear 342 out of meshing engagement with the bail out driven gear 350 on the system drive shaft 232. Thus, when the bailout access panel 390 is installed or in the closed position, the drive system can be actuated by the motor 200 and the bailout system 330 can be uncoupled or operate motion on the system drive shaft 232 It is prevented from adding. To activate the bailout system 330, the clinician first removes the bailout access panel 390 or otherwise moves the bailout access panel 390 to the open position. This procedure disengages the drive system locking member 392 from engagement with the driven bevel gear 234, thereby allowing the drive system spring 235 to bias the driven bevel gear 234 out of meshing engagement with the drive bevel gear 230. It becomes. In addition, removing the bail out access panel 390 or moving the bail out access panel to the open position also results in disengaging the bail out locking yoke 396 from the bail out drive gear 342, Thereby, the bail out shaft spring 348 can bias the bail out drive gear 342 into meshing engagement with the bail out driven gear 350 on the system drive shaft 232. Thus, rotation of bail out drive gear 342 results in rotation of bail out driven gear 350 and system drive shaft 232. The handle spring 376 also moves the bailout handle 370 to the actuated position shown in FIGS. 11 and 14 by removing the bailout access panel 390 or otherwise moving the bailout access panel 390 to the open position. It becomes possible to energize. When in this position, the clinician can manually ratchet the bail out handle 370 in the ratcheting direction RD so that the ratchet bevel gear 364 is rotated (eg, in the clockwise direction of FIG. 14). As a result, the backward rotational motion is eventually applied to the system drive shaft 232 through the bailout drive train 332. The clinician may perform the bail-out handle 370 multiple times, until the system drive shaft 232 has been fully rotated multiple times to retract components of the surgical end effector portion of the surgical tool assembly attached to the handle assembly 20. It can be ratcheted. When the bailout system 330 is fully actuated manually, the clinician then replaces the bailout access panel 390 (ie returns the bailout access panel 390 to the closed position), thereby causing the drive system locking member 392 biases the driven bevel gear 234 into meshing engagement with the drive bevel gear 230 and the bail out locking yoke 396 biases the bail out drive gear 342 out of meshing engagement with the bail out driven gear 350 Can cause As discussed above, when power is lost or shut off, shifter spring 266 will bias shifter solenoid 260 to the first actuated position. Thus, actuation of the bailout system 330 results in the application of reverse or reverse motion to the first rotational drive system 300.

  As discussed above, the surgical stapling instrument may include, for example, a manually actuated bailout system configured to retract the staple firing device. In many cases, the bailout system may need to be operated and / or cranked multiple times to fully retract the staple firing device. In such cases, the user of the stapling instrument may forget the number of cranked bailouts and / or be confused as to how much further the firing drive needs to be retracted. is there. A stapling instrument detects the position of the firing member of the firing drive, determines the distance the firing member needs to be retracted, and variously comprises a system configured to display the distance to the user of the surgical instrument Embodiments are contemplated.

  In at least one embodiment, the surgical stapling instrument comprises one or more sensors configured to detect the position of the firing member. In at least one case, the sensor comprises, for example, a Hall effect sensor, and may be disposed within the shaft of the stapling instrument and / or the end effector. The sensor is in signal communication with a controller of the surgical stapling instrument, and the surgical stapling instrument is in signal communication with a display on the surgical stapling instrument. The controller compares the actual position of the launch member with the data or reference position (including the fully retracted position of the launch member) and determines the distance between the actual position of the launch member and the reference position, ie the remaining distance. Includes a microprocessor configured to calculate.

  In addition to the above, the display includes, for example, an electronic display, and the controller is configured to display the remaining distance on the electronic display in any suitable manner. In at least one case, the controller displays a progress bar on the display. In such cases, for example, an empty progress bar may represent that the firing member is at the end of its firing stroke, and a full progress bar indicates that the firing member has been completely retracted. It can be expressed. In at least one case, for example, 0% may represent that the firing member is at the end of its firing stroke, and 100% may represent that the firing member is fully retracted. It is. In a particular case, the controller is configured to display on the display the number of actuations of the bailout mechanism required to retract the firing member to its fully retracted position.

  In addition to the above, actuation of the bailout mechanism can operably disconnect the battery or power source of the surgical stapling instrument from the electric drive motor of the firing drive. In at least one embodiment, actuation of the bailout mechanism reverses the switch, thereby electrically isolating the battery from the electric motor. Such systems prevent the electric motor from impeding manual retraction of the launch member.

  The illustrated handle assembly 20 also supports a third axial drive system, shown generally as 400. As can be seen in FIGS. 3 and 4, the third axial drive system 400 includes, in at least one form, a solenoid 402 having a third drive actuator member or rod 410 projecting therefrom. A third drive cradle or socket 414 is formed at the distal end 412 of the third drive actuator member 410, which is a drive system component of the operatively mounted replaceable surgical tool assembly. To receive the corresponding part of. The solenoid 402 is wired to or otherwise in communication with the handle circuit board assembly 220 and the control system or CPU 224. In at least one configuration, the solenoid 402 is "spring-loaded" so that when the solenoid 402 is not actuated, its spring component biases the third drive actuator 410 back to the inactive start position. Do.

  As indicated above, the reconfigurable handle assembly 20 can advantageously be used to actuate a variety of interchangeable surgical tool assemblies. To that end, the handle assembly 20 includes a tool mounting portion, shown generally as 500, for operably coupling the replaceable surgical tool assembly to the handle assembly. In the illustrated example, the tool mounting portion 500 includes two inward facing dovetail receiving slots 502 that mate with corresponding ones of the tool mounting module portions of the replaceable surgical tool assembly. It is configured to match. Each dovetail receiving slot 502 may be tapered or, in other words, somewhat V-shaped. Dovetail receiving slot 502 is configured to releasably receive a corresponding tapered attachment or lug portion formed on a portion of the tool attachment nozzle portion of the replaceable surgical tool assembly. Each interchangeable surgical tool assembly may also be equipped with a latching system configured to releasably engage with a corresponding retaining pocket 504 formed in the tool mounting portion 500 of the handle assembly 20.

  A "primary" rotary drive system, as well as a second rotary drive system 320, configured to have various replaceable surgical tool assemblies operatively coupled to or interface with the first rotary drive system 310. It may have a "secondary" rotational drive system operatively coupled to or configured to interface therewith. The primary and secondary rotational drive systems may be configured to provide various rotational motions to portions of the particular type of surgical end effector that include portions of the replaceable surgical tool assembly. To facilitate coupling the primary rotational drive system to the first rotational drive system and the secondary drive system to the second rotational drive system 320, the tool mounting portion 500 of the handle assembly 20 is also And operably coupling the primary rotational drive system to the first rotational drive system 300 on the handle assembly 20 and the secondary rotational drive system to the second rotational drive system 320 on the handle assembly 20. Including a pair of insertion ramps 506 configured to distally bias portions of the primary and secondary rotational drive systems of the interchangeable surgical tool assembly during the coupling process to facilitate There is.

  The replaceable surgical tool assembly may also include a "tertiary" axial drive system for applying axial motion to corresponding portions of the surgical end effector of the replaceable surgical tool assembly. To facilitate operatively coupling the tertiary axial drive system to the third axial drive system 400 on the handle assembly 20, the third drive actuator member 410 can be configured as a lug or a third axial drive system. A socket 414 is provided that is configured to operatively receive the other portion therein.

Replaceable Surgical Tool Assembly FIG. 15 illustrates the use of a replaceable surgical tool assembly 1000 that may be used with the handle assembly 20. As seen in this figure, for example, the interchangeable surgical tool assembly 1000 includes a tool attachment module 1010 configured to be operably and removably attached to the tool attachment portion 500 of the handle assembly 20. The tool mounting module 1010 in the illustrated configuration includes a nozzle frame 1020. In the illustrated configuration, the replaceable surgical tool assembly 1000 includes a primary rotational drive system 1100 and a secondary rotational drive system 1200. As discussed in further detail below, the primary rotational drive system 1100 operatively interfaces with the first rotational drive system 300 on the handle assembly 20 and provides rotational ejection motion to the surgical end effector 1500 attached thereto. Is configured to add. The secondary rotational drive system 1200 operatively interfaces with a second rotational drive system 320 on the handle assembly 20 and is configured to apply articulation control motion to the articulation system 1700. Articulation system 1700 couples surgical end effector 1500 to an elongate shaft assembly 1400 coupled to nozzle frame 1020. The replaceable surgical tool assembly 1000 further includes a tertiary drive system 1300 configured to operably interface with a third axial drive system 400 in the handle assembly 20. The tertiary axial drive system 1300 of the surgical tool assembly comprises a tertiary actuation shaft 1302 formed with a shaft mounting lug 1306 on its proximal end 1304. As discussed in further detail below, when the replaceable surgical tool assembly 1000 is coupled to the handle assembly 20, the shaft mounting lug 1306 mounts the shaft on the distal end 412 of the third drive actuator member 410. It is received in socket 414.

  Still referring to FIG. 15, it will be appreciated by the reader that the tool mounting portion 500 of the handle assembly 20 includes two inward facing dovetail receiving slots 502. Each dovetail receiving slot 502 may be tapered or, in other words, somewhat V-shaped. Dovetail receiving slot 502 is configured to releasably receive a corresponding tapered attachment portion or lug portion 1022 formed on nozzle frame 1020. Referring now to FIG. 18, in at least one form, the tool mounting module 1010 is removably latched to the tool mounting portion 500 of the handle assembly 20 by a latching system generally designated 1030. In the illustrated embodiment, the latching system 1030 includes a lock yoke 1032, which is a pair of inwardly extending pivot pins received within corresponding pivot holes (not shown) of the nozzle frame 1020. 1034 (only one is shown in FIG. 18). Such an arrangement acts to pivotally or movably couple the lock yoke 1032 to the nozzle frame 1020. The locking yoke 1032 further includes a pair of retention lugs or hook formations 1036 (only one of which can be seen in FIG. 18), which retention lugs or hook formations are formed on the tool mounting portion 500 of the handle assembly 20 It is configured to be received in the form of a hook or otherwise in the corresponding holding pocket 504. The lock yoke 1032 can be pivoted out of the holding engagement by applying an unlocking motion to the release button 1038 attached to the lock yoke 1032 (indicated by arrow 1041 in FIGS. 18, 20 and 21). The lock yoke spring 1040 is received on a spring lug 1039 formed on the lock yoke 1032 and a spring mounting lug 1021 formed on the nozzle frame 1020. The lock yoke spring 1040 acts to bias the lock yoke 1032 to the locked position.

  The illustrated latching system 1030 further comprises a shaft coupler release assembly 1031, which couples the primary rotational drive system 1100 to the first rotational drive system 300 and further the secondary rotational drive system 1200. To releasably engage the second rotational drive system 320 on the handle assembly 20. Referring now to FIGS. 18 and 19, the primary rotational drive system 1100 is configured to be axially received within the first drive socket 302 of the first rotational drive system 300. Contains. The primary drive key 1102 is slidably received on a primary transfer shaft 1104 rotatably supported by a bulkhead 1023 formed on the nozzle frame 1020. The primary drive key 1102 also extends movably through holes 1025 of another bulkhead 1024 formed in the nozzle frame 1020. See FIG. The primary transfer shaft 1104 is splined so that the primary drive key 1102 is free to move axially on the primary transfer shaft 1104 but does not rotate relative to the primary transfer shaft, so that the primary drive key 1102 The rotation results in the rotation of the primary transfer shaft 1104. As further seen in FIG. 18, the primary drive key 1102 includes a mounting flange 1106 that is received within the cavity 1044 of the coupler release tab 1042. Thus, the primary drive key 1102 and the coupler release tab 1042 move as one. A primary transfer spring 1108 is journalled on the primary transfer shaft 1104 and extends between the bulkhead 1023 and the coupler release tab 1042 to drive the coupler release tab 1042 and primary drive in the proximal direction “PD” on the primary transfer shaft 1104 The key 1102 is energized.

  Still referring to FIGS. 18 and 19, the secondary rotational drive system 1200 is configured to be axially received within the second drive socket 322 of the second rotational drive system 320. 1202 is included. The secondary drive key 1202 is slidably received on a secondary transfer shaft 1204 rotatably supported by the bulkhead 1023. The secondary drive key 1202 also extends movably through the hole 1026 of the bulkhead 1024. The secondary transfer shaft 1204 is splined so that the secondary drive key 1202 is free to axially move on the secondary transfer shaft 1204, but not to the secondary transfer shaft, so that The rotation of the next drive key 1202 results in the rotation of the secondary transfer shaft 1204. The secondary drive key 1202 includes a mounting flange (not shown) that is received within the cavity (not shown) of the coupler release tab 1042. Therefore, the secondary drive key 1202 and the coupler release tab 1042 move as one. A secondary transfer spring 1208 is journalled on the secondary transfer shaft 1204 and extends between the bulkhead 1023 and the coupler release tab 1042 to couple the coupler release tab 1042 and two in the proximal direction PD on the secondary transfer shaft 1204. The next drive key 1202 is energized. As can be seen in FIG. 18, the coupler release tab 1042 is formed with two upstanding actuator portions 1046, which are formed on the lock yoke 1032 and extend inward extending coupler release tabs 1048. It corresponds to

  The operation of the latching system 1030 may be understood by referring to FIGS. FIG. 20 shows the beginning of the bonding process, wherein the replaceable surgical tool assembly 1000 has been moved relative to the handle assembly 20 in the introduce direction “ID”. To begin the introduction process, the clinician aligns the tapered mounting lugs 1022 on the nozzle frame 1020 with the corresponding dovetail slots 502 on the tool mounting portion 500 of the handle assembly 20 and inserts against the handle assembly 20 Move the interchangeable surgical tool assembly 1000 to the direction ID. Inserting and moving the tapered mounting lugs 1022 into the corresponding dovetail slots 502 can couple the shaft mounting lugs 1306 on the tertiary actuation shaft 1302 with the shaft mounting sockets 414 on the distal end 412 of the third drive actuator member 410. Work to align. Similarly, primary drive key 1102 and secondary drive key 1202 are each aligned to contact a corresponding insert ramp 506 formed on tool mounting portion 500 of handle assembly 20.

  FIG. 21 shows the contact of the primary drive key 1102 with the corresponding insertion lamp 506, whereby it is understood that the secondary drive key 1202 is in the same position as the corresponding insertion lamp 506. As seen in this figure, the primary drive key 1102 is in contact with the insertion ramp 506 and the insertion ramp 506 is the primary transfer shaft 1104 as the interchangeable surgical tool assembly 1000 advances continuously in the insertion direction ID. The primary drive key 1102 will be biased in the distal direction DD up. The secondary drive key 1202 also moves in the distal direction DD on the secondary transfer shaft 1204. This movement can be further achieved by pressing the release button 1038 in the direction represented by the arrow 1041, whereby the lock yoke 1032 contacts the coupler release tab 1042 and the first transfer spring 1108 and the second transfer The coupler release tab will be moved in the distal direction DD against the bias of the spring 1208. The clinician may maintain the pressure on release button 1038 so that if primary drive key 1102 and secondary drive key 1202 can clear their corresponding insertion lamps 506, primary drive key 1102 and secondary drive The keys 1202 can each move and be aligned with the corresponding first drive socket 302 and the second drive socket 322. When the tapered mounting lugs 1022 are seated in their respective dovetail slots 502, the primary drive key 1102 is axially aligned with the first drive socket 302 and the secondary drive key 1202 is axially aligned with the second drive socket 322. Aligned in the direction so that when the clinician releases the release button 1038, the primary drive key 1102 enters the first drive socket 302 and the secondary drive key 1202 enters the second drive socket 322 . See FIG. Thus, rotation of the first drive socket 302 results in rotation of the primary drive key 1102 and the primary transfer shaft 1104 and rotation of the second drive socket 322 results in the secondary drive key 1202 and the secondary transfer shaft. This produces a rotation of 1204. In addition, the shaft mounting lug 1306 is received within the shaft mounting socket 414 on the distal end 412 of the third drive actuator member 410. Thus, axial movement of the third drive actuator member 410 results in axial movement of the tertiary actuation shaft 1302. As also seen in FIGS. 20-22, the replaceable surgical tool assembly 1000 further includes an on-board "tool" circuit board 1060, which is on the handle circuit board 220. And a connector portion 1062 configured to mate with a corresponding connector 222 of the When the tool circuit board 1060 is coupled to the handle circuit board 220, the tool circuit board supplies an identification signal to the control system or CPU 224, whereby the control system or CPU 224 is used for a replaceable surgical procedure Allows selection of control actions appropriate to the type of tool assembly.

End Effector The interchangeable surgical tool assembly 1000 includes a surgical end effector 1500 configured to cut and clamp tissue. As seen in FIGS. 23 and 24, the surgical end effector 1500 is operably coupled to the elongate shaft assembly 1400 by an articulation joint 1702. As discussed in further detail below, the elongated shaft assembly 1400 is operably coupled to the tool mounting module 1010 and includes each of the primary rotational drive system 1100, the secondary rotational drive system 1200 and the tertiary axial drive system 1300. Contains parts. Referring now to FIGS. 25-28, the surgical end effector 1500 has an elongated channel 1520 that is configured to operably support a surgical staple cartridge 1550 therein. The surgical staple cartridge 1550 may comprise a compressible or implantable staple cartridge having a body portion 1552, which is supported by a line of unformed metal staples or other forms of fasteners. It consists of a compressible hemostatic material such as, for example, oxidized regenerated cellulose ("ORC") or a bioresorbable foam. In at least some embodiments, the entire cartridge is polydioxa, which is sold under the trademark PDS® to prevent degeneration of the staples and activation of the hemostatic material during the introduction and placement process. Non-film, biodegradable film such as polyglycerol sebacate (PGS) film, and / or PGA (polyglycerol acid), PCL (polycaprolactone), PLA or PLLA (polylactic acid), PHA (polyhydroxyalkanoate) , PGCL (Polygrecaplone 25) and / or other biodegradable films formed from a composite of, for example, PGA, PCL, PLA, PDS which becomes impermeable until rupture. A wide variety of implantable cartridge configurations are known and may be used. For example, various implantable / compressible cartridge configurations are disclosed in more detail in many of the patent applications and patents whose contents are incorporated herein by reference in their entirety. In the illustrated example, the cartridge body portion 1552 of the surgical staple cartridge 1550 is sized to be removably supported within the elongate channel 1520.

  The elongated channel 1520 and the surgical staple cartridge 1550 introduced therein may also be referred to herein as the “first jaw” 1502. The surgical end effector 1500 also includes a second jaw 1504 in the form of an anvil assembly 1560 that is supported to be movable up and down relative to the first jaw. In other words, the first jaw 1502 and the second jaw 1504 may be configured to move up and down relative to one another between an open position and a closed position. In the illustrated configuration, the anvil assembly 1560 includes an anvil body portion or anvil frame 1562. Anvil frame 1562 includes a proximal anvil portion 1570 having a pair of trunnion pins 1572 extending laterally therefrom. The trunnion pins 1572 are movably received within pivot slots 1526 formed in corresponding upright walls 1524 of the channel mounting portion 1522 of the elongated channel 1520. See FIGS. 27 and 28. Anvil frame 1562 includes, in at least one form, a pair of downwardly extending tissue stops 1564 that allow the fasteners to be properly positioned and tighten the cut tissue when the target tissue is cut. Act to limit the distance that the target tissue can extend proximally between the first jaw 1502 and the second jaw 1504. When the first jaw 1502 and the second jaw 1504 are in the closed position, the tissue stop 1564 is outside the upright wall 1524 of the channel attachment portion 1522 and the proximal anvil portion 1570 is located between the upright walls 1524 . See FIG.

Anvil Concentric Drive Member Anvil assembly 1560 operably supports anvil concentric drive member 1600 to operably drive the firing member 1620 through the end effector 1500. Anvil concentric drive member 1600 may, for example, be centrally disposed within anvil frame 1562 and extend substantially over its length. The anvil concentric drive member 1600 in the illustrated embodiment includes an anvil drive shaft 1610 that includes a distal bearing lug 1611 and a proximal bearing lug 1612. The distal bearing lug 1611 is rotatably housed within a distal bearing housing 1580 supported within the bearing pocket of the anvil frame 1562. The proximal bearing lugs 1612 are rotatably supported within the anvil assembly 1560 by the floating bearing housing 1582 and the floating bearing housing is movably supported within bearing pockets 1574 formed in the proximal anvil portion 1570. See FIG. The configuration of the proximal and distal bearing housing prevents or at least minimizes the generation of a compressive force on the anvil drive shaft 1610 which may otherwise cause the anvil drive shaft 1610 to buckle under conditions of high force. Can work to Anvil drive shaft 1610 further includes a driven firing gear 1614, a proximal threaded section or helical section 1616 and a distal threaded section or helical section 1618. In the illustrated configuration, the proximal threaded section 1616 has a first length "FL" and the distal threaded section 1618 has a distal length "DL" longer than the first length FL. doing. In at least one configuration, for example, the first length FL may be about 3 to 5 threads per inch using only one lead of the acme screw. Well, the distal length DL is about 9 to 15 threads per inch, using 2 to 4 acme screw leads for greater power Good. However, the proximal threaded section 1616 and the distal threaded section 1618 may have other lengths. See FIG. As can be seen in FIG. 26, the pitch of the distal threaded section 1618 is greater than the pitch of the proximal threaded section 1616. Stated differently, the leads of the distal threaded section 1618 are longer than the leads of the proximal threaded section 1616. In one configuration, the leads of the distal threaded section 1618 may be about twice as long as the leads of the proximal threaded section 1616. As also seen in FIG. 31, a dead space 1617 may be provided between the proximal threaded section 1616 and the distal threaded section 1618. In at least one example, anvil drive shaft 1610 may be integrally manufactured from extruded gear stock.

  To facilitate assembly of the various anvil components, anvil assembly 1560 includes anvil cap 1563 which may be attached to anvil frame 1562 by welding, a snap mechanism or the like. In addition, the anvil assembly 1560 may include various patterns of staple-forming or forming pockets on its bottom surface corresponding to the staple placement in the surgical staple cartridge 1550 supported in the elongate channel 1520. Or includes a staple forming plate 1568. The staple forming plate 1568 may be made of metal or similar material and may be welded or otherwise attached to the anvil frame 1562. In other configurations, a single anvil plate having a slot for receiving the firing member therein may also be used. Such anvil plate or combination of plates may serve to improve the overall stiffness of the anvil assembly. The anvil plate may, for example, be flat and may have staple-formed or "pocketed" pockets therein.

  FIG. 29 illustrates one form of a firing member 1620 that includes a body portion 1622 having a knife nut portion 1624 formed or otherwise mounted thereon. Knife nut portion 1624 is configured to be received on anvil drive shaft 1610. A distal threaded nodule 1626 and a proximal threaded nodule 1628 configured to engage the proximal threaded section 1616 and the distal threaded section 1618 are formed in the knife nut portion 1624. The distal screw nodules 1626 are spaced apart from the proximal screw nodules 1628 relative to the length of the dead space 1617 so that the distal screw nodules 1626 are distal when the knife nut portion 1624 extends across the dead space 1617. Threadingly engages threaded section 1618 and proximal threaded nodule 1628 threadedly engages proximal threaded section 1616. In addition, anvil engagement tab 1630 projects laterally from the outer portion of the opposite knife nut 1624 and is oriented to engage a corresponding staple forming plate 1568 attached to anvil frame 1562. The firing member 1620 further includes a channel engagement tab 1632 which is engaged on each outer side of the body portion 1622 to engage portions of the elongate channel 1520 as discussed in more detail below. It protrudes from the part. Launching member 1620 also includes a tissue cutting surface 1634.

  As a result of the anvil drive shaft 1610 rotating in a first rotational direction, the firing member 1620 axially moves from the start position (FIG. 35) to the end position (FIG. 32). Similarly, as a result of the anvil drive shaft 1610 rotating in a second rotational direction, the firing member 1620 is axially retracted from the end position back to the start position. The anvil drive shaft 1610 ultimately obtains rotational motion from the proximal drive shaft 1120 that operatively interfaces with the primary transfer shaft 1104. Referring again to FIGS. 16-18, proximal drive gear 1110 is mounted on primary transfer shaft 1104 and is in meshing engagement with power driven gear 1122 mounted on the proximal end of proximal drive shaft 1120. Are supported. The proximal drive shaft 1120 is rotatably supported within the power shaft support tube 1124 and has a power bevel gear 1126 mounted at its distal end. See FIG. As indicated above, the illustrated interchangeable surgical tool assembly 1000 includes an articulation joint 1702 that facilitates articulation of the surgical end effector 1500. In at least one embodiment as shown in FIG. 30, the articulation joint 1702 comprises an articulation shaft 1704 mounted at the distal end of the outer spine tube 1402 of the elongated shaft assembly. Specifically, the outer spine tube 1402 includes a pair of distally projecting pivoting tabs 1404, 1406, which pivot tabs define a shaft axis "SA-" defined by the elongated shaft assembly 1400. The articulation shaft 1704 is attached to the corresponding end of the articulation shaft 1704 such that an articulation axis "A-A" is defined which intersects the SA ".

  Still referring to FIG. 30, the power bevel gear 1126 is in meshing engagement with the centrally disposed power transmission gear 1128, which is rotatably supported on the articulation shaft 1704. There is. The primary rotational drive system 1100 of the illustrated embodiment further includes a distal power shaft 1130, which is attached at its proximal end by a screw or other fastener 1133. Have. The distal power shaft 1130 may also be referred to herein as a rotational output drive shaft. Distal driven gear 1132 is in meshing engagement with a centrally disposed power transmission gear 1128. Referring now to Figures 31 and 32, a distal drive gear 1134 is attached to the distal end of the distal power shaft 1130. The distal drive gear 1134 is configured to be in meshing engagement with the driven firing gear 1614 on the anvil drive shaft 1610 when the anvil assembly 1560 is in the closed position shown in FIGS. 31 and 32. The anvil drive shaft 1610 is said to be “separately separate from” the distal power shaft 1130. That is, for example, at least in the illustrated configuration, anvil drive shaft 1610 is not coaxially aligned with, and does not form part of, distal power shaft 1130. In addition, the anvil drive shaft 1610 is movable relative to the distal power shaft 1130, for example, when the anvil assembly 1560 is moved between the open and closed positions. FIG. 31 shows the anvil assembly 1560 in the closed position and the firing member 1620 in the pre-fired position. As seen in this figure, the distal threaded nodules 1626 of the knife nut 1624 of the firing member 1620 are engaged with the distal threaded portion 1618 so that rotation of the anvil drive shaft 1610 is shown in the end position shown in FIG. Thus, the launch member 1620 will be driven. Further details regarding the operation of the launch member 1620 are provided below.

Opening and closing system In the illustrated configuration, the anvil assembly 1560 is closed by advancing the closure tube 1410, which is part of the elongate shaft assembly 1400, distally. As can be seen in FIGS. 27 and 31-35, the closure tube 1410 includes an internally threaded closure nut 1412, which comprises a closure screw segment 1136 formed on the distal power shaft 1130. It is configured to be in threaded engagement. FIG. 33 shows the anvil assembly 1560 in the open position. As discussed above, the proximal bearing lugs 1612 are rotatably supported within the anvil assembly 1560 by the floating bearing housing 1582 and the floating bearing housings move into bearing pockets 1574 formed in the proximal anvil portion 1570 Possible support. Bearing spring 1584 is journalled on distal power shaft 1130 and is configured to apply a biasing force to bearing housing 1582 during opening and closing of anvil assembly 1560. Such biasing forces act to push the anvil assembly 1560 into the open position. In at least one configuration, the bearing spring 1584 comprises an assembly of plates 1586, for example made of 17-4, 416 or 304 series stainless steel, which plates are laminated to each other by a further annealed stainless steel material And have a hole 1588 for receiving the distal power shaft 1130 therethrough. See FIG.

  As indicated above, the anvil trunnion pin 1572 is received within the vertically oriented pivot slot 1526 which, in turn, is supported relative to the elongated channel 1520 and the surgical staple cartridge 1550 therein. The upstanding wall 1524 of the elongate channel 1520 is formed to provide the anvil assembly 1560 with the ability to move perpendicular thereto. Such movement of the anvil assembly 1560 relative to the elongate channel 1520 may serve to accommodate various thicknesses of tissue clamped therebetween. To that end, in the illustrated example, the surgical end effector 1500 further includes an anvil spring assembly 1590 for managing the size of the tissue gap between the staple forming plate 1568 and the upper surface of the surgical staple cartridge 1550. It is. As best seen in FIG. 27, the anvil spring assembly 1590 in the illustrated example includes a bearing mount 1592 mounted between the upright walls 1524 of the elongate channel 1520. As can be seen in FIGS. 27 and 33, the bearing mount 1592 has a somewhat U-shaped bearing cavity 1594 which is formed on the shaft bearing 1138 as well as on the distal power shaft 1130 Or otherwise configured to operatively receive a bearing stop flange 1140 attached thereto. Such configuration serves to rotatably support the distal power shaft 1130 within the proximal end portion or channel mounting portion 1522 of the elongate channel 1520. Two spring tabs 1596 extend from the bearing mount 1592 and are oriented to apply a downward biasing force on the proximal anvil portion 1570. See FIG. Such biasing forces act to bias the proximal anvil portion 1570 downwardly, whereby the anvil trunnion pins 1572 are biased downwardly within their corresponding vertical pivot slots 1526, causing the anvil assembly 1560 to It moves vertically to allow it to adapt to different thicknesses of tissue. When the anvil assembly 1560 is closed, the target tissue captured between the anvil assembly 1560 and the surgical staple cartridge 1550 results in the compression of the cartridge body 1552 and also the staples supported therein. Alternatively, the fasteners will be compressed through the tissue to form contact with the lower staple forming plate 1568 of the anvil assembly 1560. Depending on the placement of the staples of the fasteners within the staple cartridge 1550, the staples can be molded into several separate lines through the staple cartridge body and the clamped tissue. For example, a total of six lines of staples may be present (three staple lines on each side of the central area through which the firing member 1620 may pass). In at least one configuration, for example, staples in one line may be offset or staggered from staples in an adjacent line.

  As seen in FIG. 33, when the anvil assembly 1560 is in the open position, the closure screw segment 1136 on the distal power shaft 1130 is still in threaded engagement with the closure nut 1412. When in the open position, the firing member 1620 is disposed in the proximal or starting position on the proximal threaded portion 1616 of the anvil drive shaft 1610. As seen in FIG. 33, when in its proximal starting position, the channel engagement tab 1632 of the firing member dispels the channel ledge 1528 formed in the elongated channel 1520 so that the firing member 1620 opens with the anvil assembly 1560 It can be possible to pivot into position. When in that position (which may also be referred to as a “fully open position”), driver firing gear 1614 may still remain in contact with distal drive gear 1134 but is not in meshing engagement. Thus, rotation of distal power shaft 1130 does not result in rotation of anvil drive shaft 1610.

  The distal power shaft 1130 is rotated in a first rotational direction to initiate the closing process. This initial rotation of the distal power shaft 1130 moves the closure tube 1410 in the distal direction DD by threaded engagement between the closure screw segment 1136 on the distal power shaft 1130 and the female threaded closure nut 1412. When the closure tube 1410 is moved distally, the closure tab 1414 formed at the distal end of the closure tube 1410 contacts the proximal anvil portion 1570 and transitions into cam contact with the proximal anvil portion The anvil assembly 1560 is then pivoted to the initial closed position. Further rotation of the distal power shaft 1130 results in the distal end of the closure tube 1410 until the closure tube reaches a "fully closed" position where the internally threaded closure nut 1412 is unthreaded from the closure screw segment 1136 The move will occur. When in that position, for example, the internally threaded closure nut 1412 is distal to the closure screw segment 1136 and further rotation of the distal power shaft 1130 in a first rotational direction causes movement of the closure tube 1410. It does not work. The closure spring 1416 acts to bias the closure tube 1410 distally to maintain the internally threaded closure nut 1412 out of threaded engagement with the closure screw segment 1136.

  When the anvil assembly 1560 is moved to the closed position, the driven firing gear 1614 on the anvil drive shaft 1610 is in meshing engagement with the distal drive gear 1134 on the distal power shaft 1130. Further rotation of the distal power shaft 1130 in the first rotational direction thus results in rotation of the anvil drive shaft 1610 and causes the firing member 1620 to move distally on the proximal threaded portion 1616 . Continued rotation of the anvil drive shaft 1610 in the first rotational direction results in distal movement of the firing member 1620. FIG. 34 shows the position of the firing member 1620 just prior to engagement of the distal screw nodules 1626 and the distal threaded portion 1618 of the firing drive shaft. FIG. 31 shows the position of the firing member 1620 after the distal threaded nodule 1626 has initially threadedly engaged with the distal threaded portion 1618 of the anvil drive shaft 1610. When in position, anvil engagement tab 1630 on firing member 1620 engages a corresponding staple forming plate 1568 attached to anvil frame 1562 and channel engagement tab 1632 corresponds to a corresponding ledge on elongated channel 1520 In engagement with 1528, the desired spacing between the anvil assembly 1560 and the elongate channel 1520 is maintained.

  Continued rotation of the distal power shaft 1130 in the first rotational direction causes the anvil drive shaft 1610 to also be rotated. The firing member 1620 is then threadingly engaged with the proximal threaded portion 1616 of the anvil drive shaft 1610 as the distal screw nodules 1626 have engaged the distal threaded portion 1618 of the anvil drive shaft 1610. You will move at a "launch speed" that is faster than the "pre-launch speed" you move. This speed difference is due to the difference in the threaded leads of the proximal and distal threaded portions 1616, 1618. As the firing member 1620 travels distally through the end effector 1500, the tissue cutting surface 1634 travels between the staple forming plates 1568 to cut tissue clamped between the anvil assembly 1560 and the surgical staple cartridge 1550. . In this manner, the tissue is first stapled as the anvil assembly 1560 is moved to the fully closed position. The tissue is then cut when the firing member is advanced distally through the end effector 1500. In this way, the staple forming process can be "separated and distinguished" from the tissue cutting process.

  FIG. 32 shows the position of the firing member 1620 at or near the end firing position. Once the firing member 1620 reaches an end firing position, which may be determined by, for example, a sensor, an encoder, etc. (not shown), the distal power shaft 1130 may be rotated in a second rotational or “retracted direction” The anvil drive shaft 1610 is also rotated in the opposite direction. Rotation of the anvil drive shaft 1610 in the second rotational direction will cause the firing member 1620 to move proximally to the position shown in FIG. As seen in FIG. 35, the closure tube 1410 includes a closure tube reset spring 1418 extending distally from the lug 1413 on the closure nut 1412. The firing member 1620 is formed with a proximally extending reset tab 1636 that contacts the closure tube reset spring 1418 when the firing member 1620 returns to the start position and the closure tube reset spring Is configured to apply a compressive force in the proximal direction. Such proximal compressive force acts to urge the closure tube 1410 against the closure screw segment 1136 on the distal power shaft 1130 and more specifically the internally threaded closure nut 1412 so that the closure nut The screw threadingly engages with the closure screw segment 1136 on the distal power shaft 1130. As the distal power shaft 1130 continues to rotate in the second rotational direction, the interaction of the closure screw segment 1136 and the closure nut 1412 causes the closure tube 1410 to move proximally, so the closure tab 1414 is proximal Moving out of cam contact with the anvil portion 1570 allows the bearing spring 1584 to push the anvil assembly 1560 into the open position (FIG. 33). The tissue contained between the anvil assembly 1560 and the elongated channel 1520 can also serve to push the anvil assembly 1560 into an open position from which tissue can be removed.

Articulation System As indicated above, the illustrated example includes an articulation system 1700, which comprises a joint of a surgical end effector 1500 centered on an articulation axis AA transverse to the shaft axis SA. It makes the exercise smooth. In the illustrated example, the surgical end effector 1500 can also be selectively rotated distal to the articulation joint 1702 about the shaft axis SA, as represented by arrow 1703 in FIG. It is. In the illustrated example, articulation system 1700 is actuated by a second rotational drive system 320 within handle assembly 20. As discussed above, the replaceable surgical tool assembly 1000 includes a secondary rotational drive system 1220 configured to operably interface with a second rotational drive system 320 on the handle assembly. In the illustrated configuration, secondary rotational drive 1220 includes a portion of articulation system 1700. In the illustrated example, articulation system 1700 includes an articulation drive shaft 1706 rotatably supported on a power shaft support tube 1124. As indicated above, the proximal drive shaft 1120 rotatably extends through the power shaft support tube 1124. In the illustrated configuration, the proximal drive shaft 1120 is coaxially aligned with the shaft axis SA. The power shaft support tube 1124 is configured such that the articulation drive shaft 1706 is not coaxially aligned with the shaft axis SA. Stated differently, the articulation drive shaft 1706 has an articulation drive shaft axis "ADA" which deviates from the shaft axis SA when the articulation drive shaft 1706 is mounted on the power shaft support tube 1124. . See FIG. Such a configuration, as seen in FIGS. 38-42, assists in forming a relatively compact, nested gear configuration near the articulation joint 1702. In the illustrated configuration, for example, a proximal joint driven gear 1708 is attached to the proximal end of the joint drive shaft 1706. See FIG. The proximal joint driven gear 1708 is configured to be in meshing engagement with a secondary drive gear 1206 mounted at the distal end of the secondary transfer shaft 1204. The rotation of the secondary transfer shaft 1204 and the secondary drive gear 1206 results in the rotation of the proximal joint driven gear 1708 as well as the rotation of the joint drive shaft 1706. A distal joint drive gear 1710 is attached to the distal end of the joint drive shaft 1706. The distal joint drive gear 1710 is supported in meshing engagement with a channel articulation gear 1538 formed on the channel mounting fixture 1530.

  More specifically, referring to FIGS. 30 and 37, in the illustrated example, the channel attachment fixture 1530 comprises a disc-like body portion 1532 formed with a lower shaft attachment tab 1534 and an upper shaft attachment tab 1536. There is. An articulation shaft 1704 extends through corresponding holes in the lower and upper shaft attachment tabs 1536, 1534 attached to pivot tabs 1404, 1406 of the outer spine tube 1402. Such an arrangement acts to allow the channel mounting fixture 1530 to rotate about the articulation axis AA relative to the outer shaft spine tube 1402. The channel articulation gear 1538 is formed on the lower shaft attachment tab 1534 and is held in meshing engagement with the distal joint drive gear 1710. Referring now to FIG. 27, in the illustrated example, the channel mounting portion 1522 of the elongated channel 1520 includes an upstanding proximal wall 1523 having a mounting hub 1525 projecting proximally therefrom. Extending through the mounting hub 1525 and the upright proximal wall 1523 is a shaft hole 1527 configured to allow the distal power shaft 1130 to extend therethrough. In the illustrated example, channel mounting fixture 1530 is frictionally mounted on mounting hub 1525 to complete coupling of end effector 1500 to articulation joint 1702. See FIG.

  Figures 30, 38 and 39 best illustrate the operation of the articulation joint 1702. As a result of the joint drive shaft 1704 being rotated in the first rotational direction by the second rotational drive system 320, the surgical end effector 1500 rotates or articulates at an articulation angle 1711 (FIG. 39) relative to the shaft axis SA It will be done. In at least one example, articulation angle 1711 may be, for example, 0 ° to 90 °. As a result of the joint drive shaft 1704 rotating in the opposite rotational direction, the surgical end effector 1500 will articulate in the opposite articulation direction. Once the surgical end effector 1500 is articulated to the desired orientation, the power to the second rotational drive system 320 (and ultimately to the secondary rotational drive system 1200) is disconnected. Friction between the components of the secondary rotational drive system 1200 (i.e., gears) and the components of the articulation system 1700 (i.e., gears) serves to hold the surgical end effector 1500 in an articulated orientation. In an alternative configuration, however, gears 306 and 326 may be locked in place. For example, when gears 252 engage these gears, a shifting mechanism that causes gear 252 to engage with gear 306 may unlock. This may be accomplished by a simple cam surface that releases the locking means when the gear 252 moves into engagement.

End Effector Rotation The illustrated interchangeable surgical tool assembly 1000 is configured to use the primary rotational drive system 1100 to selectively rotate the surgical end effector 1500 about the shaft axis SA. Additionally, in the illustrated example, the tertiary axial drive system 1300 is configured to selectively lock the surgical end effector 1500 in a desired rotational orientation. As seen in FIGS. 37 and 42, for example, the elongated shaft assembly 1400 includes an elongated shaft support tube 1420 extending from the tool mounting portion 1010 immediately proximal of the articulation joint 1702. Elongated shaft support tube 1420 includes an "off-axis" passage 1422 for rotatably supporting articulating drive shaft 1706 therethrough. The elongated shaft support tube 1420 further includes a distal end 1424 which is formed with a gear cavity 1426 and a gear shaft 1428 for receiving the locking gear assembly 1430 therein. . See FIG. The locking gear assembly 1430 includes a drive gear 1432 received within the gear cavity 1426 of the elongated shaft support tube 1420. In addition, the locking gear assembly 1430 is fitted with a smaller driven gear 1434. As briefly discussed above, the tertiary axial drive system 1300 includes a tertiary actuation shaft 1302, also referred to herein as a locking control rod 1302. The locking control rod 1302 is formed with a shaft mounting lug 1306 on its proximal end 1304. When the replaceable surgical tool assembly 1000 is coupled to the handle assembly 20, the shaft mounting lug 1306 is received within the shaft mounting socket 414 on the distal end 412 of the third drive actuator member 410. Thus, actuation of the third axial drive 400 results in axial movement of the locking control rod 1302. In the illustrated configuration, the axially movable locking control rod 1302 is formed at its distal end with a gear rack 1308 configured to meshingly engage the driven gear 1434. As a result of axial movement of the locking control rod 1302, the locking gear assembly 1430 will rotate in a first rotational direction about the gear shaft 1428 and as a result of axial movement of the locking control rod 1302 in the proximal direction The locking gear assembly 1430 will rotate in the second rotational direction.

  In the illustrated example, the tertiary drive system 1300 is configured to operably interface with the end effector rotational locking system 1310. In at least one embodiment, the end effector rotational locking system 1310 comprises a rotational locking disc 1320 comprising a disc-like body 1322 having a hollow mounting stem 1324 projecting therefrom. As seen in FIG. 30, mounting stem 1324 extends through shaft hole 1527 of mounting hub 1525. The distal end of the mounting stem 1324 includes an annular groove 1326, which is configured to receive an inwardly extending fastener flange 1598 formed on the bearing housing 1592 of the anvil spring assembly 1590. ing. The proximal facing surface of the disc-like body 1322 of the rotating locking disc 1320 has a plurality of locking detents 1328 radially disposed thereon. The locking detent 1328 is arranged to be frictionally engaged by a locking member comprising a locking lug 1332 formed on a locking gear 1330 which is supported on an articulation shaft 1704 in at least one form. See FIGS. 43 and 44. As seen in these figures, the lock gear 1330 is supported in meshing engagement with the drive gear 1432 of the locking gear assembly 1430. As a result of the tertiary actuation shaft 1302 being actuated by the tertiary drive system 1300, the locking gear assembly 1430 will rotate. As a result of actuation of the locking gear assembly 1430, the locking gear 1330 will rotate about the articulation shaft 1704. When the lock lug 1332 on the lock gear 1330 is engaged with the lock detent 1328, not only the end effector 1500 but also the rotational locking disc 1320 is prevented from rotating about the shaft axis SA. For example, the locking lugs 1332 frictionally engage the corresponding locking detents 1328 and squeeze the rotational locking disc 1320 into further frictional engagement with the body portion 1532 of the channel mounting fixture 1530. Such frictional engagement between these two components serves to prevent rotation of the locking channel 1320 as well as the elongate channel 1520 about the shaft axis SA. FIG. 43 shows the locking lug 1332 in locking engagement with one of the locking detents 1328 and FIG. 44 is in the non-locking orientation whereby the locking disc 1320 can be freely rotated about the shaft axis SA. It shows.

  In the illustrated embodiment of the replaceable surgical tool assembly 1000, rotation of the end effector 1500 about the shaft axis SA is controlled by a remote rotation dial 1340 rotatably supported on the nozzle frame 1020. A remote rotary dial 1340 operatively interfaces with a variable resistance mounting assembly 1350 mounted within the nozzle frame 1020. As can be seen in FIG. 23, for example, the remote rotary dial 1340 includes a plurality of scallops 1341 around its periphery, accessible on both sides of the nozzle frame 1020. Such an arrangement may allow the user to place the finger of the same hand holding the handle assembly 20 on the remote rotation dial 1340 and rotate the remote rotation dial, or the remote rotation dial may be used by the user. The other hand may be hung as well. Referring to FIGS. 18, 20 and 21, the variable resistance mounting assembly 1350 includes a hollow mounting hub 1352, which receives a corresponding mounting bulkhead 1028 formed on the nozzle frame 1020. An annular groove 1354 is provided. In at least one configuration, mounting hub 1352 includes an annular retaining detent 1356 that retains remote rotating dial 1340 on hollow mounting hub 1352 while remote rotating dial 1340 relative to hollow mounting hub. It is configured to allow it to rotate. Adjustable resistance mounting assembly 1350 includes a radially extending flange portion 1358 that supports a collection of stationary contacts 1360 thereon. See FIG. Flange portion 1358 is received within adjustable resistance cavity 1342 of remote rotary dial 1340. A rotational contact assembly 1344 is mounted within the adjustable resistance cavity 1342 and is configured to interface with the stationary contact 1360 when the remote rotational dial 1340 is rotated over the adjustable resistance mounting assembly 1350. An adjustable resistance mounting assembly is wired to the tool circuit board 1060 or otherwise communicates with the tool circuit board.

  In at least one configuration, rotation of the surgical end effector 1500 about the shaft axis SA is initiated by rotating the remote rotation dial 1340. In at least one configuration, the control system or CPU 224 is configured to rotate the surgical end effector 1500 in the same rotational direction when the remote rotation dial 1340 is rotated. The initial rotation of the remote rotary dial 1340 causes the control system or CPU 224 in the handle assembly 20 to activate the third axial drive system 400 in the handle assembly 20. In particular, the control system or CPU 224 actuates the solenoid 402 such that axial movement of the third actuator member 410 occurs. Axial movement of the third actuator member 410 results in axial movement of the tertiary actuation shaft or locking control rod 1302 operatively coupled thereto. Axial movement of the locking control rod 1302 results in rotation of the locking gear assembly 1430. Rotation of the locking gear assembly 1430 will rotate the lock gear 1330 to the unlocked position (FIG. 44). The control system or CPU 224 then activates the first rotational drive system 300. As the locking lugs 1332 rotate out of engagement with the corresponding locking detents 1328 on the rotating locking disc 1320, it is possible for the rotating locking disc 1320 to rotate about the shaft axis SA It will be understood by the reader. However, friction between the rotational locking disc 1320 and the mounting hub 1525 on the channel mounting portion 1522 may temporarily prevent the surgical end effector 1500 from rotating.

  Operation of the first rotational drive system 300 results in rotational drive motion being applied to the first drive socket 302, which is because the shifter solenoid 260 has not been actuated and the shifter spring 166 has a shifter gear 250. Is in meshing engagement with the first driven gear 306 on the first drive socket 302. See FIGS. 6 and 7. Rotation of the first drive socket 302 results in rotation of the primary transfer shaft 1104 in operative engagement with the first drive socket 302. Rotation of the primary transfer shaft 1104 results in rotation of the proximal drive gear 1110 attached to the primary transfer shaft 1104. Because the proximal drive gear 1110 is in meshing engagement with the powered driven gear 1122 attached to the proximal drive shaft 1120, the proximal drive shaft 1120 is also rotated. See FIG.

  Referring now to FIG. 30, rotation of the proximal drive shaft 1120 will eventually result in rotation of the distal driven drive gear 1132 attached to the distal power shaft 1130. Rotation of the distal driven gear 1132 results in rotation of the distal power shaft 1130. The friction between the distal power shaft 1130 and the rotational locking disc 1320, the friction between the bearing housing 1592 and the distal power shaft 1130 and the rotational locking disc 1320, the closure nut 1412 of the closure tube 1410 and the distal The sum of the friction forces between the closure screw segment 1136 on the power shaft 1130 ("the second amount of friction") is between the mounting hub portion 1525 of the elongate channel 1520 and the channel mounting fixture 1530. The elongated channel 1520 and the closed tube 1410 have a shaft axis that is greater than the sum of the friction force and the friction force between the rotational locking disc 1320 and the channel attachment fixture 1530 ("the first amount of friction"). With the distal power shaft 1130 to the channel mounting fixture 1530 around SA So that the it is possible to be rolling. In one configuration, for example, the rotational position of the remote rotational dial 1340 determines the rotational position of the distal power shaft 1130 and ultimately the surgical end effector 1500 by the control system or CPU 224. When the user places the surgical end effector 1500 at the desired rotational position about the shaft axis SA and interrupts the rotation of the remote rotary dial 1340, the control system or CPU 224 generates the first rotary drive system 300 as well as the third rotary drive system 300. Power supply to the axial drive system 400 of FIG. In at least one embodiment, the solenoid 402 is "spring-loaded" so that, when deactivated, the spring component biases the third drive actuator member 410 distally, resulting in locking control Proximal movement of the rod 1302 will occur. Such axial movement of the locking control rod 1302 results in rotation of the locking gear 1330, thereby causing the locking lugs 1332 to be in retention engagement with the corresponding locking detents 1328 on the rotational locking disc 1320, thereby the surgical end effector Lock 1500 in its rotational orientation. Thus, if power to the handle assembly 20 and more particularly to the third drive system 400 is lost, the solenoid spring moves the end effector rotational locking system 1310 into a locking orientation, thereby causing the elongated shaft The rotation of the surgical end effector 1500 relative to the assembly 1400 is prevented. As can be understood from the above discussion, the third axial drive system 400 for unlocking the end effector locking system 1310 when the replaceable surgical tool assembly 1000 is operably coupled to the handle assembly 20. Is used, and the first rotational drive system 300 is used to rotate the surgical end effector 1500 relative to the elongated shaft assembly 1400. The reader will appreciate that such rotation of the surgical end effector 1500 is completely distal to the articulation joint 1702. Thus, the external spine 1402 as well as the articulation 1702 remain stationary during the rotation process.

  One general method of operating and controlling the surgical instrument 10 will now be described. FIG. 1 shows the surgical instrument 10 after the replaceable surgical tool assembly 1000 has been operably attached to the handle assembly 20. As shown in FIG. As described above, by coupling the tool mounting module portion 1010 of the replaceable surgical tool assembly 1000 to the tool mounting portion 500 of the handle assembly 20, the tool circuit board 1060 has a handle with a control system or CPU 224. It will be coupled to the circuit board 220 or otherwise communicate with its handle circuit board. When connected to or in communication with the control system or CPU 224, the tool circuit board 1060 may provide the control system or CPU 224 with specific software that is specific to the particular interchangeable surgical tool assembly. The clinician may also place the grip portion 100 of the handle assembly 20 at the desired position relative to the primary housing portion 30 which may be most suitable for the type of replaceable surgical tool assembly being used.

  As seen in FIG. 3, the illustrated handle assembly 20 includes right and left control button assemblies 270R, 270L that interface with the control system or CPU 224. In one exemplary configuration, each control button assembly 270R, 270L includes a first button 272, a second button 274, and a third button 276 that interface with the control system or CPU 224, respectively. It will be appreciated that in at least one embodiment, the control button 272 on the right control button assembly 270R may perform the same control function as the control button 272 on the left control button assembly 270L. Similarly, control buttons 274 on the right control button assembly 270R may perform the same control function as the control buttons 274 on the left control button assembly 270L. Similarly, control button 276 on the right control button assembly 270R may perform the same control function as control button 276 on the left control button assembly 270L. Such an arrangement allows the clinician to control the surgical instrument from both sides of the handle assembly 20. In at least one configuration, the control buttons 272, 274, 276 comprise "hall effect" sensors or linear sensors so that actuation of the button may indicate, for example, the strength of the user's request as well as the desired speed.

  In one configuration, the first control button 272 and the second control button 274 may be used to control the operation of the articulation system 1700. For example, control button 272 may be used to initiate articulation of surgical end effector 1500 towards the right (arrow "R" in FIG. 1) about articulation axis AA. When the first control button 272 is actuated, the control system or CPU 224 activates the shifter solenoid 260 of the rotary drive selector system 240 into meshing engagement with the second driven gear 326 on the second drive socket 322 Shifter gear 250 is moved as shown in FIG. Thereafter, the control system 224 or CPU operates the motor 200 to rotate the second rotational drive system 320 in the rotational direction required for the articulation system 1700 to articulate the surgical end effector right (arrow R). Add rotational motion to In one configuration, the amount of actuation or actuation force applied to the control button may indicate the speed at which the motor rotates. Additionally or alternatively, the clinician may also depress the rocker switch 206 to change the rotational speed of the motor. Once the surgical end effector 1500 is articulated to the desired position, the user deactivates the first control button 270 (and the rocker switch 206). When control button 270 is deactivated, control system or CPU 224 deactivates shifter solenoid 260. The spring component of the shifter solenoid 260 moves the shifter gear 250 into meshing engagement with the first driven gear 306 on the first drive socket 302. Thus, further actuation of the motor 200 results in actuation of the first rotary drive 300. Actuation of the second control button 274 operates in the same manner, but causes rotation of the motor 200 such that the articulation system 1700 articulates the surgical end effector 1500 to the left (arrow L in FIG. 1) become.

  As discussed above, the surgical end effector 1500 may also be rotated relative to the articulation joint 1702 about the shaft axis. To initiate rotation of the surgical end effector 1500, the clinician rotates the remote rotation dial 1340 in the direction of rotation that it intends to rotate the surgical end effector 1500. Rotation of the remote rotation dial 1340 causes the control system or CPU 224 to activate the third axial drive system 400. Specifically, solenoid 402 is actuated to axially move third drive actuator member 410 and locking control rod 1302 in a proximal direction. In order to disengage the locking lugs 1332 from the corresponding locking detents 1328 of the rotational locking disc 1320 as the locking control rod 1302 moves proximally, the gear rack 1308 causes the locking gear assembly 1430 to rotate the locking gear 1330. Do. See FIGS. 41 and 42. The control system or CPU maintains the solenoid 402 in its operational orientation and then activates the motor 200 to rotate motion of the surgical end effector 1500 in the desired rotational direction, the first of the rotational motions. The rotation drive system 300 is added. Actuation of the first rotational drive system 300 results in rotation of the distal drive shaft 1130, which results in rotation of the surgical end effector 1500 about the shaft axis SA. Once the surgical end effector 1500 has been rotated to the desired position, the rotation of the remote rotation dial 1340 by the clinician is interrupted. The control system or CPU 224 then deactivates the motor 200 as well as the solenoid 402. The spring component of the solenoid 402 then urges the third drive actuator member 410 and the locking control rod 1302 to a distal position, whereby the locking gear 1330 causes the locking lugs 1332 to correspond to the corresponding locking detents 1328 of the rotating locking disc 1320. To be engaged, it will be rotated in the opposite direction. Surgical end effector 1500 is locked in its rotational position.

  In at least one configuration, the third button 276 may include a "home state" button in communication with the control system or CPU 224 to return the surgical end effector 1500 to a home state, in which the surgical The end effector is not articulated and is again rotated to its initial rotational orientation. For example, when the third button 276 is actuated, the CPU actuates the solenoid 402 to unlock the end effector rotational locking system 1310 by causing the locking lug 1332 to disengage from the rotational locking disc 1320. The first rotational drive system 300 may then be actuated to rotate the surgical end effector back to the start rotational position. The solenoid 402 is then deactivated and the locking lugs 1332 are re-engaged with the rotational locking disc to lock the surgical end effector 1500 in its rotational orientation. The control system or CPU 224 may then actuate the shifter solenoid 260 to cause the shifter gear 250 to be in meshing engagement with the second driven gear 326 on the second drive socket 322. Once the second rotational drive system 320 is ready for operation, the control system or CPU 224 may then operate the motor 200 to return the surgical end effector 1500 to the unarticulated position.

  As the surgical end effector 1500 is rotated and / or articulated to the desired configuration, interrupting operation of the articulation system 1700 and interrupting rotation of the remote rotation dial 1340 result in the motor 200. Are operatively engaged with the first rotational drive system 300 in the manner discussed herein. The clinician may then manipulate the surgical end effector 1500 to place the target tissue between the anvil assembly 1560 and the surgical staple cartridge 1550. The clinician may initiate the closing and firing process by activating the rocker switch 206. Actuation of the rocker switch 206 may cause the control system or CPU 224 to actuate the motor 200 such that the motor applies rotational control motion to the first rotational drive system 300 in a first rotational direction. Rotation of the first rotational drive system 300 causes the distal power shaft 1130 to rotate and begin the closing process in the manner described above. When anvil assembly 1560 is completely closed, control system or CPU 224 shuts off motor 200 and provides the clinician with an indication (sound, vibration, notification on display screen, etc.) that the anvil is completely closed. It can. This can occur regardless of whether the rocker switch 206 is in the actuated state. Then, when the clinician wants the firing member to sever the stapled target tissue during the closing process, the clinician then reactivates the rocker switch 206 to start the motor, as described above. The firing member may be driven distally through the end effector in a manner as described above. The rocker switch 206 may be configured such that the speed at which the motor rotates is proportional to the distance the rocker switch is depressed or otherwise actuated. In other configurations, the control system or CPU 224 may not stop the motor between the closing sequence and the firing sequence. Various forms of sensors and / or encoders may be used to monitor the position of the launch member during the launch process. When the firing member reaches the end position, the direction of rotation of the motor is reversed by the control system or CPU 224 until the firing member returns to the start position where the anvil assembly 1560 is biased to the open position in the manner described above. Ru.

  FIGS. 40A and 40B illustrate that while the end effector can be selectively articulated and rotated in various manners described herein, it is attached to it from the circuit board 1060 in the tool attachment module portion 1010. FIG. 7 illustrates one exemplary configuration for providing electrical signals to the end effector. As can be seen in these figures, conductors (conductors) 1401A, 1401B extend along the outside of the outer spine 1402 of the elongated shaft assembly. Conductors 1401 A, 1401 B extend from tool mounting module 1010 along spine tube 1402 and enter holes 1531 of channel mounting fixture 1530. In order to accommodate articulation of the end effector about articulating joint 1702, loops 1403 may be provided on conductors 1401A, 1401B to provide the conductors with a sufficient amount of sag. The conductor 1401A extends into the channel mounting fixture 1530 and has a proximal counter contact 1405A attached. Similarly, conductor 1401 B extends into channel mounting fixture 1530 and has a proximal counter contact 1405 B attached. These contacts 1405A, 1405B correspond to conductive tracks 1325A, 1325B mounted on the distal surface 1323 of the disc-like body 1322 of the rotating locking disc 1320, respectively. When assembled together, the contacts 1405A make rotational electrical contact with the track 1325A, and the contacts 1405B make rotational electrical contact with the track 1325B. Such a configuration allows relative rotation of the channel mounting fixture 1530 and the rotational locking disk 1320 and promotes electrical contact between the conductors 1401A, 1401B and the tracks 1325A, 1325B. End effector leads 1327A, 1327B are attached to the tracks 1325A, 1325B, respectively, and extend through the hollow mounting stem 1324 of the rotational locking disc 1320. End effector leads 1327A, 1327B may then be attached to sensors, lights, etc. in the end effector. Such a configuration serves to facilitate articulation and rotation of the end effector and to provide power from the tool mounting module 1010 to the end effector.

  Although many of the surgical instrument systems described herein are operated by electric motors, the surgical instrument systems described herein can operate in any suitable manner. In various cases, the surgical instrument system described herein can operate, for example, with a manually operated trigger. In certain cases, the motor disclosed herein may comprise a portion of a robot control system. Additionally, any of the end effector and / or tool assemblies disclosed herein may be utilized with a robotic surgical instrument system. U.S. patent application Ser. No. 13 / 118,241, entitled "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", currently U.S. Patent Application Publication No. 2012/0298719, for example, further illustrates some examples of robotic surgical instrument systems It is disclosed in detail.

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

The following disclosure is incorporated herein by reference in its entirety.
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  Although various devices have been described herein in connection with particular embodiments, modifications and variations to those embodiments may be implemented. Also, although materials are disclosed for specific components, other materials may be used. Further, in accordance with various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function. . The above description and the following claims are intended to cover all such modifications and variations.

  The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. However, in each case, the device may be reconditioned for reuse after at least one use. Reconditioning may include any combination of steps including, but not limited to, disassembly of the device, followed by cleaning or replacement of particular parts of the device, and subsequent reassembly of the device. In particular, the reconditioning facility and / or the surgical team can disassemble the device, and after cleaning and / or replacing certain parts of the device, the device can be reassembled for later use It can be done. Those skilled in the art will appreciate that reconditioning of the device can utilize various 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.

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

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

  All patents, publications, or other disclosures incorporated herein, in whole or in part, in their existing definitions, descriptions, or other disclosures, are incorporated by reference into this disclosure. It shall be incorporated herein only to the extent not inconsistent with the contents. As such, and to the extent necessary, the disclosure content as explicitly set forth herein supersedes any conflicting description incorporated herein by reference. Any documents, or portions thereof that conflict with the existing definitions, descriptions, or other disclosed documents described herein, which are incorporated herein by reference, will be incorporated from the incorporated documents and existing documents. It shall be incorporated only to the extent that no contradiction arises with the disclosed contents.

[Aspect of embodiment]
(1) A surgical end effector for use with a surgical instrument that includes an elongated shaft assembly that includes a rotational output drive shaft, the surgical end effector comprising:
An elongated channel configured to be operably attached to the elongated shaft assembly of the surgical instrument, the elongated channel configured to operably support a surgical staple cartridge therein;
An anvil assembly,
An anvil frame comprising a proximal end and a distal end supported against the elongated channel;
An anvil assembly comprising: an anvil concentric drive member rotatably supported by the anvil frame and configured to receive rotational drive motion from the rotational output drive shaft of the surgical instrument; The effector further comprises a firing member in driving engagement with the anvil concentric drive member, such that rotation of the anvil concentric drive member in a first rotational direction causes the firing member to begin within the surgical end effector From the end position to the end position, wherein the firing member is moved from the end position to the start position by rotating the anvil concentric drive member in a second rotational direction.
Surgical end effector.
(2) The anvil concentric drive member
A distal shaft end rotatably supported within a distal rotational bearing supported within the distal end of the anvil frame;
The surgical end effector according to claim 1, comprising an anvil drive shaft comprising: a proximal shaft end rotatably supported within a proximal rotational bearing supported within the proximal end of the anvil frame. .
The surgical end effector of claim 2, wherein the proximal rotational bearing is movably supported within a proximal bearing pocket formed at the proximal end of the anvil frame.
The surgical end effector of claim 2, wherein the anvil drive shaft comprises a driven anvil gear configured to meshingly engage a distal drive gear on the rotational output drive shaft.
(5) The anvil concentric drive member is
Proximal threaded section,
The surgical end effector according to claim 1, comprising an anvil drive shaft comprising: a distal threaded section different from the proximal threaded section.

The surgical method according to claim 5, wherein the proximal threaded section has a first length and the distal threaded section has a second length different from the first length. End effector.
The proximal threaded section comprises a proximal screw having a first threaded lead, and the distal threaded section has a second threaded lead different from the first threaded lead. Surgical end effector as described in.
The surgical end according to claim 1, further comprising: at least one anvil plate attached to the anvil frame, wherein the at least one anvil plate comprises a plurality of staple forming pockets formed therein. Effector.
The surgical end effector of claim 1, further comprising means for increasing the stiffness of the anvil frame.
The firing member of claim 1, wherein the firing member comprises anvil engagement means for movably engaging the anvil frame as the firing member moves from the start position to the end position. Surgical end effector.

The surgical end according to claim 1, wherein the firing member comprises means for movably engaging the elongated channel as the firing member moves from the start position to the end position. Effector.
The surgical end effector of claim 1, wherein the firing member comprises a tissue cutting surface.
(13) A surgical end effector for use with a surgical instrument that includes an elongated shaft assembly that includes a rotational output drive shaft, the surgical end effector comprising:
An elongated channel configured to be operably attached to the elongated shaft assembly of the surgical instrument, the elongated channel configured to operably support a surgical staple cartridge therein;
An anvil frame comprising a proximal end and a distal end, wherein an opening and closing motion is applied from the elongated shaft assembly to the anvil frame, selectively between open and closed positions relative to the elongated channel Anvil frame, which is movable to
A launch member movably supported within the surgical end effector;
Means for driving the firing member supported within the anvil frame and extending the length of the anvil frame, wherein the first rotational motion is applied to the means for driving the starting position Driving the firing member from the end position to the end position, and driving the firing member from the end position to the start position when a second rotational motion is applied to the means for driving A surgical end effector comprising: means configured.
(14) a surgical tool assembly,
An elongated shaft assembly comprising a rotational output drive shaft configured to receive rotational control motion from a source of rotational control motion;
An elongated channel operably coupled to the elongated shaft assembly;
An implantable surgical staple cartridge operably supported within the elongated channel;
An anvil assembly,
An anvil frame having a proximal end and a distal end and movably supported on the elongated channel, wherein the elongated channel is subjected to an opening and closing motion from the elongated shaft assembly to the anvil frame Anvil frame selectively moveable between an open position and a closed position relative to
An anvil assembly rotatably supported by the anvil frame, the anvil concentric drive member configured to receive rotational drive motion from the rotational output drive shaft when the anvil frame is in the closed position; The surgical tool assembly comprises
The apparatus further comprises a firing member in driving engagement with the anvil concentric drive member, wherein rotation of the anvil concentric drive member in a first rotational direction causes the firing member to move from a start position to an end position within the surgical tool assembly. A surgical tool assembly moved and moved from the end position to the start position by rotating the anvil concentric drive member in a second rotational direction.
(15) The anvil concentric drive member is
A distal shaft end rotatably supported within a distal rotational bearing supported within the distal end of the anvil frame;
The surgical tool according to claim 14, comprising an anvil drive shaft comprising a proximal shaft end rotatably supported within a proximal rotational bearing supported within the proximal end of the anvil frame. assembly.

The surgical tool assembly of claim 15, wherein the proximal rotational bearing is movably supported within a proximal bearing pocket formed at the proximal end of the anvil frame.
The surgical tool assembly according to claim 15, wherein the anvil drive shaft comprises a driven anvil gear configured to meshingly engage a distal drive gear on the rotational output drive shaft.
(18) The anvil concentric drive member is
A proximal threaded portion,
15. The surgical tool assembly according to embodiment 14, comprising an anvil drive shaft comprising a distal threaded portion different from the proximal threaded portion.
The surgical method according to claim 18, wherein the proximal threaded portion has a first length and the distal threaded portion has a second length different from the first length. Tool assembly.
Embodiment 20: The proximal threaded portion comprises a proximal screw having a first threaded lead, and the distal threaded portion has a second threaded lead different from the first threaded lead. Surgical tool assembly as described in.

Claims (20)

A surgical end effector for use with a surgical instrument comprising an elongated shaft assembly including a rotational output drive shaft, the surgical end effector comprising:
An elongated channel configured to be operably attached to the elongated shaft assembly of the surgical instrument, the elongated channel configured to operably support a surgical staple cartridge therein;
An anvil assembly,
An anvil frame comprising a proximal end and a distal end supported against the elongated channel;
An anvil assembly comprising: an anvil concentric drive member rotatably supported by the anvil frame and configured to receive rotational drive motion from the rotational output drive shaft of the surgical instrument; The effector further comprises a firing member in driving engagement with the anvil concentric drive member, such that rotation of the anvil concentric drive member in a first rotational direction causes the firing member to begin within the surgical end effector From the end position to the end position, wherein the firing member is moved from the end position to the start position by rotating the anvil concentric drive member in a second rotational direction.
Surgical end effector. The anvil concentric drive member is
A distal shaft end rotatably supported within a distal rotational bearing supported within the distal end of the anvil frame;
The surgical end effector according to claim 1, comprising an anvil drive shaft comprising: a proximal shaft end rotatably supported within a proximal rotational bearing supported within the proximal end of the anvil frame. .   The surgical end effector of claim 2, wherein the proximal rotational bearing is movably supported within a proximal bearing pocket formed at the proximal end of the anvil frame.   The surgical end effector according to claim 2, wherein the anvil drive shaft comprises a driven anvil gear configured to meshingly engage with a distal drive gear on the rotational output drive shaft. The anvil concentric drive member is
Proximal threaded section,
The surgical end effector according to any one of the preceding claims, comprising an anvil drive shaft comprising: a distal threaded section different from the proximal threaded section.   The surgical end effector of claim 5, wherein the proximal threaded section has a first length and the distal threaded section has a second length different than the first length.   6. The method of claim 5, wherein the proximal threaded section comprises a proximal screw having a first threaded lead and the distal threaded section has a second threaded lead different from the first threaded lead Surgical end effector.   The surgical end effector of claim 1, further comprising at least one anvil plate attached to the anvil frame, wherein the at least one anvil plate comprises a plurality of staple forming pockets formed therein.   The surgical end effector of claim 1, further comprising means for increasing the stiffness of the anvil frame.   The surgical end according to claim 1, wherein the firing member comprises anvil engagement means for movably engaging the anvil frame as the firing member moves from the start position to the end position. Effector.   The surgical end effector of claim 1, wherein the firing member comprises means for movably engaging the elongated channel as the firing member moves from the start position to the end position.   The surgical end effector of claim 1, wherein the firing member comprises a tissue cutting surface. A surgical end effector for use with a surgical instrument comprising an elongated shaft assembly including a rotational output drive shaft, the surgical end effector comprising:
An elongated channel configured to be operably attached to the elongated shaft assembly of the surgical instrument, the elongated channel configured to operably support a surgical staple cartridge therein;
An anvil frame comprising a proximal end and a distal end, wherein an opening and closing motion is applied from the elongated shaft assembly to the anvil frame, selectively between open and closed positions relative to the elongated channel Anvil frame, which is movable to
A launch member movably supported within the surgical end effector;
Means for driving the firing member supported within the anvil frame and extending the length of the anvil frame, wherein the first rotational motion is applied to the means for driving the starting position Driving the firing member from the end position to the end position, and driving the firing member from the end position to the start position when a second rotational motion is applied to the means for driving A surgical end effector comprising: means configured. A surgical tool assembly,
An elongated shaft assembly comprising a rotational output drive shaft configured to receive rotational control motion from a source of rotational control motion;
An elongated channel operably coupled to the elongated shaft assembly;
An implantable surgical staple cartridge operably supported within the elongated channel;
An anvil assembly,
An anvil frame having a proximal end and a distal end and movably supported on the elongated channel, wherein the elongated channel is subjected to an opening and closing motion from the elongated shaft assembly to the anvil frame Anvil frame selectively moveable between an open position and a closed position relative to
An anvil assembly rotatably supported by the anvil frame, the anvil concentric drive member configured to receive rotational drive motion from the rotational output drive shaft when the anvil frame is in the closed position; The surgical tool assembly comprises
The apparatus further comprises a firing member in driving engagement with the anvil concentric drive member, wherein rotation of the anvil concentric drive member in a first rotational direction causes the firing member to move from a start position to an end position within the surgical tool assembly. A surgical tool assembly moved and moved from the end position to the start position by rotating the anvil concentric drive member in a second rotational direction. The anvil concentric drive member is
A distal shaft end rotatably supported within a distal rotational bearing supported within the distal end of the anvil frame;
The surgical tool according to claim 14, further comprising: an anvil drive shaft having a proximal shaft end rotatably supported within a proximal rotational bearing supported within the proximal end of the anvil frame. assembly.   The surgical tool assembly according to claim 15, wherein the proximal rotational bearing is movably supported within a proximal bearing pocket formed at the proximal end of the anvil frame.   The surgical tool assembly according to claim 15, wherein the anvil drive shaft comprises a driven anvil gear configured to meshingly engage a distal drive gear on the rotational output drive shaft. The anvil concentric drive member is
A proximal threaded portion,
The surgical tool assembly according to claim 14, comprising an anvil drive shaft with a distal threaded portion different from the proximal threaded portion.   The surgical tool assembly according to claim 18, wherein the proximal threaded portion has a first length and the distal threaded portion has a second length different than the first length.   19. The apparatus of claim 18, wherein the proximal threaded portion comprises a proximal screw having a first threaded lead and the distal threaded portion has a second threaded lead different from the first threaded lead. Surgical tool assembly.

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