JP6325086B2 - Surgical instrument comprising a closing drive and a firing drive operated from the same rotatable output - Google Patents

Description

(Cross-reference of related applications)
This non-provisional patent application is entitled, “SURGICAL INSTRUMENT WITH MULTIPLETIONS PERFORMED BY A SINGLE MOTOR”, filed on April 16, 2013, in accordance with section 119 (e) of the US Patent Act. No. 61 / 812,365 claims the benefit of US Provisional Patent Application No. 61 / 812,365, the entire contents of which are hereby incorporated by reference. This non-provisional patent application is also a co-pending US provisional patent application filed April 16, 2013 entitled “LINEAR CUTTER WITH POWER” in accordance with section 119 (e) of US Patent Law. No. 61 / 812,376, which claims the benefit of US Provisional Application No. 61 / 812,376, the entire contents of which are hereby incorporated by reference. This non-provisional patent application is also a co-pending US patent filed April 16, 2013 entitled “LINEAR CUTTER WITH MOTOR AND PISTOL GRIP” in accordance with section 119 (e) of the US Patent Act. The benefit of provisional application 61 / 812,382 is claimed, and this provisional application 61 / 812,382 is hereby incorporated by reference in its entirety. This non-provisional patent application is also a co-pending application filed April 16, 2013 entitled “SURGICAL INSTRUMENT HANDLE WITH MULTIPORTION MOTORRS MOTORS AND MOTOR CONTROL” in accordance with section 119 (e) of the US Patent Act. US Provisional Patent Application No. 61 / 812,385, which is incorporated herein by reference in its entirety. This non-provisional patent application is also a co-pending, filed April 16, 2013 entitled “SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR” in accordance with section 119 (e) of US Patent Law. US Provisional Patent Application No. 61 / 812,372, which is hereby incorporated by reference in its entirety.

  The various aspects of the present invention relate to surgical instruments and, in various embodiments, to surgical cutting and stapling instruments designed to cut and staple tissue and staple cartridges thereof.

The various features and advantages of the present invention, and the manner in which they are realized, will become more apparent and the present invention itself will be better understood with reference to the following description of embodiments of the invention made in connection with the accompanying drawings. Like.
1 is a perspective view of a modular surgical system including a powered surgical instrument and three replaceable end effectors. FIG. FIG. 3 is a side perspective view of a powered surgical instrument with a portion of the handle housing removed for clarity. FIG. 3 is a partially exploded view of the surgical instrument of FIG. 2. FIG. 4 is another partially exploded view of the surgical instrument of FIGS. 2 and 3. It is a side view of the electric surgical instrument which removed a part of handle housing. FIG. 6 is a perspective view of a motor drive system and transmission assembly with the transmission assembly in a first drive position, where the motor is activated to result in the first drive system of the surgical instrument of FIGS. Operates. It is a perspective view of another transmission carriage provided with the locking means. FIG. 6B is a perspective view of the motor drive system and transmission assembly including the transmission carriage of FIG. 6A with the transmission assembly in a first drive position, where the motor is actuated, resulting in the first drive system. Is activated and the second drive system is locked by the locking means. FIG. 6B is a perspective view of the motor drive system and transmission assembly of FIG. 6B with the transmission assembly in a second drive position, wherein the motor is activated to result in the second drive system being activated, One drive system is locked by the locking means. FIG. 7 is another perspective view of the motor drive system and transmission assembly of FIG. 6 with the transmission assembly in a second drive position, where the motor is activated, resulting in activation of the second drive system. . FIG. 10 is a side view of another powered surgical instrument with a portion of the handle housing and other portions of the handle housing omitted for clarity. FIG. 9 is a perspective view of the motor, transmission assembly, and first and second drive systems of the surgical instrument of FIG. 8 with the transmission assembly in a first drive position. FIG. 10 is a cross-sectional view of the motor, transmission assembly, and first and second drive systems of FIG. 9 with the transmission assembly in a first drive position. FIG. 11 is another perspective view of the motor, transmission assembly, and first and second drive systems of FIGS. 9 and 10 with the transmission assembly in a second drive position. FIG. 12 is another cross-sectional view of the motor, transmission assembly, and first and second drive systems of FIGS. 9-11, with the transmission assembly in a second drive position. FIG. 10 is a partial rear perspective view of a portion of another powered surgical instrument. FIG. 14 is a side view of the motor, transmission assembly, and first and second drive systems of the surgical instrument of FIG. 13. FIG. 15 is a cross-sectional view of the transmission assembly of the surgical instrument of FIGS. 13 and 14 in a first drive position. FIG. 16 is another cross-sectional view of the transmission assembly of the surgical instrument of FIGS. 13-15 in a second drive position. FIG. 6 is a perspective view of another powered surgical instrument device with a portion of the handle removed for clarity. FIG. 18 is a perspective view of the motor, transmission assembly, and first and second drive systems of the surgical instrument of FIG. 17. FIG. 19 is an exploded view of the motor, transmission assembly, and first and second drive systems of FIG. FIG. 20 is a cross-sectional view of portions of the motor, transmission assembly, and first and second drive systems of FIGS. 18 and 19 with the transmission shaft assembly in a first drive position. FIG. 21 is another cross-sectional view of the motor, transmission assembly, and portions of the first and second drive systems of FIG. 20 with the transmission shaft assembly in a second drive position. FIG. 5 is a perspective view of another motor, transmission assembly, and first and second drive systems in one form of the surgical instrument of the present invention. FIG. 23 is an exploded view of the motor, transmission assembly, and first and second drive systems of FIG. FIG. 24 is a cross-sectional view of the motor, transmission assembly, and first and second drive systems of FIGS. 22 and 23 with the transmission assembly in a first drive position. FIG. 25 is another cross-sectional view of the motor, transmission assembly, and first and second drive systems of FIGS. 22-24, with the transmission assembly in a second drive position. FIG. 26 is another cross-sectional view of the motor and transmission assembly of FIGS. 22-25, with the transmission assembly in a first drive position. FIG. 27 is another cross-sectional view of the motor and transmission assembly of FIGS. 22-26 with the transmission assembly in a second drive position. FIG. 6 is a side view of a portion of another powered surgical instrument with a portion of the housing omitted for clarity. FIG. 6 is a perspective view of a portion of another powered surgical instrument with a portion of the housing omitted for clarity. It is a front perspective view of the electric unit provided with the 1st and 2nd rotational drive system. It is a bottom surface perspective view of the electric unit of FIG. FIG. 33 is a perspective view of the electric unit of FIGS. 31 and 32 with the housing removed. FIG. 4 is an exploded view of a mechanical coupling system for operatively coupling four rotational drive shafts to each other. FIG. 6 is a front perspective view of a surgical end effector with a portion of the end effector housing removed for clarity. FIG. 35 is another front perspective view of the surgical end effector of FIG. 34, omitting a portion of the closure system and lower jaw for clarity. FIG. 36 is an exploded perspective view of the surgical end effector of FIGS. 34 and 35. FIG. 37 is a side view of the surgical end effector of FIGS. 33-36 with a portion of the housing omitted for clarity. FIG. 7 is a left perspective view of another end effector device with a portion of the end effector housing omitted for clarity. FIG. 39 is an exploded view of the end effector of FIG. 38. FIG. 39 is a right perspective view of the end effector device of FIGS. 37 and 38, omitting another portion of the end effector housing for clarity. FIG. 41 is a cross-sectional view of the surgical end effector device of FIGS. 38-40. FIG. 6 is a cross-sectional perspective view of another surgical end effector. FIG. 43 is a partially exploded view of the surgical end effector of FIG. 42. FIG. 44 is another partial perspective view of a portion of the surgical end effector of FIGS. 42 and 43. FIG. 45 is another cross-sectional view of the surgical end effector of FIGS. It is a perspective view of an end effector device provided with a drive separation assembly. FIG. 47 is a partial perspective view of the surgical end effector of FIG. 46, omitting portions of the surgical end effector for clarity and separating the proximal drive portion of the closure system from the distal drive portion of the closure system. . 46 and 47 are partial perspective views of the surgical end effector of FIGS. 46 and 47, omitting portions of the surgical end effector for clarity, seating the distal coupler member within the slot of the proximal coupler member, and removing the drive coupler pin. FIG. FIG. 49 is another partial perspective view of the surgical end effector of FIG. 48 showing portions of the end effector firing system. It is a perspective view of another surgical end effector apparatus. FIG. 52 is an enlarged view of a portion of the surgical end effector of FIG. 50. FIG. 52 is a perspective view of a portion of the end effector of FIG. 50 with a portion of the housing omitted for clarity. FIG. 52 is another perspective view of the end effector of FIGS. 50 and 51, omitting a portion of the housing and closure system for clarity. FIG. 53 is another perspective view of the end effector of FIGS. 50-52 with portions of the closure system and a portion of the housing omitted for clarity. FIG. 10 is a perspective view of another end effector with a drive separation assembly. FIG. 55 is a side view of the end effector of FIG. 54. FIG. 56 is a perspective view of a portion of the end effector of FIGS. 54 and 55, omitting a portion of the end effector housing for clarity. FIG. 57 is another perspective view of the end effector of FIGS. 54-56 with the tool head in a closed position. FIG. 58 is another partial perspective view of the end effector of FIG. 57 with a portion of the end effector housing omitted for clarity. FIG. 59 is another perspective view of the end effector of FIG. 58 with the drive coupler pin removed. FIG. 60 is another perspective view of the end effector of FIG. 59 with the drive coupler pin removed and the closure drive beam assembly moved proximally to release the tool head. 2 is a block diagram of a modular electric surgical instrument having a handle portion and a shaft portion. FIG. 6 is a table showing total time to meet stroke and load current requirements for various operations of various device shafts. 2 is a detailed diagram of an electrical system in a handle portion of a modular power surgical instrument. 2 is a detailed diagram of an electrical system in a handle portion of a modular power surgical instrument. FIG. 3 is a block diagram of the electrical system for the handle and shaft portion of the modular power surgical instrument. Fig. 2 shows a mechanical switching motion control system for eliminating microprocessor control of motor functions. 1 is a perspective view of a coupling device comprising a coupler housing and a pair of sockets disposed within the coupler housing, according to various embodiments of the present disclosure. FIG. 66 is a cross-sectional perspective view of the coupling device of FIG. 66, showing the pair of drive members not being coupled to the pair of sockets, and further illustrating the coupling device in an unlocked arrangement, according to various embodiments of the present disclosure. is there. FIG. 67 is a cross-sectional perspective view of the coupling device of FIG. 66 showing the pair of drive members coupled to the pair of sockets and further illustrating the coupling device in a locked configuration, according to various embodiments of the present disclosure. . 66 is a cross-sectional perspective view of the coupling device of FIG. 66, showing the pair of drive members coupled to the pair of sockets, and further illustrating the coupling device in an unlocked arrangement, according to various embodiments of the present disclosure. is there. FIG. 67 is a perspective view of the insert of the coupling device of FIG. 66, according to various embodiments of the present disclosure. FIG. 67 is a perspective view of a socket of the coupling device of FIG. 66, according to various embodiments of the present disclosure. FIG. 67 is a perspective view of a latch of the coupling device of FIG. 66, according to various embodiments of the present disclosure. FIG. 6 is a cross-sectional perspective view of a surgical end effector attachment for use with a surgical instrument handle, according to various embodiments of the present disclosure. FIG. 74 is an exploded perspective view of the drive system for the surgical end effector attachment of FIG. 73 in accordance with various embodiments of the present disclosure. 1 is a perspective view of a handle for a surgical instrument, wherein the handle comprises a drive system having a first output drive assembly and a second output drive assembly, according to various embodiments of the present disclosure. FIG. FIG. 76 is a perspective view of the drive system of FIG. 75 in accordance with various embodiments of the present disclosure. FIG. 76 is a cross-sectional view of the handle of FIG. 75 showing the drive system engaged with the first output drive assembly and separated from the second output drive assembly, according to various embodiments of the present disclosure. . 75 is a cross-sectional view of the drive system of FIG. 75 showing the drive system engaged with the second output drive assembly and separated from the first output drive assembly, according to various embodiments of the present disclosure. FIG. is there. FIG. 4 is a partial cross-sectional perspective view of a surgical instrument including a rotary drive shaft, a closure drive operable by the drive shaft, and a firing drive operable by the drive shaft, the closure drive shown in a partially open configuration. The firing drive is shown in a non-fired configuration. FIG. 80 is a perspective view of the rotary drive shaft of FIG. 79. FIG. 80 is a partial cross-sectional perspective view of the surgical instrument of FIG. 79 showing the closure drive in an open configuration and the firing drive in a non-fired configuration. FIG. 80 is a partial cross-sectional perspective view of the surgical instrument of FIG. 79 showing the closure drive in a closed configuration and the firing drive in a non-fired configuration. FIG. 80 is a partial cross-sectional perspective view of the surgical instrument of FIG. 79 showing the closure drive in a closed configuration and the firing drive in a firing configuration. FIG. 80 is a partial cross-sectional perspective view of the surgical instrument of FIG. 79, showing the firing drive in a retracted position and during the process of reopening the closure drive. FIG. 5 is a partial cross-sectional view of the end effector and shaft of the surgical instrument shown in a closed non-fired configuration. It is the perspective view of the transmission part for operating the surgical instrument of FIG. 85 shown by the arrangement | positioning corresponding to arrangement | positioning of FIG. It is an exploded view of the transmission part of FIG. FIG. 86 is a partial cross-sectional view of the end effector and shaft of FIG. 85 shown in an open, non-fired configuration. FIG. 89 is a perspective view of the transmission unit of FIG. 86 shown in an arrangement corresponding to the arrangement shown in FIG. 88. FIG. 86 is a partial cross-sectional view of the end effector and shaft of FIG. 85 shown in a closed, non-fired configuration. It is a perspective view of the transmission part of FIG. 86 shown by the arrangement | positioning corresponding to the arrangement | positioning shown in FIG. FIG. 86 is a partial cross-sectional view of the end effector and shaft of FIG. 85 shown in a closed firing configuration. It is a perspective view of the transmission part of FIG. 86 shown by the arrangement | positioning corresponding to the arrangement | positioning shown in FIG. FIG. 3 is a perspective view of a surgical stapling instrument in accordance with at least one embodiment. FIG. 95 is an exploded view of the handle of the surgical stapling instrument of FIG. 94. FIG. 95 is an exploded view of the end effector of the surgical stapling instrument of FIG. 94. FIG. 95 is a partial perspective view of the motor and gear assembly of the surgical stapling instrument of FIG. 94; FIG. 95 is a cross-sectional view of the surgical stapling instrument of FIG. 94. 1 is a perspective view of a surgical stapling instrument according to at least one embodiment, shown in an open, unlatched state. FIG. FIG. 100 is a perspective view of the surgical stapling instrument of FIG. 99 shown in a closed, unlatched state. FIG. 100 is a perspective view of the surgical stapling instrument of FIG. 99 shown in a closed latched state. FIG. 99 is a plan view of the surgical stapling instrument of FIG. 99. FIG. 99 is a cross-sectional view of the surgical stapling instrument of FIG. 99. FIG. 100 is a detailed cross-sectional view of the surgical stapling instrument of FIG. 99. FIG. 99 is an exploded view of a firing drive of the surgical stapling instrument of FIG. 99. FIG. 99 is an exploded view of the closure drive of the surgical stapling instrument of FIG. 99. 1 is a cross-sectional view of a surgical stapling instrument according to at least one embodiment comprising a handle, a shaft, and an end effector. FIG. FIG. 108 is a cross-sectional view of the handle of the surgical stapling instrument of FIG. 107 shown in an open configuration. FIG. 108 is a cross-sectional view of the handle of the surgical stapling instrument of FIG. 107 shown in a closed configuration. FIG. 108 is a perspective view of the handle of the surgical stapling instrument of FIG. 107 with some components removed. 1 is a perspective view of a surgical stapling instrument according to at least one embodiment comprising a handle and a shaft. FIG. FIG. 111 is a perspective view of the surgical stapling instrument of FIG. 111 showing the handle removed from the shaft. FIG. 112 is an exploded view of the surgical stapling instrument of FIG. 111. FIG. 111 is a partial cross-sectional view of the handle of FIG. 111 showing the transmission operatively engaged with the closure system of the surgical stapling instrument of FIG. 111; FIG. 114 is a partial cross-sectional view of the handle of FIG. 111 showing the transmission portion of FIG. 114 operatively engaged with the firing system of the surgical stapling instrument of FIG. 111; It is an exploded view of the transmission part of FIG. 1 is a perspective view of a surgical stapling instrument according to at least one embodiment, shown with some components removed and in an open configuration. FIG. FIG. 118 is a perspective view of the surgical stapling instrument of FIG. 117 shown with some components removed and shown in a closed configuration. FIG. 5 is a perspective view of another end effector device and staple pack embodiment thereto prior to attaching the staple pack to the end effector. 119 is another perspective view of the end effector and staple pack of FIG. 119 with the staple pack mounted in the end effector. FIG. 121 is another perspective view of the end effector and staple pack of FIG. 120 with the staple pack keeper member removed.

  Corresponding reference characters indicate corresponding parts throughout the several views. The examples described herein illustrate, in certain forms, preferred embodiments of the invention, and such examples should not be construed as limiting the scope of the invention in any way.

The applicant of this application owns the following patent applications filed on March 1, 2013, the entire contents of each of which are incorporated herein by reference:
-U.S. Patent Application No. 13 / 782,295, entitled "Articulatable Surgical Instruments With Conductive Pathways For Signal Communication",
-US patent application Ser. No. 13 / 782,323, entitled “Rotary Powered Articulation Joints for Surgical Instruments”,
-U.S. Patent Application No. 13 / 782,338, entitled "Thumbwheel Switch Arrangements For Surgical Instruments",
-U.S. Patent Application No. 13 / 782,499, entitled "Electromechanical Surgical Device with Signal Relay Arrangement",
-US Patent Application No. 13 / 782,460, entitled "Multiple Processor Motor Control for Modular Surgical Instruments",
-U.S. Patent Application No. 13 / 782,358, named "Joystick Switch Assemblies For Surgical Instruments",
-U.S. Patent Application No. 13 / 782,481, entitled "Sensor Straightened End Effect Removing Removable Through Trocar",
-US patent application Ser. No. 13 / 782,518, “Control Methods for Surgical Instruments With Removable Implementation Portions”,
-U.S. Patent Application No. 13 / 782,375, named "Rotary Powered Surgical Instruments With Multiple Degrees of Freedom", and -U.S. Patent Application No. 13 / 782,536, named "SURGICAL INSTRUMENTOP" The entire contents are incorporated herein.

Applicant also has the following patent applications filed on March 14, 2013, the entire contents of each of which are incorporated herein by reference:
-U.S. Patent Application No. 13 / 803,097, entitled "ARTICULABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE",
-U.S. Patent Application No. 13 / 803,193, name "CONTROL ARRANGEMENTS FOR A DRIVER MEMBER OF A SURGICAL INSTRUMENT",
-U.S. Patent Application No. 13 / 803,053, entitled "INTERCHANGABLE SHAFTS ASEMBLIES FOR USE WITH A SURGICAL INSTRUMENT",
-U.S. Patent Application No. 13 / 803,086, entitled "ARTICULABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK",
-U.S. Patent Application No. 13 / 803,210, "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 803,148, entitled "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT",
-U.S. Patent Application No. 13 / 803,066, name "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS",
-U.S. Patent Application No. 13 / 803,117, "ARTICULATION CONTROL SYSTEM FOR ARTICULABLE SURGICAL INSTRUMENTS",
-US patent application No. 13 / 803,130, name "DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS";

Applicant also has the following patent applications filed on March 25, 2014, the entire contents of each of which are incorporated herein by reference:
US Patent Application No. 14 / 226,106, entitled “POWER MANAGENENT CONTROL SYSTEM FOR SURGIMAL INSTRUMENTS”,
U.S. Patent Application No. 14 / 226,099, name "STERIZATION VERIFICATION CIRCUIT",
No. 14 / 226,094, name “VERIFICATION OF NUMBER OF BATTERY EXCHANGES / PROCESSED COUNT”,
US Patent Application No. 14 / 226,117, entitled “POWER MANAGENMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL”,
U.S. Patent Application No. 14 / 226,075, name "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFFT ASSEMBLIES",
US Patent Application No. 14 / 226,093, name “FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS”,
US Patent Application No. 14 / 226,116, “SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION”,
US patent application Ser. No. 14 / 226,071, entitled “SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR”,
US Patent Application No. 14 / 226,097, “SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS”,
US Patent Application No. 14 / 226,126, “INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS”,
US Patent Application No. 14 / 226,133, “MODULAR SURGICAL INSTRUMENT SYSTEM”,
US Patent Application No. 14 / 226,081, “SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT”,
US Patent Application No. 14 / 226,076, “POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION”,
US Patent Application No. 14 / 226,111, name “SURGICAL STAPLING INSTRUMENT SYSTEM”, and US Patent Application No. 14 / 226,125, name “SURGICAL INSTRUMENT COMPRISING A ROTABLE TABLE”.

Applicant also owns the following patent applications filed on the same day as the present application, the entire contents of each of which are incorporated herein by reference.
-U.S. Patent Application No. _____, name "MOTOR DRIVER SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", Attorney Docket Number END7406USNP / 140054,
-U.S. Patent Application No. _____, name "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF", THE SURGICAL INSTRUMENT OF, AUTHOR END14408USNP
-U.S. Patent Application No. _____, name "POWERED LINEAR SURGICAL STAPLE", agent serial number END7409USNP / 140057,
-U.S. Patent Application No. _____, name "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", agent reference number END7410USNP / 140058,
-U.S. Patent Application No. _____, name "MODULAR MOTOR DRIVER SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVER SHAFTTS WIFT
-U.S. Patent Application No. _____, name "POWERED SURGICAL STAPLE", agent serial number END7412USNP / 140060,
-U.S. Patent Application No. _____, Name "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT INSTRUMENT INSTRUMENT INSTRUN INSTRUMENT END", U.S. Patent Application No. Agent reference number END7414USNP / 140062.

  Certain exemplary embodiments will now be described to provide a comprehensive understanding of the principles of structure, function, manufacture, and use of the devices and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. The devices and methods described in detail herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments, and the scope of the various embodiments of the present invention is limited only by the claims. It will be understood by those skilled in the art that it is defined. Features illustrated or described in the context of one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

  Throughout this specification, reference is made to “various embodiments,” “some embodiments,” “one embodiment,” or “an embodiment,” which relates to that embodiment. It is meant that the particular features, structures, or characteristics described above are included in at least one embodiment. Thus, throughout the specification, phrases such as “in various embodiments”, “in some embodiments”, “in one embodiment”, or “in an embodiment” appear. These are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Accordingly, the particular features, structures, or characteristics illustrated or described with respect to one embodiment are not limited, in whole or in part, to the features, structures, or features of one or more other embodiments. Can be combined. Such modifications and variations are intended to be included within the scope of the present invention.

  The terms “proximal” and “distal” are used herein with reference to the clinician operating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the physician and the term “distal” refers to the portion that is remote from the physician. For convenience and clarity, terms relating to space, such as “vertical”, “horizontal”, “top”, and “bottom”, may further be used herein with reference to the drawings. It will be understood. 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, one of ordinary skill in the art will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications, including, for example, open surgical procedures. Upon reading this detailed description, the various devices disclosed herein can be inserted into the body in any manner, such as through natural openings, through cuts or puncture holes formed in tissue. This will become more apparent to those skilled in the art. The working portion or end effector portion of the instrument may be inserted directly into the patient's body or may be inserted through an access device having a working channel through which the end effector and elongated shaft of the surgical instrument may be advanced. .

  Referring to the drawings, wherein like numerals indicate like components throughout the several views, FIG. 1 shows a modular surgical instrument system generally designated 2, which is shown in FIG. , In one form, includes a powered surgical instrument 10 that may be used with various surgical end effectors, such as, for example, end effectors 1000, 2000, and 3000. In the illustrated embodiment, the powered surgical instrument 10 includes a housing 12 comprised of a handle 14 that is configured to be grasped, manipulated, and actuated by a clinician. As we read this detailed description, it should be understood that various unique and novel drive system devices shown in connection with the handle 14 and various end effector devices disclosed herein are robotically controlled. It can be used effectively in connection with the system. Thus, the term “housing” can also house or otherwise operably support the various forms of drive systems shown herein, and the end effector devices described herein and their It can include a housing or similar portion of a robotic system that can be configured to generate a control motion that can be used to actuate an equivalent structure. The term “frame” may refer to a portion of a hand-held surgical instrument. The term “frame” may also refer to a portion of an electric system or robot-controlled surgical instrument and / or a portion of a robotic system that may be used to operably control the surgical instrument. For example, the drive system devices and end effector devices disclosed herein are incorporated by reference herein in their entirety, and are incorporated herein by reference, US patent application Ser. ARRANGEMENTS ", can be used with various robot systems, instruments, components and methods disclosed in current US Patent Application Publication No. 2012/0298719.

  Referring now to FIGS. 2-5, the handle 14 may include a pair of housing dividers 16 and 18 that may be interconnected with screws, snap mechanisms, adhesives, and the like. In the illustrated configuration, the handle housing dividers 16, 18 cooperate to form a pistol grip portion 19 that can be grasped and manipulated by a clinician. As will be discussed in more detail below, the handle 14 operably supports two rotational drive systems 20, 40 therein that are connected to a particular end coupled to the handle 14. Various control movements are generated and applied to corresponding drive shaft portions of the effector. The first rotational drive system 20 may be used, for example, to apply a “closed” motion to a corresponding closure drive shaft device that is operatively supported within the end effector, and the second rotational drive. System 40 may be used to apply a “fire” motion to a corresponding fire drive shaft device in an end effector coupled to handle 14.

  The first and second rotary drive systems 20, 40 are powered by a motor 80 through a unique and novel “shifted” transmission assembly 60 that effectively shifts the power / motion between the two power trains. The The first rotary drive system 20 includes a first rotary drive shaft 22 that is rotatably supported within the housing 12 of the handle 14 and has a first drive shaft axis “FDA-FDA”. Is prescribed. The first drive gear 24 is key-coupled to the first rotary drive shaft 22 such that it rotates with the first rotary drive shaft 22 about the first drive shaft axis FDA-FDA or otherwise. It is fixed so that it cannot rotate. Similarly, the second rotational drive system 40 includes a second rotational drive shaft 42, which is rotatably supported within the housing 12 of the handle 14 and has a second drive shaft axis “ “SDA-SDA” is defined. In at least one device configuration, the second drive shaft axis SDA-SDA is offset from the first drive shaft axis FDA-FDA and parallel to the first drive shaft axis FDA-FDA, Or substantially parallel. When used in this context, the term “deviation” means, for example, that the first drive shaft axis and the second drive shaft axis are not coaxial. The second rotary drive shaft 42 has a second drive gear 44, and the second drive gear 44 rotates with the second rotary drive shaft 42 about the second drive shaft axis SDA-SDA. , Key-coupled to the second rotary drive shaft 42 or otherwise fixed non-rotatably. In addition, the second drive shaft 42 has an intermediate drive gear 46 that is rotatably supported on the second rotary drive shaft 42 so that the intermediate drive gear 46 is It is freely rotatable on the second rotary drive shaft 42 around the second drive shaft axis SDA-SDA.

  2 to 5, in one form, the motor 80 includes a motor output shaft 81, and the motor output shaft 81 has a motor drive gear 82 that is non-rotatably attached to the motor output shaft 81. The motor drive gear 82 is configured to provide intermeshing “operational” engagement with the transmission assembly 60 as discussed in more detail below. In at least one form, the transmission assembly 60 includes a transmission carriage 62 that moves axially between the drive gear 82 and the gears 44 and 46 on the second rotary drive shaft 42. It is supported. For example, the transmission carriage 62 may be slidably mounted on the support shaft 63, and the support shaft 63 is within the housing 12 such that the line of action of the transmission carriage is perpendicular to the gear train of the rotary drive system. Mounted on the shaft mount 61. The shaft mount 61 is configured to be firmly supported in a slot or other mechanism in the housing 10. The transmission carriage 62 includes a carriage gear 64 that is rotatably supported on a support shaft 63, and is in a driving engagement with the driving gear 82, while selectively engaging with the gears 44 and 46. It is configured. 2 to 5, the transmission carriage 62 is operatively attached to a shifter, ie, "means for shifting" 70, and the means 70 for shifting is referred to as "first drive position". ”And“ second drive position ”, the transmission carriage 62 is shifted in the axial direction. In one form, for example, the means for shifting 70 includes a shifter solenoid 71 supported within the housing 12 of the handle 14. The shifter solenoid 71 may include a bistable solenoid or may include, for example, a “two stage spring loaded” solenoid. The illustrated device configuration includes, for example, a spring 72 that biases the transmission carriage 62 distally “DD” to the first drive position, and the carriage gear 64 is in meshing engagement with the intermediate drive gear 46. On the other hand, the drive gear 82 is also meshed and engaged. When in the first drive position, the operation of the motor 80 results in the rotation of the gears 82, 46 and 24, which ultimately results in the rotation of the first drive shaft 22. Become. As discussed further herein, the shifter solenoid 71 may be actuated by a firing trigger 90, which is pivotally supported on the housing 12 of the handle 14, as shown in FIGS. ing. In the illustrated embodiment, the firing trigger 90 is pivotally supported on a firing trigger shaft 92 mounted in the handle 14. The firing trigger 90 is normally biased by a firing trigger spring 94 in the inoperative position. Please refer to FIG. Firing trigger 90 is mounted to operably activate firing switch 96, which is operably supported on control circuit board assembly 100. In the illustrated apparatus configuration, when the firing trigger 90 is activated, the shifter solenoid 71 is activated as a result. The handle processor 7024 provides a drive signal to the shifter solenoid 7032 (71), as described in further detail herein below in connection with FIGS. 2-5 again, as a result of the firing trigger 90 being actuated in this way, the shifter solenoid 71 pulls the transmission carriage 62 in the proximal direction “PD”, thereby moving the carriage gear 64. Thus, the second drive gear 44 is engaged and engaged. Please refer to FIG. The motor 80 operates when the carriage gear 64 is in meshing engagement with the drive gear 82 and the second drive gear 44. As a result, the second drive shaft 42 is moved to the second drive shaft axis “SDA”. ”. 2-5, the shift transmission assembly 60 may also include a display system 74, which includes a pair of switches 75 operably coupled to the control board 100 and the transmission indicator light 77. And 76. The switches 75 and 76 serve to detect the position of the transmission carriage 62. As a result, the control system activates the indicator lamp 77 in accordance with the position of the transmission carriage 62. For example, the indicator lamp 77 may be biased when the transmission carriage 62 is in the first drive position. This indicates to the clinician an instruction to activate the first drive system 20 as a result of activation of the motor 80.

  The various surgical instruments disclosed herein may also include a transmission assembly 60 ′ that is substantially identical to the transmission assembly 60, but with the first drive system 20. It further includes a lock assembly or means (generally indicated at 65) for locking the second drive system 40 to prevent accidental actuation when they are not intended to be actuated. For example, FIG. 6A shows another transmission carriage 62 ′ having a first drive lock 66 and a second drive lock 68. The first drive lock 66 includes a first gear engaging member or tooth on the transmission carriage 62 ′, and the first gear engaging member or tooth is connected to the intermediate gear 46 by the carriage gear 64. When engaged (ie, when the transmission assembly 60 ′ is in the first drive position), the second drive gear 44 is disposed in meshing engagement. See FIG. 6B. Thus, when the transmission assembly 60 ′ is in the first drive position, the first drive lock 66 is in meshing engagement with the second drive gear 44 to prevent relative rotation of the second drive gear 44. However, the first drive shaft 22 is rotated in the manner described above. Similarly, when the transmission assembly 60 ′ is in the second drive position (ie, the carriage gear 64 is in meshing engagement with the second drive gear 44), the second drive lock 68 is in contact with the intermediate drive gear 46. Engage and engage. See FIG. 6C. Thus, when the transmission assembly 60 'is in the second drive position, the second drive lock 68 prevents the intermediate gear 46 from rotating and thereby causes the first drive gear 24 to rotate. To prevent. Thus, when the clinician operates the motor 80 to activate the first drive system 20, the second drive system 40 is locked in place. Similarly, when the clinician activates the second drive system 40, the first drive system 20 is locked in place.

  The control system of the motor 80, depending on the direction of the other gear with which one tooth of the gear 42, 44 is abutted, as described herein below in connection with FIGS. It can be programmed in such a way that it always stops in a certain orientation when it stays in the vertical or other predetermined position. This feature serves to avoid interference between gear teeth during shifting. When shifting, the locking member also shifts and locks the position of the non-rotating gear train. Another advantage gained by locking a non-rotating (ie, non-powered) gear train when used with an end effector that includes a cartridge / anvil device or other clamping arrangement is that the clamp / anvil is in a stable position during firing. Is to be retained.

  The motor 80 may be a brushed DC drive motor having a maximum rotational speed of about 25,000 RPM, for example. In other apparatus configurations, motors can include brushless motors, cordless motors, synchronous motors, stepper motors, or any other suitable electric motor, including motors that can be autoclavable. The motor 80 may be powered by a power source 84, which in one form may include a power pack 86 that is removably stored within the handle 14. As can be seen in FIGS. 2-5, for example, the power pack 86 can be removably received within the pistol grip portion 19 of the handle 14. To access the power pack 86, the clinician removes the removable cap 17 attached to the pistol grip portion 19 as shown. The power pack 86 may operably support a plurality of batteries (not shown) therein. Each battery may include, for example, lithium ion (“LI”) or other suitable battery. The power pack 86 is configured to be detachably and operably attached to the control circuit board assembly 100, and the control circuit board assembly 100 is also operably coupled to the motor 80 and mounted within the handle 14. A number of batteries connected in series may be used as a power source for the surgical instrument. In addition, the power source 84 may be replaceable and / or rechargeable and may include, for example, a CR123 battery in at least one example. The motor 80 may be actuated by a “rocker trigger” 110 that is pivotally mounted to the pistol grip portion 19 of the handle 14. The rocker trigger 110 is configured to actuate a first motor switch 112 that is operably coupled to the control board 100. The first motor switch 112 may include a pressure switch that is activated by pivoting and contacting the rocker trigger 110. The operation of the first motor switch 112 results in the operation of the motor 80 so that the drive gear 82 rotates in the first rotation direction. A second motor switch 114 is attached to the circuit board 100 so as to be selectively contacted by the rocker trigger 110. The operation of the second motor switch 114 results in the operation of the motor 80 so that the drive gear 82 rotates in the second direction. For example, in use, the voltage polarity provided by the power supply 84 may cause the electric motor 80 to operate in a clockwise direction, but the voltage polarity applied to the electric motor by the battery may cause the electric motor 80 to move in a counterclockwise direction. Can be reversed to operate. As with the other forms described herein, the handle 14 may also include a sensor configured to sense the direction in which the drive system is moving. One specific implementation of the motor 80 is described herein below in connection with FIGS. 61, 63, 64 in which a brushless DC motor 7038 is described. The DC motor 7038 can be autoclavable.

  8-12 illustrate another form of surgical instrument 10 'which may be identical to the surgical instrument 10 except for the differences noted below. Of the surgical instrument 10 ', the same components as those of the surgical instrument 10 described above will be designated by the same reference numerals. The components of the surgical instrument 10 'that are not identical to the corresponding components of the surgical instrument 10 but that may be similar in operation are the same component numbers with "'" or possibly "" ". I will specify. As can be seen in FIG. 8, for example, the first drive shaft axis “FDA” is offset from the second drive shaft axis “SDA” and is parallel to the second drive shaft axis “SDA” or Are substantially parallel. Referring primarily to FIG. 9, for example, the transmission assembly 60, more specifically, the transmission carriage 62 '' can be manually shifted by a linkage assembly 120 operably attached to the firing trigger 90 '. It is. As can be seen in this figure, for example, the linkage assembly 120 includes a first transmission link 122, which is pivotally coupled to the firing trigger 90 'and is axially connected. It extends and is pivotally coupled to the transmission yoke 124. The transmission yoke 124 is movably pin-coupled to the transmission carriage 62 ''. Accordingly, activation of the firing trigger 90 'results in the transmission carriage 62 "moving in the axial direction. Therefore, it will be appreciated that the linkage assembly 120 basically performs an actuation movement similar to that provided by the shifter solenoid 71 described above. When used in the context of this embodiment with respect to movement of the transmission carriage 62 '', the term "manually shiftable" transmits without using electrical or other power means other than pushing the firing trigger 90 '. This refers to moving the carriage between the first drive position and the second drive position.

  As can be seen in FIGS. 8-12, the second drive gear 44 ′ is separated from the intermediate gear 46 ′ on the second drive shaft 42 ′ by the spacer 45. The second drive gear 44 'is key-coupled to the second drive shaft 42' or otherwise fixed non-rotatably, but the intermediate drive gear 46 'is on the second drive shaft 42'. The second drive shaft 42 'can be freely rotated with respect to the second drive shaft 42'. In one form, for example, the distal drive gear 130 is supported in meshing engagement with the intermediate drive gear 46 '. Similarly, the proximal drive gear 136 is supported in meshing engagement with the second drive gear 44 '. In this arrangement, however, the transmission carriage 62 '' also includes a transmission gear assembly 140 disposed in the center, which transmission gear assembly 140 moves axially with the transmission carriage 62 '. Operatively attached to the transmission carriage 62 '. Still referring to FIGS. 8-12, the transmission gear assembly 140 includes a centrally disposed shifter drive gear 142 that provides slidable meshing engagement with the motor drive gear 82. . Therefore, when the motor drive gear 82 rotates, the shifter drive gear 142 rotates as a result. In addition, a conical drive gear 144 extending proximally is coupled to the shifter drive gear 142 and selectively with a proximal gear socket 146 attached to the proximal drive gear 136. It is comprised so that a meshing engagement may be made. Similarly, a distally extending conical drive gear 148 is configured to selectively engage and engage a distal gear socket 150 attached to the distal drive gear 130.

  If the clinician wishes to activate the first drive system 20, the clinician moves the firing trigger 90 ′ to move the transmission gear assembly 140 axially to drive the cone-shaped drive extending distally. The gear 148 is engaged with the distal gear socket 150 attached to the distal drive gear 130 by meshing engagement. See FIGS. 8-10. Operating the motor 80 when in that position results in the motor drive gear 82, the shifter drive gear 142, the distal drive gear 130, the intermediate drive gear 46 ′, the first drive gear 24, and the first drive gear 24. One drive shaft 22 rotates. If the clinician wishes to activate the second drive system 40, the clinician moves the firing trigger 90 'to the position shown in FIGS. 11 and 12, thereby causing the conical drive gear to extend proximally. 144 engages with the proximal gear socket 146 attached to the proximal drive gear 136 by mating engagement. Operating the motor 80 when in that position results in the motor drive gear 82, shifter drive gear 142, proximal drive gear 136, second drive gear 44 ′, and second drive shaft 42. 'Will rotate. As can also be seen in FIGS. 8-12, sensors 152 and 154 may be used to detect the position of the transmission carriage 62 ", as will be discussed in more detail below. For example, sensors 152 and 154 may be implemented using Hall effect sensor 7028 described herein below in connection with FIGS.

  FIGS. 13-16 show another form of electric surgical instrument 310 that may be identical to surgical instrument 10 except for the differences noted below. The same components of the surgical instrument 310 as those of the surgical instrument 10 described above are designated by the same reference numerals. In this arrangement, the first and second drive systems 20, 40 are powered by a motor 80 through a unique and novel “shifted” transmission assembly 360. The first drive system 20 includes a first drive shaft 22 that is keyed with a first drive pulley 324 or otherwise fixed non-rotatably. Similarly, the second drive system 40 includes a second drive shaft 42 that is keyed with a second drive pulley 344 or otherwise non-rotatably secured. Yes. As can be seen in FIG. 14, for example, the first drive shaft axis “FDA” is offset from the second drive shaft axis “SDA” and parallel to the second drive shaft axis “SDA”. Or substantially parallel.

  Still referring to FIGS. 13-16, in one form, the motor 80 includes a first motor pulley 382 that is non-rotatably attached to the shaft of the motor 80. The first motor pulley 382 drives a first drive belt 385 that is received on the first drive pulley 324. In addition, a second motor pulley 384 is non-rotatably mounted on the motor shaft and supports the second drive belt 387 in an operable manner. The second drive belt 387 is also received on a second drive pulley 344 on the second drive shaft 42. For example, the first and second drive belts 385 and 387 may include V-belts.

  The instrument 310 also includes a transmission assembly 360 that includes a transmission carriage 362 that is supported for axial movement within the housing of the instrument. The transmission carriage 362 operably interacts with the idler carriage 374, and the idler carriage 374 moves laterally in response to contact with the transmission carriage 362 when the transmission carriage 362 is moved axially by the shifter solenoid 71. Supported to move. The idler carriage 374 includes a first idler pulley 375 and a second idler pulley 376 that are mounted on the idler carriage 374. In the illustrated apparatus configuration, the spring 72 biases the transmission carriage 362 in the distal direction “DD” to the first drive position, and the transmission carriage 362 causes the idler carriage 374 to move in the first lateral direction “FLD”. In this first lateral direction “FLD”, the first idler pulley 375 removes play from the first drive belt 385. When in this position, the second idler pulley 376 is positioned out of engagement with the second drive belt 387. Therefore, operating the motor 80 results in the first drive shaft 22 rotating. The second motor pulley 384 will also be rotated when the motor 80 is actuated, but the play of the second drive belt 387 can transmit rotational motion to the second drive pulley 344. Is prevented. Accordingly, the rotational motion is not transmitted to the second drive system 40. As discussed above, the shifter solenoid 71 may be actuated by the firing trigger 90. However, in other arrangements, the shifter solenoid 71 may also be replaced with a manually actuable linkage assembly of the type described above, for example. In the illustrated apparatus configuration, actuating the firing trigger 90 results in the shifter solenoid 71 pulling the transmission carriage 362 in the proximal direction “PD”, thereby causing the idler carriage 374 to move in the second lateral direction “SLD”. And the second idler 376 is brought into contact with the second drive belt 387 so as to remove play from the second drive belt 387. Further, when the idler carriage 374 moves sideways as described above, the first idler 375 is disengaged from the first drive belt 385, and the first drive belt 385 can be loosened. Therefore, when in such a second drive position, the motor 80 operates, resulting in the operation of the second drive system 40. The play of the first drive belt 385 prevents rotational movement from being transmitted to the first drive system 20.

  The transmission assembly 360 can provide several distinct advantages. For example, the use of a V-belt eliminates gear devices with meshing gears or clutches. Furthermore, such a transmission can be activated or deactivated under load. In addition, the transmission assembly 360 requires less displacement to separate and engage.

  17-21 show another form of electric surgical instrument 410, which may be identical to surgical instrument 10, except for the differences noted below. The same components of the surgical instrument 410 as those of the surgical instrument 10 described above are designated by the same reference numerals. In this arrangement, the first and second drive systems 20, 40 are powered by a motor 480 through a unique and novel “shifted” transmission assembly 460. The first drive system 20 includes a first drive shaft 22, which is keyed to the first drive pulley 424 or otherwise fixed non-rotatably. Similarly, the second drive system 40 includes a second drive shaft 42 that is keyed with the second drive pulley 444 or otherwise non-rotatably secured. Yes. As can be seen in FIG. 18, for example, the first drive shaft axis “FDA” is offset from the second drive shaft axis “SDA” and parallel to the second drive shaft axis “SDA”. Or substantially parallel.

  Referring now to FIG. 19, in one form, the motor 480 includes a spline drive shaft 481 that is slidably engaged with a transmission shaft assembly 490 that is configured to interact with the transmission carriage 462. The transmission carriage 462 moves in the axial direction, and as a result, the transmission shaft assembly 490 moves in the axial direction on the spline drive shaft 481. As can be seen in FIG. 19, the transmission shaft assembly 490 has a spline bore 491 therein for slidably and operatively receiving the spline drive shaft 481 therein. It is. In addition, a distal engagement collar 492 is formed on the distal end of the transmission shaft assembly 490. The distal engagement collar 492 is configured with an annular groove 493 that is configured to receive two opposing yoke rods 465 therein that are connected to the yoke of the transmission carriage 462. It is attached to the portion 464. Such an arrangement serves to couple the transmission carriage 462 to the transmission shaft assembly 490 while rotating the transmission shaft assembly 490 relative to the transmission carriage 462.

  Still referring to FIG. 19, the first motor pulley 482 is configured to selectively drive engage the transmission shaft assembly 490. For example, as can be seen in FIG. 19, the transmission shaft assembly 490 is formed with a bearing collar 494 on its proximal end that is slidable into the bore 483 of the first motor pulley 482 and Dimensioned to be rotatably received. In addition, the first motor pulley 482 also includes a star-shaped proximal drive cavity 488, which is a complementary shaped drive portion 495 formed on the transmission shaft assembly 490. And is adapted to engage by meshing. The first motor pulley 482 similarly drives a first drive belt 485 that is received on the first drive pulley 424. Surgical instrument 410 also includes a second motor pulley 484 that has a star bore 489 that is configured to meshly engage with drive portion 495 of transmission shaft assembly 490. . The second motor pulley 484 operably supports a second drive belt 487 that is also received on the second drive pulley 444.

  As indicated above, the instrument 410 also includes a transmission assembly 460 that includes a transmission carriage 462 that is supported for axial movement within the housing of the instrument. Transmission carriage 462 operably interacts with transmission shaft assembly 490 to similarly move transmission shaft assembly 490 axially while transmission shaft assembly 490 is still engaged with motor shaft 481. Let FIG. 20 shows the shifter solenoid 71 in the inoperative position. As can be seen in this figure, the transmission carriage 462 has moved the transmission shaft assembly 490 to a proximal position, which can also be referred to as a “first drive position”, in which the drive portion 495 has a first position. It is in driving engagement with the star bore 488 of one motor pulley 482. Accordingly, rotation of the motor shaft 481 results in rotation of the transmission shaft assembly 490 and the first motor pulley 482. The rotation of the first motor pulley 482 results in the rotation of the first drive belt 485. As a result, the first drive shaft 22 eventually rotates. When the transmission shaft assembly 490 is in the first drive position, the transmission shaft assembly 490 rotates freely with respect to the second motor pulley 484. Thus, when the first drive system 20 is activated, the second drive system 40 is still not activated. When the shifter solenoid 71 is actuated (by actuating the firing trigger 90) to the position shown in FIG. 21, the transmission carriage 462 is at the top of the motor shaft 481, which may also be referred to as the “second drive position”. Move transmission shaft assembly 490 to a distal position. As can be seen in FIG. 21, when the transmission shaft assembly 490 is in the second position, its drive portion 495 is moved into meshing engagement with the star bore 489 of the second motor pulley 484. Therefore, the rotation of the motor shaft 481 results in the rotation of the second motor pulley 484. The rotation of the second motor pulley 484 results in the rotation of the second drive belt 487, and as a result, the second drive shaft 42 rotates. When in this second drive position, the transmission shaft assembly 490 rotates freely within the first motor pulley 482 so that when the second drive system 40 is actuated, the first drive system 20 is non-rotated. In working condition.

  FIGS. 22-27 illustrate another motor, transmission assembly, and first and second drive systems that may be used with the various surgical instruments described herein. The illustrated apparatus includes a motor 580 having a motor shaft 581. See FIGS. 23 and 24. A motor drive gear 582 or “sun gear” 582 is fixed to the motor shaft 581 so as not to rotate so as to rotate together with the motor shaft 581. The apparatus further includes a planetary gear assembly 570 that includes three planetary gears 572 that are rotatably supported between a distal carrier bracket 573 and a proximal carrier bracket 574. It is out. Proximal carrier bracket 574 is supported on the hub portion of sun gear 582 so that sun gear 582 can rotate relative to proximal carrier bracket 574. The distal carrier bracket 573 is secured to the second drive shaft 542 of the second drive system 40 so that rotation of the distal carrier bracket 573 results in the second drive system. Forty second drive shafts 542 are adapted to rotate. The three planetary gears 572 are supported in meshing engagement with the ring gear assembly 575. More specifically, planetary gear 572 is in meshing engagement with internal ring gear 576 on ring gear assembly 575. The ring gear assembly 575 further includes an external ring gear 577 that is in meshing engagement with a first drive gear 524 that is fixed to the first drive shaft 522 of the first drive system 20. . As can be seen in FIG. 24, for example, whether the first drive shaft axis “FDA” is offset from the second drive shaft axis “SDA” and is parallel to the second drive shaft axis “SDA”, Or substantially parallel.

  As can be seen in FIG. 23, the apparatus further includes a solenoid 71, which can be operated by a firing trigger in the various manners described herein. In this device configuration, the transmission assembly 560 is attached to the shaft 73 of the solenoid 71. FIG. 24 shows the transmission assembly 560 in the first drive position. In one form, the transmission assembly 560 includes a lock assembly, generally designated 590, that is a first or proximal lock projection portion 592 and a second lock projection portion 592 on the transmission assembly 560. Or a distal locking projection portion 594. As can be seen in this view, the transmission assembly 560 is positioned such that the proximal locking projection portion 592 engages the proximal carrier bracket 574. When in this first drive position, the proximal locking projection 592 prevents the planetary gear assembly 570 from rotating together with the sun gear 582. However, when the sun gear 582 rotates, the planetary gear 572 rotates as a result. The rotation of the planetary gear 572 results in the rotation of the ring gear assembly 575. The rotation of the ring gear assembly 575 results in the rotation of the first drive gear 524 and the first drive shaft 522. Since the proximal carrier bracket 574 is prevented from rotating, the distal carrier bracket 573 is also prevented from rotating. Thus, the second drive shaft 544 is also prevented from rotating while the first drive shaft 522 is rotated. A spring (not shown) may be used to bias the solenoid 71 (and the transmission assembly 560 attached thereto) to this “first drive position”. When the clinician desires to activate the second drive system 40, the solenoid 71 can be actuated using the firing trigger as described above to move the solenoid shaft 73 to the position shown in FIG. When the transmission assembly 560 is in this “second drive position”, the distal locking projection portion 594 engages with the ring gear assembly 575 by retention to prevent rotation of the ring gear assembly 575. Thus, when the sun gear 582 is rotated, the planetary gear carriers (ie, the distal carrier bracket 573 and the proximal carrier bracket 574) will also rotate. Planetary gear 572 rotates within a fixed internal ring gear 576. While such rotational motion will be transmitted to the second drive shaft 542, the first drive shaft 522 is still not actuated.

  FIG. 28 shows another form of electric surgical instrument 610, which may be identical to surgical instrument 10 except for the differences noted below. The same components of the surgical instrument 610 as those of the surgical instrument 10 described above are designated by the same reference numerals. As can be seen in FIG. 28, for example, is the first drive shaft axis “FDA” offset from the second drive shaft axis “SDA” and parallel to the second drive shaft axis “SDA”? Or substantially parallel. The apparatus includes a motor 680 that has dual independently actuated motor shafts 681 and 683. Actuating in a manner with a firing trigger causes the motor 680 to rotate the first motor shaft 681, and actuating in a different manner to cause the motor 680 to cause the motor 680 to rotate the second motor shaft 683. The motor 680 can be controlled by the various types of firing trigger devices described herein. In this device configuration, a first motor gear 682 is mounted on a first motor shaft 681 and is supported in meshing engagement with an idler gear 646. The idler gear 646 is operably supported in meshing engagement with the first drive gear 624 mounted on the first drive shaft 622 of the first drive system 620. Therefore, the operation of the first motor shaft 681 results in the operation of the first drive system 620. Similarly, a second motor gear 684 is mounted on the second motor shaft 683 and is in meshing engagement with the second drive gear 644 mounted on the second drive shaft 642 of the second drive system 640. Is supported. Therefore, the operation of the second motor shaft 683 results in the operation of the second drive system 640.

  FIG. 29 shows another form of electric surgical instrument 710 that may be identical to the surgical instrument 10 except for the differences noted below. Of the surgical instrument 710, the same components as those of the surgical instrument 10 described above are designated by the same reference numerals. As can be seen in FIG. 29, for example, is the first drive shaft axis “FDA” offset from the second drive shaft axis “SDA” and parallel to the second drive shaft axis “SDA”? Or substantially parallel. In this arrangement, the first and second drive systems 720, 740 are powered by a motor 780 through a unique and novel “shifted” transmission assembly 760. The first drive system 720 includes a first drive shaft 722 that is key-coupled with the first drive gear 724 or otherwise fixed non-rotatably. Similarly, the second drive system 740 includes a second drive shaft 742 that is keyed with the second drive gear 744 or otherwise non-rotatably secured. Yes. The motor 780 includes a motor gear 782, and the motor gear 782 is non-rotatably attached to the shaft 781 of the motor 780.

  In the illustrated apparatus configuration, a second motor 750 is used to shift the transmission assembly 760, as will be discussed in more detail below. The second motor 750 can be controlled, for example, by the various firing trigger and switch devices disclosed herein. Second motor 750 may be controlled in a manner similar to the manner in which motor 7038 is controlled, as described herein below in connection with FIGS. As can be seen in FIG. 29, the first transmission pulley 753 is key-coupled to the motor shaft 752 or otherwise fixed non-rotatably. A first pivot shaft 754 is rotatably supported within the housing 12 of the handle 14. The first pivot shaft defines a pivot axis “PA”. A second transmission pulley 755 is mounted on the first pivot shaft 754 so as not to rotate, and a transmission belt 756 is mounted on the first and second transmission pulleys 753 and 755. In one form, the shift transmission assembly 760 includes a transmission link 762 that is attached to a first pivot shaft 754. In addition, an idler shaft 763 is attached to the transmission link 762, and the transmission link 762 operably supports an idler gear 764 thereon. Shift transmission assembly 760 is movable between a first drive position and a second drive position. To move the shift transmission assembly 760 to the first drive position, the clinician operates the second motor 750 to rotate the pivot shaft 763 and idler gear 764 about the pivot axis PA, thereby The idler gear 764 meshes with and engages with the motor gear 782 and the first drive gear 724. When in this position, the motor 780 is actuated, resulting in the first drive system 720 then being actuated. When the clinician desires to activate the second drive system 740, the second motor 750 rotates the idler gear 764 about the pivot axis PA to mesh with the motor gear 782 and the second drive gear 744. Operated to let you. When in this position, actuation of the motor 780 results in actuation of the second drive system 740. One benefit that can be achieved using this arrangement is that no precise gear orientation is required. When the idler gear 764 pivots to a home position, the idler gear 764 may be rotating and will automatically find the meshing teeth.

  30-32 illustrate a unique and novel motor unit 800 that can be mounted in a housing of the type described herein. The motor unit 800 may include another housing structure 801 that operably supports a first motor 802 with a first motor shaft 803 that defines a first drive system 804. The motor unit 800 may include a second motor 805 with a second motor shaft 806 that defines a second drive system 807. As can be seen in FIG. 8, for example, the first drive shaft axis “FDA” is offset from the second drive shaft axis “SDA” and parallel to the second drive shaft axis “SDA”, Or substantially parallel. Unit 800 may further include a control circuit board 808 with contacts 808A, which are mounted in the instrument housing or otherwise corresponding to contacts on a circuit supported in the instrument housing. Operatively join and communicate with the instrument control system. The housing may further include an electrical contact 808B that is configured to operably join with a corresponding electrical contact on an end effector tool coupled to the housing.

  As shown in FIG. 1, modular surgical system 2 may include a wide variety of surgical end effector devices 1000, 2000, and 3000 that may be used with the various surgical instruments described herein. As discussed in further detail below, each of the end effectors 1000, 2000, 3000 is adapted to operatively interface with and receive control motion from the first and second drive systems of the surgical instrument. A plurality of separate "first and second end effector drive systems". Each of the end effector drive systems is responsive to a corresponding rotational motion being applied to the end effector drive system by a surgical instrument operably attached to the end effector to cause the corresponding end effector actuator component to move to the first, That is, the first linear position is linearly moved to the second, that is, the last linear position. The end effector actuator component applies linear operational motion to various end effector components disposed on the head portion of the end effector tool to perform various surgical procedures. As discussed in more detail below, the end effector is a unique component that assists the clinician in coupling the first and second drive shafts of the surgical instrument with the corresponding drive shafts of the end effector. And the system is used. The four drive shafts are basically coupled together at the same time, so that the shafts are in the correct position, or “almost correct position” to facilitate such simultaneous coupling of the drive system. Various coupling devices and control techniques can be used.

  Referring now to FIG. 33, in order to facilitate simultaneous releasable and operative coupling of two drive systems in a surgical instrument to corresponding “driven” shafts in an end effector, some form of mechanical A coupling system 50 may be used. The coupling system 50 can include a male coupler that can be attached to a drive shaft in a surgical instrument and a corresponding female socket coupler that is attached to a driven shaft in a surgical end effector. For example, FIG. 9 shows a male coupler 51 attached to the first and second drive shafts 22, 42 by a set screw 52. Referring again to FIG. 33, each of the male couplers 51 is configured to be drivingly received within a corresponding female socket coupler 57, which also is a driven shaft in the end effector. Can be attached to. In one form, each male coupler 51 includes at least three drive ribs 53 that are equally spaced around a central portion 54 of the male coupler 51. In the illustrated embodiment, for example, five drive ribs 53 are equally spaced around the central portion 54. Each drive rib 53 has a sharp distal end 55. Each drive rib 53 may be formed with a somewhat rounded edge 56 to facilitate insertion into a corresponding socket groove 58 in the female socket coupler 57. Each socket groove 58 has a tapered proximal inlet portion 59 to facilitate insertion of a corresponding drive rib 53 therein. The sharp distal end 55 of each drive rib 53, coupled with the tapered inlet 59 of each socket groove 58, accommodates upsets between the male coupler 51 and the corresponding female socket coupler 57 during the coupling process. It will be. In addition, a rounded edge 57 on the sharp distal end 55 also assists in slidably inserting the male coupler 51 into the corresponding female socket coupler 58.

  In one form, at least one of the male couplers 51 is movable to the corresponding first or second drive shaft of the surgical instrument or the corresponding first and second driven shaft of the surgical end effector. Attached to. More specifically, the male coupler 51 may be mounted to move radially or angularly on the shaft so as to make a “first predetermined amount of radial movement” on the shaft. . This may be accomplished, for example, by a key and keyway device dimensioned relative to each other to facilitate a certain amount of radial or angular movement of the male coupler 51 on the shaft. To put it another way, the shaft is, for example, from a corresponding keyway formed in the male coupler 51 so that the key can move in the keyway and establish a first predetermined amount of radial movement. A small key can also be formed on the shaft or otherwise attached to the shaft. This first predetermined amount of radial movement is preferably sufficient to drive the coupler backward or forward. For example, in the case of the male coupler 51 having five ribs 53, the first predetermined range of radial movement can be, for example, 5 to 37 degrees. For example, there may be some embodiments where the first predetermined range of radial movement may be less than 5 °, preferably 4 ° or less. Such a range of radial or angular movement is, for example, when the corresponding female socket coupler 57 is firmly fixed to the corresponding drive shaft and otherwise no radial movement is possible. Can be sufficient. However, if both male and female couplers have the ability to adjust radially or angularly, such a range of radial or angular movement is determined by each coupler (male coupler and corresponding one). Can be reduced by 50% to provide a travel range of about 3 to 16 degrees. The amount of radial or angular movement that the female socket coupler 57 can move on its corresponding shaft may be referred to herein as the “second predetermined amount of radial movement”. The female socket coupler 57 can also be attached to its corresponding drive shaft using the key and keyway device described above that provides a second predetermined amount of desired radial movement. There may also be some embodiments where the second range of predetermined radial movement can be less than 5 °, preferably less than 4 °.

  Various combinations and mounting devices for male and female socket couplers are contemplated. For example, one or both of the male couplers can be movably attached to the corresponding surgical instrument drive shaft (or surgical end effector driven shaft) in the various manners described herein. Similarly, one or both of the female socket couplers can be movably attached to the driven shaft (or the drive shaft of the surgical instrument) on the corresponding end effector in the various manners described herein. For example, one male coupler of the first and second drive shafts can be movably mounted on the female socket coupler. The other male coupler attached to the other drive shaft may be immovably mounted on the female socket coupler. The female socket coupler on the driven shaft, corresponding to the movably mounted male coupler, can be mounted immovably on the driven shaft, the other driven shaft corresponding to the immovably mounted coupler The female socket coupler mounted above can be movably mounted on its driven shaft. Therefore, one of the male coupler and female coupler socket of the “coupler pair” is movable. The term “coupler pair” refers to a male coupler and a corresponding female socket coupler configured to be coupled together to operably couple the drive shaft of the surgical instrument to the driven shaft of the corresponding end effector. Point to. In other arrangements, both the male and female coupler sockets of the coupler pair can be movably coupled to respective shafts.

  Such coupler devices, for example, serve to provide a small amount of angular play between the coupler components, so that the components can be rotated slightly to achieve sufficient alignment, This allows coupler components attached to two separate rotational drive systems to be centered simultaneously. In addition, a sufficient amount of backlash or play may be provided in the drive train to accommodate the coupling process. Such backlash or play may be provided by forming a key / keyway in the gear, coupler, and / or meshing shaft to facilitate such slight rotation of the component. In addition, a switching device that can activate the motor for coupling purposes to cause a slight rotation of the drive shaft can be used with various shift transmission assemblies.

  This control technique and other control techniques can be used to ensure that the drive shafts in the surgical instrument are placed in a desired position that facilitates their coupling with the corresponding drive shaft in the end effector. This unique and novel mechanical coupling system 50 works to provide additional flexibility during the coupling process so that there is some upset between each drive shaft. The shafts can be connected to each other. While the various embodiments described herein show a male coupler 51 attached to a drive shaft in a surgical instrument and a female socket coupler 58 attached to a drive shaft of an end effector, It will be appreciated that the coupler 51 may be attached to the drive shaft of the end effector and the female socket coupler 58 may be attached to the drive shaft of the instrument.

  34-37 illustrate a surgical end effector 1000 that includes a surgical cutting fastener of the type commonly referred to as an “open linear” stapler. Various forms of such an open linear stapling apparatus are described, for example, in US Pat. No. 5,415,334 entitled “SURGICAL STAPLLER AND STAPLE CARTRIDGE” and in US Pat. No. 8,561,870, the entire disclosure of each of which is incorporated herein by reference. End effector 1000 includes an end effector housing 1010, which can be assembled from housing segments 1012, 1014 that are removably coupled together by screws, protrusions, snap mechanisms, and the like. A lower jaw 1020 and an upper jaw 1040 protrude from the end effector housing 1010, and the lower jaw 1020 and the upper jaw 1040 may jointly form an end effector tool head 1004. Lower jaw 1020 includes a lower jaw frame 1022 configured to operably support a surgical staple cartridge 1060 therein. Such surgical staple cartridges are well known in the art and are therefore not described in detail herein. Briefly, the surgical staple cartridge 1060 may comprise a cartridge body 1062, which is a line of staple pockets 1066 formed in each outer portion of an elongated slot 1068 disposed centrally within the cartridge body 1062. have. The slot 1068 is configured to accommodate the longitudinal movement of the cutting member 1090, as discussed in more detail below. Surgical staples (not shown) are supported in staple pockets 1066 on staple drive members (not shown) such that the staple drive members move upward within each pocket 1066 during the firing process. It is configured. The staple cartridge 1060 may be configured to be removed from the lower jaw frame 1022 and replaced with another unused cartridge to make the end effector 1000 reusable. However, end effector 1000 may also be disposable after a single use.

  Referring to FIG. 36, the lower jaw frame 1022 may have a U-shaped distal portion 1024 formed from a metallic material and configured to seat surgical staple cartridge 1060 therein. . The sidewall 1026 of the U-shaped distal portion 1024 may have a distal end 1028 configured to releasably and retainably engage a portion of the surgical cartridge 1060. The staple cartridge body 1062 may also have an engagement mechanism 1064 that is adapted to releasably engage the upstanding wall portion 1030 of the lower jaw frame 1022. End effector 1000 further includes an upper jaw 1040 having an anvil portion 1042. Anvil portion 1042 may have a back surface (not shown) having a plurality of staple forming pockets therein. The upper jaw 1040 further includes a proximal body portion 1044 that has a distal trunnion pin 1046 extending therethrough. The end of the distal trunnion pin 1046 that projects outwardly from the proximal end of the proximal body portion 1044 is rotatably received within the trunnion hole 1032 of the lower jaw 1020. The trunnion pin 1046 defines a mounting axis AA-AA in which the proximal end of the upper jaw 1040 pivots relative to the lower jaw 1020 so that the anvil portion 1042 can be stapled within the lower jaw 1020. It is movable between an open position spaced from the cartridge 1060 and a closed position adjacent to the staple cartridge 160 and / or tissue disposed therebetween. The end effector 1000 may further include a transverse support pin 1050 that is received in a cradle 1034 formed in the upright wall 1030 of the lower jaw 1020 and mounted in a hole 1016 in the housing segments 1012, 1014. Is done. Support pin 1050 may serve as a support shaft or surface about which anvil portion 1042 pivots.

  Movement of the anvil portion 1042 between the open and closed positions is controlled by a first end effector drive system, also referred to herein as an end effector closure system 1070. In one form, for example, the end effector closure system 1070 includes a closure shuttle 1072 extending around the proximal body portion 1024 of the lower jaw 1020. The closure shuttle 1072 may also be referred to as a “first end effector actuator”. The closure shuttle 1072 may include a U-shaped portion having a distal upright wall 1074 and a proximal upright wall 1076. Each distal upstanding wall 1074 includes an arcuate cam slot 1078 that is adapted to receive a corresponding portion of a cam pin 1048 attached to the upper jaw 1040. Thus, the closure shuttle 1072 moves axially or linearly relative to the lower jaw 1020 so that the upper jaw 1040 is centered about the mounting axis AA-AA on the fulcrum pin 1050 by the interaction of the cam pin 1048 in the cam slot 1078. Will turn as.

  In various configurations, the closure system 1070 includes a rotatable end effector closure shaft 1080 that is threaded and includes a distal end portion 1082 that is rotatably supported within the end effector housing 1010. Contains. The end effector closure shaft 1080 defines a closure shaft axis CSA-CSA. See FIG. A female socket coupler 57 is attached to the proximal end of the closure shaft 1080 to facilitate coupling the closure shaft 1080 with the male coupler 51 attached to the first drive shaft in the surgical instrument. ing. The closure system 1070 further includes a closure nut 1084 that is threadably received on the closure shaft 108. The closure nut 1084 is configured to be seated in the mounting slot 1077 of the upright wall 1076 of the closure shuttle 1072. Accordingly, rotation of the closure shaft 1080 in the first direction causes the closure nut 1084 to drive the closure shuttle 1072 in the distal direction “DD”. Movement of the closure shuttle 1072 in the distal direction “DD” results in the upper jaw 1040 pivoting from the open position to the closed position. Similarly, movement of closure shuttle 1084 in the proximal direction “PD” results in upper jaw 1040 moving from the closed position back to the open position.

  End effector 1000 further includes a second end effector drive system, also referred to herein as firing system 1100, that fires tissue cutting member 1090 and wedge sled assembly 1092 into start and end positions. It is for driving between. When the wedge sled assembly 1092 is driven distally through the surgical staple cartridge 1060, the wedge sled assembly 1092 operably interacts with a drive in the cartridge 1060 that supports the surgical staple thereon. When the wedge sled assembly 1092 is driven distally, the drive is driven upward within the respective pocket to drive the supported staples and form the back of the anvil portion 1042 of the upper jaw 1040. Engage. In one form, firing system 1100 further includes a rotatable threaded firing shaft 1102 that is rotatably supported within end effector housing 1010. Firing shaft 1102 defines a firing shaft axis FSA-FSA that is parallel or substantially parallel to closure shaft axis CSA-CSA. For example, see FIG. Firing shaft 1102 includes a distal end portion 1104 that is rotatably supported within a mounting unit 1106 mounted within end effector 1010. A female socket coupler 57 is attached to the proximal end of the firing shaft 1102 to facilitate coupling the firing shaft 1102 with the male closure coupler 51 attached to a second drive shaft in the surgical instrument. It has been. The firing system 1100 further includes a firing nut 1110 that is threadably received on the firing shaft 1102. Thus, rotation of the firing shaft 1102 results in the firing nut 1110 moving axially within the end effector housing 1010. In one form, tissue cutting member 1090 and wedge sled assembly 1092 are coupled to firing nut 1110 by firing bar 1112. The firing bar may also be referred to as a “second end effector actuator” that is moved linearly or axially in response to actuation of the firing system. Thus, when the firing shaft 1102 rotates in the first direction, the firing nut 1110, firing bar 1112, tissue cutting member 1090, and wedge sled assembly 1092 are distally moved from, for example, a starting position (FIG. 35) to an ending position. In this end position, the tissue cutting member 1090 and wedge sled assembly 1092 are driven to the distal end of the surgical staple cartridge 1060. As firing shaft 1102 rotates in the opposite direction, firing nut 1110, firing bar 1112, tissue cutting member 1090 and wedge sled assembly 1092 are driven in the proximal direction “PD” from their respective end positions to their respective start positions again. Is done. In some embodiments, the wedge sled assembly may remain at the distal end of the surgical staple cartridge and not return to the starting position with the tissue cutting member 1090. In yet other embodiments, the tissue cutting member and wedge thread assembly member may remain at the distal end of the staple cartridge member.

  The end effector 1000 may also be equipped with various sensors coupled to an end effector contact plate 1120 mounted within the end effector housing 1010. The contact plate 1120 is such that when the end effector 1000 is operably coupled to the surgical instrument, the end effector contact plate 1120 is electrically coupled to the surgical instrument contact plate 30 mounted within the surgical instrument housing 12. And can be positioned with the end effector housing 1020. For example, see FIG. Referring again to FIG. 34, the closure sensor 1122 is mounted within the end effector housing 1010 such that the closure sensor 1122 communicates with the surgical instrument control system when the end effector 1000 is operably coupled to the surgical instrument. It may be electrically coupled to the end effector contact plate 1120. The closure sensor 1122 may include a Hall effect sensor 7028 configured to detect the position of the switch protrusion 1086 on the closure nut 1084, for example as described below with respect to FIGS. In addition, a firing sensor 1124 may also be mounted within the end effector housing 1010 to detect the presence of the firing bar 1112. As discussed in more detail below in connection with FIGS. 61, 63, 64, firing sensor 1112 includes, for example, Hall effect sensor 7028 as shown below in connection with FIGS. May be electrically coupled to the end effector contact plate 1120 for ultimate communication with a surgical instrument control system such as.

  The use of the end effector 1000 will now be described in connection with the surgical instrument 10. However, it will be apparent that the end effector 1000 can be operably coupled to various other surgical instrument devices disclosed herein. Prior to use, the closure shaft 1080 and firing shaft 1102 are “clocked” or disposed at their respective starting positions to facilitate attachment to the first and second drive shafts 22, 42, respectively. . In order to couple the end effector 1000 to the surgical instrument 10, for example, the clinician may have the closure shaft axis CA-CA axially aligned with the first drive shaft axis FDA-FDA and the firing shaft axis FSA-FSA is the first. The end effector 1000 is moved to a position that is axially aligned with the two drive shaft axes SDA-SDA. The female socket coupler 57 on the closure shaft 1080 is inserted in operative engagement with the male coupler 51 on the first drive shaft 22. Similarly, female socket coupler 57 on firing shaft 1102 is inserted in operative engagement with male coupler 51 on second drive shaft 42. Thus, when in this position, the closure shaft 1080 is operably coupled to the first drive shaft 22 and the firing shaft 1102 is operably coupled to the second drive shaft 42. The end effector contact plate 1120 is operatively coupled to the surgical instrument contact plate 30 so that the sensors 1122, 1124 (and any other sensors in the end effector 1000) are operatively communicated with the surgical instrument control system. It is supposed to be. In order to keep the end effector 1000 in operative engagement with the surgical instrument 10, the end effector 1000 includes a retainer latch 1130 that is attached to the end effector housing 1010, the instrument housing 12 is configured to releasably engage a portion of twelve. The retainer latch 1130 may include a retaining projection 1132 that may releasably engage a retainer cavity 15 formed in the housing 12. Please refer to FIG.

  When coupled together, closure sensor 1122 detects the position of closure nut 1084 and firing sensor 1124 detects the position of firing bar 1112. That information is communicated to the surgical instrument control system. In addition, the clinician may confirm that the shift transmission assembly (or its transmission carriage 62) is in its first drive position. This can be confirmed by the operation of the indicator light 77 on the housing 12 as discussed above. If the shift transmission assembly 60 is not in its first drive position, the clinician may actuate the firing trigger 92 to move the transmission carriage 62 to the first drive position, thereby causing the rocker trigger 110 to move. When the motor 80 is activated and the motor 80 is activated, the first drive system 20 is activated as a result. Assuming that the closure system 1070 and firing system 1100 are each in the starting position and the end effector 1000 is properly fitted with an unused staple cartridge 1060 therein, the clinician is then cut and stapled. The jaws 1020, 1040 can be positioned with respect to the target tissue. The clinician may close the upper jaw 1040 by actuating the rocker trigger 110 to actuate the motor 80 and rotate the first drive shaft 22. Once the target tissue is clamped between the upper jaw 1040 and the surgical staple cartridge 1060 in the lower jaw 1020, the clinician then activates the firing trigger 92 to move the transmission carriage 62 to its second drive position. As a result, the operation of the motor 80 causes the second drive shaft 42 to rotate as a result. When the transmission carriage 62 is moved to the second drive position, the clinician once again activates the rocker trigger 110 to actuate the second drive system 40 and the firing system 1100 in the end effector 1000, and the tissue cutting member. 1090 and wedge sled assembly 1092 may be driven distally through surgical staple cartridge 1060. When tissue cutting member 1090 and wedge sled assembly 1092 are driven distally, the target tissue clamped between jaws 1020 and 1040 is cut and stapled. When the tissue cutting member 1090 and wedge sled assembly 1092 are driven to their distal most positions within the surgical staple cartridge 1060, the clinician activates the rocker trigger 110 to reverse the rotation of the motor and the firing system. 1100 may be returned to its starting position.

  When using the surgical instruments disclosed herein with end effector 1000 and other end effectors and similar jaw devices, it may be difficult to properly clean the anvil pocket on the back of the anvil. In addition, over time, anvil pockets can be scraped, scraped, or simply worn out, making them unsuitable for reuse. Furthermore, depending on the application, loading and removal of the surgical staple cartridge can be difficult. 119-121 illustrate a disposable “staple pack” 1300 that can address some, if not all, of these challenges.

  FIG. 119 illustrates a portion of an end effector 1000 'that may be similar in structure and operation to, for example, the end effector 1000 and other end effectors disclosed herein, except for the specific differences discussed below. As can be seen in FIG. 119, the upper jaw 1240 includes an open distal end 1243. The upper jaw 1240 may be formed of a metallic material, have a U-shaped profile when viewed from the distal end, and may have two opposing retaining lips 1245 extending inwardly. The end effector 1000 ′ further includes a lower jaw frame 1222 that is similar to the lower jaw frame 1222 described herein, for example. As can be seen in this view, the lower jaw frame 1222 also has an open distal end 1223.

  Still referring to FIG. 119, one form of a “disposable” staple pack 1300 includes an anvil 1302, which has a staple forming surface 1304, the staple forming surface 1304 having a plurality of staples formed therein. A molding pocket (not shown) is included. The staple pack 1300 further includes a staple cartridge 1310 that includes a cartridge deck 1312 that is configured to have a spaced facing relationship with the staple forming lower surface 1304 of the anvil 1302. Staple cartridge 1310 may be similar to other staple cartridges disclosed in more detail herein and may operably support a plurality of surgical staples therein. The staple pack 1300 frictionally engages the anvil 1302 and staple cartridge 1310 in a manner that maintains alignment between the staple pockets on the staple forming lower surface 1304 and the staples (not shown) in the staple cartridge 1310 prior to use. It further includes a disposable keeper member 1320 that is sized and shaped to mate. The keeper 1320 may also include a spacer strip 1322 that extends between the anvil 1302 and the staple cartridge 1310. The keeper may be molded from, for example, plastic or other suitable polymer material, and the spacer strip 1322 may be fabricated from a metallic material. Spacer strip 1322 may be frictionally held in a slot or other holding mechanism formed in keeper 1320.

  Referring now to FIG. 120, the staple pack 1300 is attached by aligning the anvil 1302 with the open distal end 1243 of the upper jaw 1240 and the staple cartridge 1310 is attached to the open distal end of the lower jaw frame 1222. Aligned with portion 1245. Thereafter, the staple pack 1300 is moved in the proximal direction “PD” to the position shown in FIG. The retaining lip 1245 serves to support the anvil 1302 within the upper jaw 1240. The end effector 1000 'may also include a manually actuable latch mechanism 1340 that may be moved from the unlatched position (FIG. 119) to the latched position (FIG. 121). When in the latched position, for example, the latch mechanism 1340 holds the anvil 1302 in the upper jaw 1240 and the staple cartridge 1310 in the lower jaw frame 1222. For example, the latch mechanism 1340 is a movable upper latch arm configured to releasably engage a portion (eg, lip, detent, ledge or other retention mechanism) formed on the proximal end of the anvil 1302. 1342 may be included. Similarly, the latch mechanism 1340 includes a movable lower latch arm 1344 configured to releasably engage a portion (eg, lip, detent, ledge, or other retention mechanism) formed on the staple cartridge 1310. But you can. Upper and lower latch arms 1342, 1344 may be pivotally or otherwise movably supported on end effector 1000 'to selectively move between a latched position and an unlatched position. In various configurations, the upper and lower latch arms 1342, 1344 can typically be biased into a latched position by a spring (not shown). In such a device configuration, the clinician may insert the staple pack 1300 into the upper jaw 1240 and the lower jaw frame 1222. When the proximal end of the anvil 1302 contacts the upper latch arm 1342, the upper latch arm 1342 is pivoted or moved to seat the anvil 1302 in place. When the anvil is seated in place, the upper latch arm 1342 is biased into latch engagement with the anvil 1302 (if a spring or biasing member is used). In another device configuration, the upper latch arm 1342 may be manually moved to the latched position. Similarly, when the proximal end of the staple cartridge 1310 contacts the lower latch arm 1344, the lower latch arm 1344 is pivoted or moved to seat the staple cartridge 1310 in place. When the staple cartridge 1310 is seated in place, the lower latch arm 1344 is biased into latch engagement with the staple cartridge 1310 to hold the staple cartridge 1310 in place (a spring or biasing device is used). If). In another embodiment, the lower latch arm 1344 may be manually moved to the latched position. Once the staple pack 1300 is installed and the anvil 1302 and staple cartridge 1310 are latched into or otherwise attached to the end effector 1000 ', the clinician may remove the keeper assembly 1320. See, for example, FIG. After the staple pack 1300 has been used, the clinician can then return the keeper 1320 over the anvil 1302 and the distal end of the staple cartridge 1310. This can be accomplished by aligning the open end of the keeper member 1320 with the anvil 1302 and staple cartridge 1310 and then pushing the keeper member 1320 into frictional engagement with the anvil 1302 and staple cartridge 1310 again. As the distal ends of the anvil 1302 and staple cartridge 1310 are seated on the keeper member 1320, the clinician moves the upper and lower latch arms 1342, 1344 to their unlatched position to move the staple pack 1300. It can be pulled out of the upper jaw 1240 and the lower jaw frame 1222. Thereafter, the staple pack 1300 can be discarded alone. In other situations, the clinician may remove the anvil 1302 and the staple cartridge 1310 separately from the end effector 1000 'without first attaching the keeper member 1320.

  38-41 illustrate a surgical end effector 2000 that includes a type of surgical cutting fastener that may be commonly referred to as a “curve cutter stapler”. Various forms of such stapling devices are described, for example, in US Pat. No. 6, entitled “RETAIING PIN LEVER ADVANCEMENT MECHANISM FOR A CURVED CUTTER STAPLLER”, the entire disclosure of each of which is incorporated herein by reference. , 988,650 and U.S. Pat. No. 7,134,587 entitled “KNIFE RETRACTION ARM FOR A CURVED CUTTER STAPLLER”. End effector 2000 includes an end effector housing 2010, which can be assembled from housing segments 2012, 2014 that are removably coupled to one another by screws, protrusions, snap mechanisms, and the like. An elongated frame assembly 2020 that terminates at the end effector tool head 2002 protrudes from the end effector housing 2010. In one form, the frame assembly 2020 includes a pair of spaced frame struts or plates 2022 that are fixedly attached to the housing 2010 and project distally from the housing 2010. A C-shaped support structure 2024 is attached to the distal end of the frame plate 2022. The term “C-shape” is used throughout this specification to describe the concave nature of the support structure 2024 and the surgical cartridge module 2060. The C-shaped structure promotes improved functionality, and the use of the term C-shaped herein also refers to a variety of concave shapes that improve the functionality of surgical stapling and cutting instruments. Should be considered to encompass. Support structure 2024 is attached to frame plate 2022 by shoulder rivets 2023 and posts 2026, and post 2026 extends from support structure 2024 into a receiving hole in frame plate 2022. In various forms, the support structure 2024 can be formed by a unitary structure. More specifically, the support structure 2024 can be formed from an extruded aluminum material. Forming support structure 2024 in this manner eliminates the need for multiple parts and significantly reduces the associated manufacturing and assembly costs. In addition, it is considered that the overall stability of the end effector 2000 is improved because the support structure 2024 is a one-piece structure. Furthermore, the support structure 2024 is an integral extruded structure based on a smooth outer surface achieved by weight reduction, facilitating sterilization by effectively penetrating cobalt irradiation into the extruded aluminum, and extrusion. Reduces trauma to damaged tissue.

  End effector 2000 further includes a first end effector drive system, also referred to as end effector closure system 2070, and a second end effector drive system, also referred to herein as firing system 2100. In one form, for example, the end effector closure system 2070 is dimensioned to be slidably received between the frame struts 2022 for axial movement between the frame struts 2022. Is included. The closure beam assembly 2072 may be referred to as a first end effector actuator and is configured to slidably receive the firing bar assembly 2112 of the firing system 2100 as discussed in more detail below. Having an open bottom. In one form, for example, the closure beam assembly 2072 is a molded plastic member shaped for mobility and functionality, as discussed further below. By manufacturing the closure beam assembly 2072 from plastic, manufacturing costs can be reduced and the weight of the end effector 2000 can also be reduced. In addition, the end effector 2000 can be more easily sterilized with cobalt irradiation because plastic is more permeable than stainless steel. According to another apparatus configuration, the closure beam assembly 2072 may be made from extruded aluminum and machined to finalize the final profile. Extruded aluminum closure beam assemblies may not be as easy to manufacture as plastic components, but nevertheless have the same advantages (i.e., components are eliminated, easier to assemble, and less weight) Lighter and easier to sterilize).

  The closure beam assembly 2072 includes a curved distal end 2074 that is dimensioned to be received between the sidewalls 2027 of the support structure 2024. The curved distal end 2074 is sized and shaped to receive and hold the cartridge housing 2062 of the cartridge module 2060. In various configurations, the proximal end of closure beam assembly 2072 is coupled to closure nut 2084, which is threadably received on threaded closure shaft 2080. The closure shaft 2080 defines the closure shaft axis CSA-CSA and also to facilitate the coupling of the closure shaft 2080 with the male coupler 51 attached to the first drive shaft in the surgical instrument. And a female socket coupler 57 attached to the proximal end of the closure shaft 2080. The rotation of the closure shaft 2080 in the first direction causes the closure nut 2084 to drive the closure beam assembly 2072 in the distal direction “DD”. The rotation of the closure shaft 2080 in the opposite direction similarly results in the closure nut 2084 and closure beam assembly 2072 moving in the proximal direction.

  As indicated above, the distal end 2074 of the closure beam assembly 2072 is configured to operably support the cartridge housing 2062 of the cartridge module 2060 therein. The cartridge module 2060 includes a plurality of surgical staples (not shown) on a staple driver (not shown) that is adapted to pass the knife member 2115 when axially advanced. The surgical staples are driven out of the corresponding pockets 2066 located on each side of the configured slot 1068. Cartridge module 2060 is disclosed in, for example, US Pat. Nos. 6,988,650 and 7,134,587, all of which are incorporated herein in their entirety, except as noted. It may be somewhat similar to existing cartridge modules. The end effector 2000 may be disposed of after a single use, or the end effector 2000 may be re-sterilized and replaced with a used cartridge module during an ongoing procedure or for a new procedure May be reusable.

  End effector 2000 further includes a firing system 2100 that includes a firing bar assembly 2112 that is configured to be slidably received within the open bottom of closure beam assembly 2072. See FIG. 39. In one form, the firing system 2100 further includes a firing shaft 2102 having a threaded distal end 2104 and a proximal portion 2106 having a square cross-sectional shape. The threaded distal end 2104 is threadably received within a threaded firing nut 2110 attached to the proximal end of the firing bar assembly 2112. The threaded firing nut 2110 is dimensioned to be slidably received within an axial cavity 2085 within the closure nut assembly 2084. See FIG. 41. With such a device, the firing nut 2110 moves axially with the closure nut assembly 2084 when the end effector 2000 is moved to the closed position and then the closure when the firing system 2100 is activated. It can move axially relative to the nut 2084 and the closure beam assembly 2072. Firing shaft 2102 defines a firing shaft axis FSA-FSA that is parallel to or substantially parallel to closure shaft axis CSA-CSA. For example, see FIG. As can also be seen in FIGS. 39 and 41, the proximal portion 2106 of the firing shaft 2102 is within the elongated passage 2105 in the female socket coupler 57 ′ that is otherwise identical to the female socket coupler described herein. Is slidably received. The elongate passage 2105 has a square cross-sectional shape dimensioned to slidably receive the proximal portion 2106 of the firing shaft 2102 therein. Such a configuration allows the firing shaft 2102 to move axially relative to the female socket coupler 57 'while being rotatable with the female socket coupler 57'. Thus, when the closure beam assembly 2072 is advanced in the distal direction “DD” upon actuation of the first drive system in the surgical instrument, the firing nut 2110 is moved in the distal direction “DD” within the closure nut assembly 2084. Will be carried to. Proximal portion 2106 of firing shaft 2102 moves axially within passage 2105 of female socket coupler 57 'while still engaging female socket coupler 57'. Subsequent activation of the second drive system in a direction of rotation within the surgical instrument operably coupled to female socket coupler 57 'will cause firing shaft 2102 to rotate, thereby causing firing. The bar assembly 2112 will move in the distal direction “DD”. As the firing bar assembly 2112 moves distally, the knife bar 2115 is advanced distally through the cartridge module 2060. Actuation of the second drive system in the second rotational direction causes the firing bar assembly 2112 to move in the proximal direction “PD”.

  The distal end of the firing bar assembly 2112 includes a drive member 2114 and a knife member 2115 projecting distally from the drive member 2114. As can be seen in FIG. 39, knife member 2115 is slidably received within anvil arm portion 2142 of anvil assembly 2140 configured to be seated within a curved anvil support portion 2025 of support structure 2024. ing. Further details regarding anvil assembly 2140 may be found in US Pat. Nos. 6,988,650 and 7,134,587. End effector 2000 may also include a safety lockout mechanism 2150 (FIG. 39) to prevent firing of an already fired cartridge module 2060. Details regarding the interaction between the cartridge module 2060 and the safety lockout mechanism can be found in US Pat. Nos. 6,988,650 and 7,134,587.

  End effector 2000 also includes a tissue retention pin actuation mechanism 2160. The tissue retention pin actuation mechanism 2160 includes a saddle-shaped slide 2162 disposed in the upper portion of the housing 2010. The slide 2162 is pivotally connected to a push rod driver 2163 that is slidably supported in the housing 2010. The push rod driver 2163 is limited with respect to longitudinal movement along the long axis of the end effector 2000. The push rod driver 2163 is coupled to the push rod 2164 by an annular groove 2165 on the push rod 2164 that snaps into the slot 2166 of the push rod driver 2163. See FIG. 41. The distal end of push rod 2164 has an annular groove 2167 that connects with a groove 2172 at the proximal end of coupler 2170 attached to cartridge module 2160 (best shown in FIG. 41). The distal end of the coupler 2170 has a groove 2174 for interconnecting with an annular slot 2182 on the retaining pin 2180. Moving the slide 2162 manually results in the push rod 2164 moving. Moving the push rod 2164 distally or retracting proximally results in the retention pin 2180 moving correspondingly. The actuating mechanism 2160 of the retaining pin 2180 also operatively interacts with the closure beam assembly 2072 so that activation of the closure system 2070 results in the retaining pin 2180 still being manually in its proximal position. If it is not moved, it will automatically move distally. As the retention pin 2180 is advanced, the retention pin 2180 extends through the cartridge housing 2062 and into the anvil assembly 2140, thereby capturing tissue between the cartridge module 2060 and the anvil assembly 2140.

  In one form, the retention pin actuation mechanism 2160 includes a yoke 2190 that is rotatably or pivotally supported within the housing 2010 by a pivot pin 2192. The closure beam assembly 2072 further includes posts or protrusions 2073 that extend laterally on either side of the closure beam assembly 2072 inside the housing 2010. These posts 2073 are slidably received in corresponding arcuate slots 2194 in the yoke 2190. The yoke 2190 has a cam pin 2196 arranged to push the cam surface 2168 of the push rod driver 2163. The yoke 2190 is not directly attached to the retention pin 2180, so the surgeon can manually advance the retention pin 2180 if he chooses to do so. Retention pin 2180 will advance automatically if the surgeon chooses to leave only retention pin 2180 when closure beam assembly 2072 is advanced distally to the closed position. The surgeon must manually retract the retaining pin 2180. By configuring the holding pin operating mechanism 2160 in this manner, the holding pin 2180 can be manually closed and retracted. If the surgeon does not manually close the retention pin 21280, the retention pin actuation mechanism 2160 automatically closes the retention pin 2180 during instrument clamping. Further details regarding the operation and use of the retaining pin can be found in US Pat. Nos. 6,988,650 and 7,134,587.

  The end effector 2000 may also be equipped with various sensors coupled to the end effector contact plate 2120 mounted in the end effector housing 2010. For example, the end effector 2000 may include a closure sensor 2122 mounted within the end effector housing 2010 and electrically coupled to the end effector contact plate 2120, thereby enabling the end effector 2000 to operate on a surgical instrument. When coupled, the closure sensor 2122 communicates with the surgical instrument control system. The closure sensor 2122 may include a Hall effect sensor 7028 as described below with respect to FIGS. 61 and 63 configured to detect the position of the switch protrusion 2086 on the closure nut 21084. See FIG. 40. In addition, a firing sensor 2124 may also be mounted within the end effector housing 2010 and may be configured to detect the position of the firing nut 2110 within the closure nut 2084. The firing sensor 2124 may include a Hall effect sensor 7028, described below in connection with FIGS. 61, 63, and end communication to ultimately communicate with a surgical instrument control system as discussed herein. It may be electrically coupled to the contact plate 2120 of the effector. As discussed above, the contact plate 2120 is connected to the surgical instrument contact plate 30 mounted within the surgical instrument housing 12 when the end effector 2000 is operably coupled to the surgical instrument. The end effector housing 2020 may be positioned so as to be electrically coupled.

  The use of end effector 2000 will now be described in connection with surgical instrument 10. However, it will be apparent that the end effector 2000 can be operably coupled to various other surgical instrument devices disclosed herein. Prior to use, closure shaft 2080 and firing shaft 2102 are “clocked” or positioned at their respective starting positions to facilitate attachment to first and second drive shafts 22, 42, respectively. In order to couple the end effector 2000 to the surgical instrument 10, for example, the clinician may have the closure shaft axis CSA-CSA axially aligned with the first drive shaft axis FDA-FDA and the firing shaft axis FSA-FSA is the first. The end effector 2000 is moved to a position that is axially aligned with the second drive shaft axis SDA-SDA. Female socket coupler 57 on closure shaft 2080 is inserted in operative engagement with male coupler 51 on first drive shaft 22. Similarly, female socket coupler 57 ′ on firing shaft 2102 is inserted in operative engagement with male coupler 51 on second drive shaft 42. Thus, when in this position, the closure shaft 2080 is operably coupled to the first drive shaft 22 and the firing shaft 2102 is operably coupled to the second drive shaft 42. The end effector contact plate 1120 is operatively coupled to the surgical instrument contact plate 30 such that the sensors in the end effector 2000 are in operative communication with the surgical instrument control system. In order to keep the end effector 2000 in operative engagement with the surgical instrument 10, the end effector 2000 includes a retainer latch 2130, which is attached to the end effector housing 2010, 12 is configured to releasably engage a portion of twelve. The retainer latch 2130 may include a retaining projection 2132 that may releasably engage a retainer cavity 15 formed in the housing 12. Please refer to FIG. When coupled together, closure sensor 2122 detects the position of closure nut 2084 and firing sensor 2124 detects the position of firing nut 2110. That information is communicated to the surgical instrument control system. In addition, the clinician may confirm that the shift transmission assembly (or its transmission carriage 62) is in its first drive position. This can be confirmed by the operation of the indicator light 77 on the housing 12 as discussed above. If the shift transmission assembly 60 is not in its first drive position, the clinician may actuate the firing trigger 92 to move the transmission carriage 62 to the first drive position, thereby causing the rocker trigger 110 to move. When the motor 80 is activated and the motor 80 is activated, the first drive system 20 is activated as a result. Assuming that closure system 2070 and firing system 2100 are each in a starting position and end effector 2000 has an unused staple cartridge module 2060 properly installed therein, the clinician then activates closure system 2070. The target tissue may be captured between the cartridge module 2060 and the anvil assembly 2140.

  The clinician may move the closure beam assembly 2072 distally by actuating the rocker trigger 110 to actuate the motor 80 and rotate the first drive shaft 22. This action causes the cartridge module 2060 to move toward the anvil assembly 2140 and clamp the target tissue therebetween. As the closure beam 2072 moves distally, the interaction of the post 2073 and the yoke 2190 activates the tissue retention actuation mechanism 2160, through the deck portion 2161 and through the anvil assembly 2140 (see FIG. 41). The retaining pin 2180 will be driven distally into the reference). Retention pin 2180 serves to confine the target tissue between anvil assembly 2140 and cartridge module 2060. Once the target tissue is clamped between the anvil assembly 2140 and the cartridge module 2060, the clinician can then actuate the firing trigger 92 to move the transmission carriage 62 to its second drive position, so that the motor As a result, the second driving shaft 42 is rotated. When the transmission carriage 62 is moved to the second drive position, the clinician once again activates the rocker trigger 110 to drive the second drive system 40 and the firing system 2100 in the end effector 2000 to launch the firing bar. The assembly 2112 can be driven distally, which causes the knife member 2115 to be driven distally through the cartridge module 2060 to move the target tissue clamped between the anvil assembly 2140 and the cartridge module 2060. Disconnect. As the firing bar assembly 2112 moves distally, the drive member 2114 also drives a surgical staple supported within the cartridge module 2060 to drive it away from the cartridge module 2060 and through the target tissue, and to the anvil assembly. Forming contact with 2140. When the cutting and stapling operation is complete, the clinician can actuate the rocker trigger 110 to reverse the rotation of the motor and return the firing system 2100 to its starting position. The clinician may then use the firing trigger 92 to return the transmission carriage 62 to its first drive position, thereby causing the motor 80 to rotate in the reverse direction by actuating the rocker trigger 110 in the opposite direction. The closure beam assembly 2073 is returned to its starting position. As the closure beam assembly 2073 moves proximally, the yoke 2190 can interact with the tissue retention pin actuation mechanism 2160 to retract the retention pin 2180 to its starting position. Alternatively, the clinician may use a saddle-shaped slide 2162 to manually retract the retaining pin 2180 to its starting position. The clinician may retract the retaining pin 2180 to its starting position before operating the closure system 2070 to return the closure beam 2072 to its starting position. Further details regarding curvilinear staple cutters can be found in US Pat. Nos. 6,988,650 and 7,134,587.

  42-45 illustrate a surgical end effector 3000 that includes a type of surgical cutting fastener that may be commonly referred to as a “circular surgical stapler”. In certain surgical procedures, the use of surgical staples is becoming the preferred method of joining tissues, and thus specially configured surgical staplers have been developed for their use. For example, intraluminal or circular staplers have been developed for use in surgical procedures involving the lower colon where sections of the lower colon are joined together after the diseased part has been resected. Circular staplers useful for performing such procedures are, for example, U.S. Pat. Nos. 5,104,025, 5,205,459, 5,285,945, and 5,309. , 927, 8,353,439, and 8,360,297, the contents of all of which are each incorporated herein by reference.

  As shown in FIG. 42, the end effector 3000 includes an end effector housing 3010, which can be assembled from housing segments 3012, 3014 that are removably coupled together by screws, protrusions, snap mechanisms, and the like. An elongated shaft assembly 3020 protrudes from the end effector housing 3010. The elongate shaft assembly 3020 is configured to operably support and interact with the circular tool head 3300 and anvil 3320. A wide variety of circular staple cartridges and anvil devices are known in the art, as will be apparent from the exemplary US patents referenced above. For example, as can be seen in FIG. 43, the circular stapler head 3300 may include a casing member 3302 that supports a cartridge support assembly in the form of a staple driver assembly 3304, which includes a circular staple cartridge 3306 and a staple driver assembly 3304. Coupled and adapted to drive staples supported in the circular staple cartridge 3306 to contact the staple forming backside 3326 of the anvil 3320. A circular knife member 3308 is centrally disposed within the staple driver assembly 3304. The proximal end of the casing member 3302 may be coupled to the outer tubular shroud 3022 of the arcuate shaft assembly 3020 by a distal ferrule member 3024. Anvil 3320 includes a circular body portion 3322, which has an anvil shaft 3324 for attaching a trocar. The anvil body 3322 has a stapled back surface 3326 and may have a shroud 3328 attached to the distal end. As discussed in more detail below, the anvil shaft 3324 further includes a pair of trocar retaining clips or leaf springs 3330 that serve to releasably retain the trocar 3042 in retaining engagement with the anvil shaft 3324. May be.

  In one form, the shaft assembly 3020 includes a compression shaft 3030, a compression shaft distal portion 3032, and a tension band assembly 3040, which is operably supported within the outer tubular shroud 3022. The Trocar tip 3042 is attached to the distal end of tension band assembly 3040 by fastener 3041. As is well known, the trocar tip 3042 can be inserted into the anvil shaft 3324 of the anvil 3320 and held in engagement by the trocar retaining clip 3330.

  Surgical end effector 3000 further includes a closure system 3070 and a firing system 3100. In at least one form, the closure system 3070 includes a closure nut assembly 3084 that is attached to the proximal end of the tension band 3040. As can be seen in FIGS. 42 and 43, the closure nut assembly 3084 includes a proximal coupler member 3085 that is attached to the proximal end of the tension band 3040 by fasteners 3087. The closure system 3070 further includes a threaded closure shaft 3080 that threadably engages the closure nut 3084. The closure shaft 3080 defines the closure shaft axis CSA-CSA and also to facilitate the coupling of the closure shaft 3080 with the male coupler 51 attached to the first drive shaft in the surgical instrument. And a female socket coupler 57 attached to the proximal end of the closure shaft 3080. The rotation of the closure shaft 3080 in the first direction will cause the closure nut 3084 to drive the tension band assembly 3040 in the distal direction “DD”. Rotating the closure shaft 3080 in the opposite direction similarly results in the closure nut 3084 and tension band assembly 3040 moving proximally.

  As can also be seen in FIG. 43, the distal compression shaft portion 3032 is coupled to the staple driver assembly 3304. Accordingly, the staple driver assembly 3304 moves axially within the casing member 3302 as the compression shaft 3030 moves axially within the outer tubular shroud 3022. The axial movement of the compression shaft 3030 is controlled by the firing system 3100. In one form, firing system 3100 includes a threaded firing shaft 3102 that is threadedly engaged with a threaded firing nut 3110 that is attached to the proximal end of compression shaft 3030. The firing shaft 3102 defines a firing shaft axis FSA-FSA that is parallel or substantially parallel to the closure shaft axis CSA-CSA. See, for example, FIGS. 44 and 45. To facilitate coupling the firing shaft 3102 with the male coupler 51 attached to the second drive shaft in the surgical instrument, the proximal end of the firing shaft 3102 is fitted with a female socket coupler 57. ing. Activation of the second drive system of the surgical instrument in one rotational direction causes the firing shaft 3102 to rotate in the first direction, thereby driving the compression shaft 3030 in the distal direction “DD”. As the compression shaft 3030 moves in the distal direction “DD”, the circular staple driver assembly 3304 is driven distally to drive the surgical staples in the staple cartridge 3306 to form contact with the back surface 3326 of the anvil body 3322. Let In addition, the circular knife member 3308 is driven through tissue clamped between the anvil body 3322 and the staple cartridge 3306. Actuation of the second drive system in the second rotational direction causes the compression shaft 3030 to move in the proximal direction “PD”.

  The end effector 3000 may also be equipped with various sensors coupled to the end effector contact plate 3120 mounted within the end effector housing 3010. For example, the end effector 3000 may include a closure sensor 3122 mounted within the end effector housing 3010 and electrically coupled to the end effector contact plate 3120 such that the end effector 3000 is operably coupled to a surgical instrument. When done, the closure sensor 3122 communicates with the control system of the surgical instrument. The closure sensor 3122 may include a Hall effect sensor 7028, described below in connection with FIGS. 61, 63, configured to detect the position of the closure nut 3084. See FIG. 44. In addition, a firing sensor 3124 may also be mounted within the end effector housing 3010 and may be arranged to detect the position of the firing nut 3110 within the closure nut 3084. For example, as discussed in more detail below in connection with FIGS. 61, 63, 64, firing sensor 3124 may also include a Hall effect sensor 7028 as described below in connection with FIGS. It may also be electrically coupled to the end effector contact plate 3120 for ultimate communication with a surgical instrument control system such as the handle processor 7024. As discussed above, the contact plate 3120 is connected to the surgical instrument contact plate 30 mounted within the surgical instrument housing 12 when the end effector 3000 is operably coupled to the surgical instrument. The end effector housing 3000 may be positioned so as to be electrically coupled.

  The use of the end effector 3000 will now be described in connection with the surgical instrument 10. However, it will be apparent that the end effector 3000 can be operably coupled to various other surgical instrument devices disclosed herein. Prior to use, the closure shaft 3080 and firing shaft 3102 are “clocked” or positioned at their respective starting positions to facilitate attachment to the first and second drive shafts 22, 42, respectively. In order to couple the end effector 3000 to the surgical instrument 10, for example, the clinician may have the closure shaft axis CSA-CSA axially aligned with the first drive shaft axis FDA-FDA and the firing shaft axis FSA-FSA is the first The end effector 3000 is moved to a position axially aligned with the second drive shaft axis SDA-SDA. Female socket coupler 57 on closure shaft 3080 is inserted in operative engagement with male coupler 51 on first drive shaft 22. Similarly, female socket coupler 57 on firing shaft 3102 is inserted in operative engagement with male coupler 51 on second drive shaft 42. Thus, when in this position, the closure shaft 3080 is operably coupled to the first drive shaft 22 and the firing shaft 3102 is operably coupled to the second drive shaft 42. The end effector contact plate 3120 is operably coupled to the surgical instrument contact plate 30 so that the sensors 3122, 3124 in the end effector 3000 are in operative communication with the surgical instrument control system. In order to keep the end effector 3000 in operative engagement with the surgical instrument 10, the end effector 3000 includes a retainer latch 3130 that is attached to the end effector housing 3010, the instrument housing 12 is configured to releasably engage a portion of twelve. The retainer latch 3130 may include a retaining projection 3132 that may releasably engage a retainer cavity 15 formed in the housing 12. Please refer to FIG. When coupled together, closure sensor 3122 detects the position of closure nut 3084 and firing sensor 3124 detects the position of firing nut 3110. That information is communicated to the surgical instrument control system. In addition, the clinician may confirm that the shift transmission assembly (or its transmission carriage 62) is in its first drive position. This can be confirmed by the operation of the indicator light 77 on the housing 12 as discussed above. If the shift transmission assembly 60 is not in its first drive position, the clinician may actuate the firing trigger 92 to move the transmission carriage 62 to the first drive position, thereby causing the rocker trigger 110 to move. When the motor 80 is activated and the motor 80 is activated, the first drive system 20 is activated as a result. Assuming that the closure system 3070 and firing system 3100 are each in the starting position and the end effector 3000 is properly fitted with an unused staple cartridge module therein, the end effector 3000 is ready for use.

  As is well known, when performing anastomosis using a circular stapler, the intestine is usually used for surgical operations with multiple rows of staples placed on either side of the target site (ie, specimen) of the intestine. It can be stapled using a stapler. The target site is usually cut simultaneously when the site is stapled. After the target specimen is removed, the clinician inserts an anvil 3320 into the proximal portion of the intestine, proximal of the staple line. This may be done by inserting the anvil body 3322 into the entrance cut into the proximal portion of the intestine, or the anvil 3320 places the anvil 3320 over the distal end of the end effector 3000 and the rectum. It can be placed transanally by inserting an instrument into it. The clinician then attaches the anvil shaft 3324 to the trocar tip 3042 of the end effector 3000 and inserts the anvil 3320 into the distal portion of the intestinal tract. The clinician then uses a suture or other conventional tie device to tie the distal end of the proximal portion of the intestine to the anvil shaft 3324 and uses another suture to move the distal rectum. The proximal end of the portion can be tied around the anvil shaft 3324.

  The clinician then attached to the tension band assembly 3040, trocar tip 3042, and trocar tip 3042 by actuating the rocker trigger 110 to actuate the motor 80 and rotate the first drive shaft 22. Anvil 3320 may be moved proximally. This action causes the anvil 3320 to move toward the cartridge 3306 supported within the casing member 3302 of the stapler head 3300 to close their gaps, thereby proximate the distal portion of the intestinal tract in those gaps. The end engages the distal end of the proximal intestinal portion. The clinician continues to operate the first drive system 20 until the desired amount of tissue compression is obtained. Once the intestinal tract is clamped between the anvil assembly 3320 and the cartridge module 3300, the clinician can then actuate the firing trigger 92 to move the transmission carriage 62 to its second drive position, so that the motor As a result, the second driving shaft 42 is rotated. When the transmission carriage 62 is moved to the second drive position, the clinician once again activates the rocker trigger 110 to activate the second drive system 40 and the firing system 3100 in the end effector 3000, and the compression shaft 3030. Can be driven distally, which causes the circular staple driver assembly 3304 and circular knife member 3308 to be driven distally. Such action serves to cut a piece of clamped intestinal tract and drive surgical staples through the ends of the clamped intestinal tract thereby joining the portions of the intestinal tract and forming a tubular pathway. At the same time, as the staple is driven and shaped, the circular knife 3308 is driven through the end of the intestinal tissue to cut the end adjacent to the inner row of staples. The clinician then withdraws the end effector 3000 from the intestine and completes the anastomosis.

  FIGS. 46-49 illustrate another surgical end effector 3000 'that can be identical to the surgical end effector 3000 described above, except for the differences specified below. Of the surgical end effector 3000 ', the same components as those of the surgical end effector 3000 described above are designated by the same reference numerals. Of the surgical end effector 3000 ', components that are not identical to the corresponding components of the surgical end effector 3000 but that may be similar in operation are designated by the same component number with "'". To do. As can be seen in FIGS. 46-49, the surgical end effector 3000 ′ generally includes a drive separation assembly designated 3090, which advantageously allows the clinician to move the distal portion of the drive system. It is configured to be separable from the proximal portion of the drive train.

  In the illustrated embodiment, the drive separation assembly 3090 is used with a closure system 3070 ′ so that the clinician can quickly respond if the distal portion of the closure system inadvertently fails or becomes inoperable. In addition, the drive system distal portion of the closure system can be mechanically separated from the drive system proximal portion. More specifically, and with reference to FIG. 47, the tension band assembly 3040 and trocar tip 042 (see FIGS. 42, 43 and 45) are the “driveline distal portion” 3092 of the closure system 3070 ′. Also, the closure shaft 3080 and the closure nut assembly 3084 can be referred to as, for example, a “drive system proximal portion” 3094 of the closure system 3070 ′. As can be seen in FIG. 47, one form of drive separation assembly 3090 includes a distal coupler member 3095 that is attached to the proximal end of tension band assembly 3040. The distal coupler member 3095 can be attached to the tension band assembly 3040 by press fit, adhesive, solder, welding, etc., or any combination of such attachment devices. Distal coupler member 3095 is dimensioned to be slidably received within slot 3097 of proximal coupler member 3085 'that is attached to closure nut assembly 3084. Distal coupler member 3095 includes a distal hole 3096 therethrough, which is similar to proximal hole 3098 of proximal coupler member 3085 ′ when distal coupler member 3095 is seated in slot 3097. It is configured to align in the axial direction. See FIG. 48. The drive separation assembly 3090 further includes a drive coupler pin 3099 that is received in the axially aligned holes 3096, 3098 to hold and couple the distal coupler member 3095 to the proximal coupler member 3085 ′. Are sized. In other words, the drive coupler pin 3099 serves to mechanically and releasably couple the drive train distal portion 3092 to the drive train proximal portion 3094. The drive coupler pin 3099 extends along a coupling axis CA-CA that is perpendicular to the closure shaft axis CSA. An axial slot 3111 is provided in the firing nut 3110 to provide clearance for the drive coupler pin 3099 to move axially relative to the firing nut 3110. As can be seen in FIG. 46, the end effector housing portion 3014 'is provided with an axially extending clearance slot 3016 to facilitate axial movement of the drive coupler pin 3099 during operation of the closure system 3070'. With such a device configuration, the clinician simply removes or withdraws the drive coupler pin 3099 laterally from the holes 3096, 3098 to separate the distal coupler member 3095 from the proximal coupler member 3085 ′, thereby ending the end. At any point during use of the effector 3000 ′, the drive train distal portion 3092 can be quickly separated from the drive train proximal portion 3094.

  Although the drive separation assembly 3090 has been described in connection with the closure system 3070 'of the end effector 3000', the drive separation assembly may alternatively be used in connection with the firing system 3100 of the end effector 3000 '. . In other configurations, the drive separation assembly 3090 may be associated with a closure system and the second drive separation assembly may be associated with a firing system. Thus, one or both of the drive train proximal portions can be selectively mechanically disconnected from the corresponding drive train distal portion. Further, such drive separation assemblies may include, but are not necessarily limited to, at least some other disclosed herein, including, for example, end effector 1000 and end effector 2000 and their respective equivalent devices. It can be effectively used in conjunction with a surgical end effector closure and / or firing system.

  50-53 illustrate another surgical end effector 2000 'that can be identical to the surgical end effector 2000 described above, except for the differences specified below. Of the surgical end effector 2000 ', the same components as those of the surgical end effector 2000 described above will be designated by the same reference numerals. Of the surgical end effector 2000 ′, components that are not identical to the corresponding components of the surgical end effector 2000 but may be similar in operation are designated by the same component number with “′”. To do. As can be seen in FIGS. 51-53, the surgical end effector 2000 'may be provided with an indicator device for providing visual indications regarding the firing status of the closure and firing system.

  More specifically, and with reference to FIGS. 51 and 52, closure system 2070 includes a closure system status assembly, indicated generally at 2090. In one form, for example, the closure system status assembly 2090 includes a closure indicator member 2092 attached to or extending from the closure nut 2084 '. The closure system status assembly 2090 further includes a closure indicator window 2094 or opening in the end effector housing 2010 so that the position of the closure indicator member 2092 is visible through the closure indicator window 2094. It can be estimated by the clinician. Similarly, launch system 2100 ′ may include a launch system status assembly generally designated 2130. In one form, for example, the firing system status assembly 2130 includes a firing indicator member 2132 attached to or extending from the firing nut 2110 '. The firing system status assembly 2130 further includes a firing indicator window or opening 2134 in the end effector housing 2010 so that the position of the firing indicator member 2132 is visible through the firing indicator window 2134. It can be estimated by the clinician.

  Closure system status assembly 2090 and launch system status assembly 2130 reveal the mechanical status of closure system 2070 and launch system 2100. The mechanical state of the distal end of the end effector can generally be observed by a clinician, but may be covered or hidden by the tissue. The mechanical state of the proximal portion of the end effector is not known without a window device or protruding indicator. Also, color coding on the outer surface of the shaft device and / or on the indicator may be used to give the clinician confirmation that the end effector has been completely closed or fired (eg, the indicator is green when fully closed). Good. For example, the closure indicator member 2092 may have a closure mark 2093 visible thereon through a closure indicator window 2094. In addition, the housing 2010 may have a first closure mark 2095 and a second closure mark 2096 adjacent to the closure indicator window 2094 to estimate the position of the closure indicator 2092. For example, the first closure mark 2095 may include a first bar having a first color (eg, orange, red, etc.), and the second closure mark is a second color different from the first color. It may include bars or sections of color (eg green). When the closure mark 2093 on the closure indicator member 2092 is aligned with the proximal end of the first closure mark bar 2095 (this position is represented by element number 2097 in FIG. 50), the clinician will have the closure system 2070 You may notice that it is in its inoperative position. Once the closure mask 2093 is aligned within the first closure mark bar 2095, the clinician has the closure system 2070 partially activated (but not fully activated or fully closed). Not)). When the closure mask 2093 is aligned with the second closure indicia 2096 (represented by element number 2098 in FIG. 50), the clinician may notice that the closure system 2070 is in its fully activated or fully closed position.

  Similarly, the firing indicator member 2132 may have a firing mark 2133 visible thereon through a firing indicator window 2134. In addition, the housing segment 2014 ′ may have a first firing mark 2135 and a second firing mark 2136 adjacent to the firing indicator window 2134 to estimate the position of the firing indicator 2132. For example, the first firing mark 2135 may include a first firing bar having a first firing color (eg, orange, red, etc.), and the second firing mark is different from the first firing color. A second firing bar or section of a second firing color (eg, green) may be included. When the firing mark 2133 on the firing indicator member 2132 is aligned with the proximal end of the first firing mark bar 2135 (this position is represented by element number 2137 in FIG. 50), the clinician may confirm that the firing system 2100 You may notice that it is in its inoperative position. When the firing mark 2133 is aligned within the first firing mark bar 2135, the clinician has the firing system 2100 partially activated (but not fully activated or fully fired). You can notice that. When the firing mask 2133 aligns with the second firing mark 2136 (represented by element number 2138 in FIG. 50), the clinician may notice that the firing system 2170 is in its fully operational or fully fired position. Thus, the clinician can determine the extent to which the closure system and firing system are activated by observing the position of the indicator within each window.

  In another arrangement, the indicator windows 2094 and 2134 are visible in their entirety in the indicator windows 2094 and 2134, respectively, when the closure system 2070 and firing system 2100 ′ are in the starting or non-actuated position. As may be provided, end effector housing 2010 ′ may be provided. When the closure system 2070 and firing system 2100 'are activated, their indicators 2092, 2132 move out of their indicator windows 2094, 2134. The clinician may then estimate how far each of the systems 2070, 2100 ′ has been activated by observing how much of the indicators 2092, 2132 are visible through the windows 2094, 2134.

  Closure system status assembly 2090 and firing system status assembly 2130 reveal the mechanical state of closure system 2070 and firing system 2100 regardless of whether end effector 2000 'is attached to the surgical instrument handle or housing. To do. When the end effector 2000 is attached to the handle or housing, the closure system status assembly 2090 and firing system status assembly 2130 may be used as a primary or secondary check of the condition shown on the surgical instrument handle or housing. This gives the clinician an opportunity to determine the mechanical state of the system. Closure system status assembly 2090 and firing system status assembly 2130 also serve as a primary check when end effector 2000 'is detached from the surgical instrument handle or housing. Further, such closure system and firing system status assemblies include, but are not necessarily limited to, for example, end effector 1000 and end effector 3000 and their respective equivalent devices, at least some of which are disclosed herein. It can be used effectively with other surgical end effector closures and / or firing systems.

  54-60 illustrate another surgical end effector 2000 "that can be identical to the surgical end effector 2000 'described above, except for the differences specified below. Components of the surgical end effector 2000 ″ that are the same as the components of the end effector 2000 ′ and / or the end effector 2000 described above will be designated with the same reference numerals. The components of surgical end effector 2000 '' that are not identical to the corresponding components of surgical end effector 2000 'and / or 2000 but may be similar in operation are the same configuration with "" " It will be specified by element number. As seen in FIGS. 54-60, the surgical end effector 2000 '' includes a drive separation assembly designated generally at 2200, which is advantageously used by a clinician in the distal portion of the drive system. Is configured to be separable from the proximal portion of the drive train.

  In the illustrated embodiment, the drive separation assembly 2200 is used with the closure system 2070 ″ of the end effector 2000 ″, thereby causing the distal portion of the closure system to inadvertently fail or become inoperable. Even so, the clinician can quickly disconnect the drive system distal portion of the closure system from the drive system proximal portion. More specifically, and with reference to FIG. 56, the closure beam assembly 2072 may also be referred to as the “drive system distal portion” 2202 of the closure system 2070 ″ and the closure shaft 2080. And closure nut assembly 2084 '' may be referred to as "drive system proximal portion" 2204 of closure system 2070 ", for example. As can be seen in FIG. 59, the closure nut assembly 2084 "is substantially identical to the closure nuts 2084, 2084 'described above, but is provided in two parts. More specifically, the closure nut assembly 2084 '' axially moves the firing nut 2110 in the manner discussed above with the threaded upper portion 2210 in threaded engagement with the closure shaft 2080. And a lower portion 2214 supporting the same. The lower portion 2214 of the closure nut assembly 2084 "includes a closure indicator member 2092" that is attached directly to the closure beam assembly 2072 and functions in the same manner as the closure indicator 2092 discussed above.

  In at least one form, the drive separation assembly 2200 includes a drive coupler pin 2220 that serves to couple the lower portion 2214 of the closure nut assembly 2084 ″ to the upper portion 2210. As can be seen in FIG. 59, for example, the upper portion 2210 of the closure nut assembly 2084 '' includes a first dovetail slot segment 2212 that is below the closure nut assembly 2084 ''. Configured to align with second dovetail slot segment 2216 of side portion 2214. When the first dovetail slot segment 2212 and the second dovetail slot segment 2216 are aligned as shown in FIG. 59, they form a hole 2215 and the drive coupler pin 2220 in this hole 2215 as shown in FIG. Barrel portion 2222 may be inserted to couple upper portion 2010 and lower portion 2014 together. In other words, the drive coupler pin 2220 serves to mechanically and releasably couple the drive system distal portion 2202 of the closure system 2070 ″ to the drive system proximal portion 2204. The drive coupler pin 2220 extends along a coupling axis CA-CA that is perpendicular to the closure shaft axis CSA. See FIG. 56. To provide clearance for the drive coupler pin 2220 to move axially with the closure nut assembly 2084 ", the housing segment 2014" of the end effector housing 2010 "is provided with an axially extending clearance slot 2224. With such a configuration, the clinician simply removes or pulls out the drive coupler pin 2202 laterally from the hole 2215 formed by the dovetail slot segments 2212, 2216, so that any in-use effector 2000 ″ can be used. At this point, the drive train distal portion 2202 can be quickly separated from the drive train proximal portion 2204. When the drive coupler pin 2220 is removed from the hole 2215, the lower portion 2214 of the closure assembly 2084 '' can be moved relative to the upper portion 2212 so that from between the cartridge module 2060 and the anvil assembly 2140. It becomes possible to release the organization.

  54-56 show end effector 2000 "in the" open "position prior to use. As can be seen from these drawings, for example, the cartridge module 2060 is installed and ready for use. 57 and 58 show end effector 2000 in a closed state. That is, the closure beam 2080 is rotated to drive the closure nut assembly 2084 ″ in the distal direction “DD”. Because the lower portion 2214 of the closure nut assembly 2084 '' is attached to the upper portion 2210 by the drive coupler pin 2220, the closure beam assembly 2072 (because it is attached to the lower portion 2214) is also far from its closed position. The distal tissue is moved to clamp the target tissue between the cartridge module 2260 and the anvil assembly 2140. As discussed above, the saddle-shaped slide button 2162 on the housing 2010 ″ is moved distally so that the retention pin extends through the cartridge housing into the anvil assembly 2140, thereby allowing tissue to Capture between the cartridge module 2260 and the anvil assembly 2140. As discussed in detail above, when the closure nut assembly 2084 '' moves distally, the firing nut 2110 also moves distally, which causes the proximal portion 2106 of the firing shaft 2102 to It is pulled out from the elongated passage in the female socket coupler 57 '. See FIG. 58. FIG. 59 shows the drive coupler pin 2220 removed from the hole 2215 formed by the dovetail slot segments 2212, 2216. When the drive coupler pin 2220 is removed from the hole 2215, the drive train proximal portion 2202 (closure beam assembly 2072) moves in the proximal direction “PD” by moving the saddle-shaped slide button 2162 proximally. Can be done. Such movement of button 2162 causes closure beam assembly 2072, lower portion 2014 of closure nut assembly 2084 '', firing nut 2110 and firing bar assembly 2112, and retaining pin to move proximally. Become. Such movement allows tissue to be released from between the cartridge module 2060 and the anvil assembly 2140.

  FIG. 61 is a block diagram of a modular power surgical instrument 7000 comprising a handle portion 7002 and a shaft portion 7004. The modular electric surgical instrument 7000 is representative of a modular surgical instrument system indicated by 2 as a whole, and this modular surgical instrument system is in one form, for example, an end effector 1000, 2000 as shown in FIG. And a powered surgical instrument 10 that can be used with various surgical end effectors, such as 3000 and 3000. Since various functional and operational aspects of the modular powered surgical instrument 10 have been described in detail above, for the sake of brevity and clarity, such details are described below in connection with FIGS. It will not be repeated in the description. Rather, in the description of FIGS. 61-64 below, we will primarily focus on the functional and operational aspects of the electrical system and subsystems of the modular powered surgical instrument 7000, and these functional and operational aspects are: It may also apply in whole or in part to the modular electric surgical instrument described above.

  Accordingly, referring now to FIG. 61, the modular powered surgical instrument 7000 includes a handle portion 7002 and a shaft portion 7004. The handle and shaft portions 7002, 7004 include electrical subsystems 7006, 7008, respectively, electrically coupled by a communication power interface 7010. The components of the electrical subsystem 7006 of the handle portion 7002 are supported by the control board 100 described above. Communication power interface 7010 is configured so that electrical signals and power can be easily exchanged between handle portion 7002 and shaft portion 7004.

  In the illustrated example, the electrical subsystem 7006 of the handle portion 7002 is electrically coupled to various electrical elements and the display 7014. In one example, display 7014 is an organic light emitting diode (OLED) display, but display 7014 should not be limited to this situation. The electrical subsystem 7008 of the shaft portion 7004 is electrically coupled to various electrical elements 7016, which will be described in detail below.

  In one aspect, the electrical subsystem 7006 of the handle portion 7002 includes a solenoid driver 7018, an accelerometer 7020, a motor controller / driver 7022, a handle processor 7024, and a voltage regulator 7026, from a plurality of switches 7028. Configured to accept input. In the illustrated embodiment, switch 7028 is shown as a hall switch, but switch 7028 is not limited to this situation. In various aspects, the Hall effect sensor or switch 7028 can be located on either the end effector portion, shaft, and / or handle of the instrument.

  In one aspect, electrical subsystem 7006 of handle portion 7002 includes solenoid 7032, clamp position switch 7034, firing position switch 7036, motor 7038, battery 7040, OLED interface board 7042, opening switch 7044, closing switch 7046, and firing switch 7048. Configured to receive a signal from In one aspect, the motor 7038 is a brushless DC motor, but in various aspects the motor is not limited to this situation. Nevertheless, the description of motor 7038 may also apply to motors 80, 480, 580, 680, 750, and 780 described above. A solenoid 7032 is a typical example of the shifter solenoid 71 described above.

  In one aspect, the electrical subsystem 7008 of the shaft portion 7004 includes a shaft processor 7030. The shaft electrical subsystem 7008 is configured to receive signals from various switches and sensors located on the end effector portion of the instrument, the signals indicating the status of the end effector clamp jaws and cutting elements. It is. As shown in FIG. 61, shaft electrical subsystem 7008 is configured to receive signals from clamp open status switch 7050, clamp close status switch 7052, firing start status switch 7054, and firing end status switch 7056, and This signal indicates the state of the clamping and cutting elements.

  In one aspect, the handle processor 7024 may be a general purpose microcontroller suitable for medical and surgical instrument applications and including motion control. In one example, the handle processor 7024 may be a TM4C123BH6ZRB microcontroller provided by Texas Instruments. Handle processor 7024 includes, among other mechanisms, a 32-bit ARM® Cortex ™ M4 80-MHz processor with a system timer (SysTick), an integrated nested vector interrupt controller (NVIC), a clock Wake-up interrupt controller (WIC) with gating, memory protection unit (MPU), IEEE 754 compliant single precision floating point unit (FPU), embedded trace macro and trace port, system control block (SCB) And a Thumb-2 instruction set. The handle processor 7024 may include on-chip memory, such as 256 KB single cycle flash up to 40 MHz. A prefetch buffer may be provided to improve performance above 40 MHz. Additional memory uses CAN protocol version 2.0 part A / B, 32KB single cycle SRAM, among other mechanisms such as two controller area networks (CAN) with bit rates up to 1 Mbps, An internal ROM, 2 KB EEPROM loaded with TivaWare (trademark) for C Series software.

  In one aspect, the handle processor 7024 also includes eight universal asynchronous receiver transmitters (UARTs) that support IrDA, 9-bit, and ISO7816 (one UART for modem status and modem flow control), advanced serial Can have integrity. Four synchronous serial interface (SSI) modules are provided to support the operation of the Freescale SPI, MICROWIRE, or Texas Instruments synchronous serial interface. In addition, for example, six Inter-Integrated Circuit (I2C) modules provide standard (100 kbps) and high speed (400 kbps) transmissions, supporting the transmission and reception of data as either masters or slaves.

  In one aspect, the handle processor 7024 also includes an ARM PrimeCell® 32-channel configurable μDMA controller, providing a scheme for freeing the Cortex ™ M4 processor from data transfer tasks, and the processor And make more efficient use of available bus bandwidth. Analog support functions include, for example, two 12-bit analog-to-digital converters (ADCs) with 24 analog input channels and a sample rate of 1 million samples / second, three analog comparators, 16 digital comparators, and An on-chip voltage regulator is mentioned.

  In one aspect, the handle processor 7024 also includes advanced motion control functions, such as eight pulse width modulation (PWM) generator blocks, each block comprising one 16-bit counter, two PWM comparators, PWM A signal generator, a dead band generator, and an interrupt / ADC trigger selector are provided. Eight PWM fault inputs are provided to facilitate low delay shutdown. Two quadrature encoder interface (QEI) modules have position integrators to track encoder position and velocity acquisition using built-in timers.

  In one aspect, two ARM FiRM compatible watchdog timers are provided along with six 32-bit general purpose timers (up to twelve 16 bits). Six wide 64-bit general purpose timers (up to twelve 32-bits) and twelve 16 / 32-bit and twelve 32 / 64-bit capture comparison PWM (CCP) pins are provided. Up to 120 GPIOs can be provided, with configuration with programmable control and pad shape for general purpose input / output (GPIO) interrupts, and very flexible pin multiplexing. The handle processor 7024 also includes a low power battery backup hibernation module with a real time clock. A plurality of clock sources are provided for the system clock of the microcontroller and include a precision oscillator (PIOSC), a main oscillator (MOSC), a 32.768 kHz external oscillator for the hibernation module, and an internal 30 kHz oscillator.

  In one aspect, the accelerometer 7020 portion of the electrical subsystem 7006 of the handle portion 7002 may be a motion sensor based on a micro electromechanical system (MEMS). As is well known, the MEMS technology is a combination of a minute mechanical device such as a sensor, a valve, a gear, a mirror, and an actuator embedded in a semiconductor chip and a computer. In one example, MEMS-based accelerometer 7020 may include an ultra-low power 8-bit 3-axis digital accelerometer, such as, for example, the LIS331 DLM provided by ST Microelectronics.

  In one aspect, an accelerometer 7020 such as a LIS331 DLM is an ultra-low power, high performance 3-axis linear belonging to the “Nano” family with a digital I2C / SPI serial interface standard output suitable for communicating with a handle processor 7024. It may be an accelerometer. The accelerometer 7020 may characterize an ultra-low power operating mode that allows for advanced power savings and smart sleep that evokes each function. The accelerometer 7020 may have a full scale of ± 2 g / ± 4 g / ± 8 g, which can be dynamically selected by the user, and can measure acceleration at an output data rate of 0.5 Hz to 400 Hz, for example. It is.

  In one aspect, the accelerometer 7020 may have a self-test feature so that the user can check the functionality of the sensor in the end use. The accelerometer 7020 may be configured to generate an interrupt signal according to an internal wakeup / freefall event as well as the position of the instrument itself. Interrupt generator thresholds and timing may be programmable on the fly.

  In one aspect, the motor controller / driver 7022 may include a three phase brushless DC (BLDC) controller and a MOSFET driver, such as, for example, the A3930 motor controller / driver provided by Allegro. A three-phase brushless DC motor controller / driver 7022 may be used with an N-channel external power MOSFET, for example, to drive a BLDC motor 7038. In one example, the motor controller / driver 7022 may incorporate the circuitry necessary for an effective three-phase motor drive system. In one example, a charge pump regulator is provided to provide an appropriate (> 10V) gate drive for a battery voltage drop to 7V and the motor controller / driver 7022 is at a battery voltage reduced to 5.5V. It is possible to operate with reduced gate drive. Power dissipation in the charge pump can be minimized by switching from voltage doubling mode at low supply voltage to dropout mode at 14V nominal drive voltage. In one aspect, a bootstrap capacitor is used to provide the above battery supply voltage required for the N-channel MOSFET. The internal charge pump for high side driving enables dc (100% duty cycle) operation.

  An internal fixed frequency PWM current control circuit adjusts the maximum load current. The peak load current limit can be set by selecting an input reference voltage and an external sense resistor. The PWM frequency can be set by a user-selected external RC timing network. To increase flexibility, the PWM input may be used to provide speed and torque control and an internal current control circuit to set the maximum current limit.

  The efficiency of the motor controller / driver 7022 can be improved by using synchronous rectification. The power MOSFET is protected from shoot-through by integrated crossover control using dead time. The dead time can be set by a single external resistor.

  In one aspect, the motor controller / driver 7022 indicates a logic fault in response to a combination where the hall inputs are all zero. Additional features of the motor controller / driver 7022 include high current 3-phase gate drive for N-channel MOSFETs, synchronous rectification, prevention of cross-conduction, charge pump and top-off charge pump for 100% PWM, integrated communication Decoder logic, operation over the supply voltage range of 5.5-50V, diagnostic output, + 5V Hall sensor power, and low current sleep mode.

  In one aspect, modular electric surgical instrument 7000 is equipped with a brushless DC electric motor 7038 (BLDC motor, BL motor), also known as an electronic commutation motor (ECM, EC motor). One such motor is the BLDC Motor B0610H4314 offered by Portescap. BLDC Motor B0610H4314 may be autoclavable. BLDC motor 7038 is a synchronous motor powered by a DC power source through an integrated inverter / switching power source that generates an AC electrical signal to drive a motor, such as the motor controller / driver 7022 described in the previous paragraph. is there. In this situation, AC, ie AC, is not a sinusoidal waveform, but rather a bidirectional current and the waveform is not limited. Additional sensors and electronics control the output amplitude and waveform of the inverter (and hence the percentage of DC bus utilization / efficiency) and frequency (ie, rotor speed).

  Although the rotor portion of the BLDC motor 7038 is a permanent magnet synchronous motor, in other embodiments, the BLDC motor may also be a switched reluctance motor or an induction motor. Although some brushless DC motors can be described as stepper motors, the term stepper motor is used for motors that are specifically designed to operate in a manner that is frequently stopped with the rotor at a predetermined angular position. Tend to be used.

  In one aspect, the BLDC motor controller / driver 7022 must direct the rotation of the rotor. Thus, the BLDC motor controller / driver 7022 needs a means to determine the orientation / position of the rotor (relative to the stator coil). In one example, the rotor portion of the BLDC motor 7038 is configured with a Hall effect sensor or a rotary encoder to directly measure the rotor position. Another example is to measure the back electromotive force (EMF) in the non-driving coil to infer the position of the rotor and eliminate the need for another Hall effect sensor and is therefore often referred to as a sensorless controller.

  In one aspect, the BLDC motor controller / driver 7022 has three bi-directional outputs (ie, frequency controlled three phase outputs), which are controlled by logic circuitry. Other simpler controllers may use a comparator to determine when the output phase should be advanced, but more advanced controllers use a microcontroller to manage acceleration and control speed The efficiency may be finely adjusted.

  Actuators that produce linear motion are called linear motors. As an advantage of linear motors, linear motors produce linear motion without the need for transmission systems such as ball-and-lead screws, rack and pinions, cams, gears or belts required for rotary motors. Is to get. Transmission systems are known to produce less responsiveness and less accuracy. The direct drive BLD motor 7038 may include a slotted stator with magnet teeth and a moving actuator, the moving actuator having a permanent magnet and a coil winding. To obtain linear motion, the BLDC motor controller / driver 7022 excites coil windings in the actuator to cause magnetic field interactions, resulting in linear motion.

  In one aspect, the BLDC motor 7038 is a Portescap BO610 brushless DC motor that provides a combination of durability, efficiency, torque, and speed as a package suitable for use in a modular powered surgical instrument 7000. is there. Such a BLDC motor 7038 provides suitable torque, density, speed, position control, and long life. The slotless BLDC motor 7038 uses a cylindrical ironless coil manufactured by the same winding technology as the ironless DC motor. The slotted BLDC motor 7038 is also autoclavable. The slotted BLDC motor 7038 may include a stator made of stacked steel laminates, with the windings disposed in slots cut axially along the inner circumference. The brushless DC slotted BLDC motor 7038 provides high torque density and heat dissipation with high acceleration. The three-phase configuration of the BLDC motor 7038 includes a Y-type connection, a Hall effect sensor, and a supply voltage of 4.5-24V. The housing of the BLDC motor 7038 may be made from 303SS material and the shaft may be made from 17-4ph material.

  In one aspect, Hall switch 7028 may be a Hall effect sensor known by the trade name BU520245G, and is a single pole integrated circuit Hall effect sensor. These sensors operate with a supply voltage in the range of 2.4V to 3.6V.

  In one aspect, voltage regulator 7026 is a regular PNP pass transistor replaced with a PMOS pass element. Since the PMOS pass element behaves as a low value resistor, a low dropout voltage of 415 mV is usually directly proportional to the load current at a load current of 50 A. The low quiescent current (usually 3.2 μA) is stable over the full range of load current (0 mA to 50 mA).

  In one aspect, the voltage regulator 7026 is a low dropout (LDO) voltage regulator, such as the TPS71533 LDO voltage regulator provided by Texas Instruments. Such an LDO voltage regulator 7026 provides the advantages of high input voltage, low dropout voltage, operation at low power, and a smaller package. The voltage regulator 7026 can operate over an input range of 2.5V to 24V and is stable with any capacitor (≧ 0.47 μF). This LDO voltage and low quiescent current allow operation at very low power levels, and thus voltage regulator 7026 is suitable for powering battery-managed integrated circuits. Specifically, the voltage regulator 7026 is activated as soon as the applied voltage reaches the minimum input voltage, the output is quickly available, and powers the continuously operating battery charging integrated circuit of the handle portion 7002.

  In one embodiment, battery 7040 is a lithium ion polymer (LIPO) battery, and polymer lithium ion or more generally a lithium polymer battery (abbreviated as Li-poy, Li-Pol, LiPo, LIP, PLI or LiP) It is a rechargeable (secondary battery) battery. The LIPO battery 7040 may include several identical secondary batteries in parallel to increase discharge capability, and in many cases a series “pack” to increase the total available voltage. Is available as

  Additional power for the modular powered surgical instrument 7000 is a synchronous step-down DC-DC converter 7058 optimized for applications with high power density, such as the TPS6217X family from Texas Instruments. 63A). A high switching frequency of typically 2.25 MHz may be used to allow the use of small inductors, and by utilizing a DCS-Control ™ topology, rapid transient response as well as advanced Provides output voltage accuracy.

  With a wide operating input voltage range of 3V to 17V, the synchronous step-down DC-DC converter 7058 (FIG. 63A) is powered from either Li-Ion or other batteries, as well as the 12V intermediate power rail. It is suitable for the system of the modular electric surgical instrument 7000. In one aspect, the synchronous step-down DC-DC converter 7058 supports a continuous output current of up to 0.5A from 0.9V to 6V (in 100% duty cycle mode).

  Power sequencing is also possible by configuring an Enable pin and an open drain Power Good pin. In Power Save Mode, synchronous step-down DC-DC converter 7058 (FIG. 63A) exhibits a quiescent current of approximately 17 μA from VIN. Power Save Mode transitions automatically and seamlessly when the load is light, and maintains a high efficiency over the entire load range. In Shutdown Mode, the synchronous step-down DC-DC converter 7058 is turned off and the shutdown power consumption is less than 2 μA.

  In one aspect, OLED interface 7042 is an interface to OLED display 7014. The OLED display 7014 includes an organic light emitting diode in which the radioactive electroluminescent layer is a film of an organic compound that emits light in response to an electric current. This organic semiconductor layer is placed between two electrodes, and generally at least one of these electrodes is transparent. OLED display 7014 may include OLEDs from two main product groups. They are based on small molecules and use polymers. By adding mobile ions to the OLED, a light-emitting electrochemical cell or LEC with a slightly different mode of operation is created. The OLED display 7014 may use either a passive matrix (PMOLED) or an active matrix addressing scheme. Active matrix OLEDs (AMOLEDs) require thin film transistor backplanes to switch individual pixels on or off, but allow higher resolutions and larger display sizes. In one example, the OLED display 7014 operates without a backlight. Therefore, a dark black level can be displayed, and it can be thinner and lighter than a liquid crystal display (LCD), ideally suited for use on the handle portion 7002 of the modular powered surgical instrument 7000. It has become.

  In one aspect, the shaft processor 7030 of the electrical subsystem 7008 of the shaft portion 7004 is implemented as an ultra low power 16-bit mixed signal MCU, such as the MSP430FR5738 Ultra-low Power MCU available from Texas Instruments. May be. Shaft processor 7030 is an ultra-low power microcontroller consisting of multiple devices featuring embedded FRAM non-volatile memory, ultra-low power 16-bit MSP430 CPU, and additional peripherals for various applications. is there. This architecture, FRAM, and peripherals are combined with seven low power modes and optimized to achieve long battery life in portable and wireless sensing applications. FRAM is a new nonvolatile memory that combines the speed, flexibility, and durability of SRAM with the stability and reliability of flash, all with lower total power consumption. Peripherals include, among other mechanisms, a 10-bit A / D converter, a 16-channel comparator with voltage reference generation and hysteresis functions, and three extended serial channels capable of I2C, SPI, or UART protocols , Internal DMA, hardware multiplier, real-time clock, and five 16-bit timers.

  The shaft processor 7030 includes a 16-bit RISC architecture with up to 24 MHz clock, operates over a wide supply voltage range of 2V to 3.6V, and is optimized for ultra-low power mode. The shaft processor 7030 also includes intelligent digital peripherals, ultra-low power ferroelectric RAM, and up to 16 KB of non-volatile memory. The embedded microcontroller provides ultra-low power writes, 125 ns per word, 16 KB fast write cycle in 1 ms, with built-in Error Coding and Correction (ECC) and Memory Protection Unit (MPU) Yes.

  Having described the electrical system, subsystems, and components of the handle and shaft portions 7002, 7004 of the modular powered surgical instrument 7000, the functional aspects of the control system will now be described. Thus, in operation, the electrical subsystem 7006 of the handle portion 7002 is configured to receive signals from an open switch 7044, a close switch 7046, and a firing switch 7048 supported on the housing of the handle portion 7002. When a signal is received from closure switch 7046, handle processor 7024 activates motor 7038 to initiate closure of the clamp arm. When the clamp is closed, the clamp closure status switch 7052 in the end effector sends a signal to the shaft processor 7030 which communicates the status of the clamp arm to the handle processor 7024 through the communication power interface 7010. To do.

  Once the target tissue is clamped, firing switch 7048 may be activated to generate a signal that is received by handle processor 7024. In response, as described in detail above in connection with FIGS. 1-8, the handle processor 7024 actuates the transmission carriage to its second drive position, so that the motor 7038 is actuated. As a result, the second drive shaft rotates. When the cutting member is positioned, the firing start status switch 7054 located in the end effector sends a signal indicating the position of the cutting member to the shaft processor 7030, which is again through the communication power interface 7010. The position is communicated to the handle processor 7024.

  By actuating the first switch 7048 once more, a signal is sent to the handle processor 7038, which reacts to actuate the second drive system and firing system in the end effector, and tissue The cutting member and wedge sled assembly are driven distally through the surgical staple cartridge. When the tissue cutting member and wedge sled assembly is driven to the most distal position within the surgical staple cartridge, the end-of-fire switch 7056 sends a signal to the shaft processor 7030, which again passes through the interface 7010. The position is communicated to the handle processor 7024. The firing switch 7048 can now be activated to send a signal to the handle processor 7024, which operates the motor 7038 in reverse rotation to return the firing system to its starting position.

  By actuating the release switch 7044 again, a signal is sent to the handle processor 7024, which operates the motor 7038 to release the clamp. When released, the clamp release status switch 7050 located in the end effector sends a signal to the shaft processor 7030 which communicates the position of the clamp to the handle processor 7024. Clamp position switch 7034 and firing position switch 7036 provide signals to handle processor 7024 indicating the respective positions of the clamp arm and cutting member.

  FIG. 62 is a table 7060 showing the total time to meet stroke and load current requirements for various operations of various device shafts. In the first column 7062 on the left, the circle, curve, and TLD device / shaft are marked. These devices / shafts are compared for three different types of motion, namely closing, opening, and firing, as shown in the second row 7064. The third column 7066 shows the total time, in seconds, it takes for the device / shaft listed in the first column 7063 to complete one stroke. Fourth column 7068 represents the load current requirement in amperes for the device / shaft noted in first column 7062 to complete operation of second column 7064 over the entire stroke as shown in third column 7066. It is written in. As shown in the chart, closing and opening the clamp arm takes approximately the same time for each of the devices / shafts listed in the first row 7062. In terms of launch operation, the circular device / shaft requires a maximum load current of 15.69A and the TLC device / shaft requires a minimum amount of load current of 0.69A.

  FIG. 63A is a detailed diagram of the electrical system within the handle portion 7002 of the modular powered surgical instrument 7000. FIG. As shown in FIG. 63A, voltage regulator 7026 and DC-DC converter 7058 provide the operating voltage of the electrical system. A voltage regulator 7026 adjusts the voltage of the battery 7040. Handle processor 7024 receives input from accelerometer 7020. The VSS-ON / OFF Logic supply 7086 provides the input voltage to the handle processor 7024 and the VSS input to the DC-DC converter 7058.

  A three color LED 7072 is electrically coupled to the handle processor 7024. Handle processor 7024 activates either red, blue, or green LED 7072 to provide visual feedback.

  U10, U11, U12 of three Hall effect sensors 7028 provide three separate Hall effect outputs U1_Hall1, U1_Hall2, U1_Hall3 coupled to the handle processor 7024 as shown. The U1_Hall3 output drives on-board LED 7088. In one aspect, Hall effect sensor outputs U1_Hall1, U1_Hall2, U1_Hall3, and ANALOG_CLAMP to determine the position of the clamp arm and cutting member in the end effector portion of modular power surgical instrument 7000, or the position of other elements of instrument 7000. A signal is coupled to the handle processor 7024.

  The user switch 7070 is a representative example of the aforementioned “rocker trigger” 110 that is pivotally attached to the pistol grip portion of the handle. User switch 7070 is operable to activate a first motor switch 7044 operably coupled to handle processor 7024. The first motor switch 7044 may include a pressure switch that is activated by swiveling and contacting the user switch 7070. Actuation of the first motor switch 7044 results in actuation of the motor 7038 such that the drive gear rotates in the first rotational direction. A second motor switch 7046 is coupled to the handle processor 7024 and is mounted for selective contact by the user switch 7070. Actuation of second motor switch 7046 results in actuation of motor 7038 such that the drive gear rotates in the second rotational direction. A firing switch 7048 is coupled to the handle processor 7024. As described above, activation of firing switch 7048 results in axial movement of the transmission carriage to advance the cutting element.

  Also, the Joint Test Action Group (JTAG) 7074 input is coupled to the handle processor 7024. The JTAG7074 input is an IEEE 1149.1 Standard Test Access Port and Boundary-Scan Architecture designed for integrated circuit (IC) debug ports. Handle processor 7024 implements this JTAG 7074 to perform debugging operations such as single step and breakpoints.

  A UART 7076 is coupled to the handle processor 7024. UART 7076 converts data between the parallel format and the serial format. UART 7076 is commonly used with communication standards such as EIA, RS-232, RS-422 or RS-485. The general-purpose designation indicates that the data format and transmission rate can be set. The level and method of electrical signaling (such as differential signaling) is handled by a drive circuit external to the UART 7076. The UART 7076 may be a separate integrated circuit (or part thereof) used for serial communication through the serial port of the handle processor 1024. UART 7076 may be included in handle processor 1024.

  The remaining functional and operational aspects of the electrical subsystem 7006 of the handle portion 7002 of the modular powered surgical instrument 7000 will now be described in connection with FIG. 63B. As shown, handle processor 7024 provides a signal to drive solenoid 7032. The shaft module 7078 supplies position signals SHAFT_IDO, SHAFT_ID1, CLAMP_HOME, and FIRE_HOME to the handle processor 7024. A gear position module 7080 provides the position of the clamp and cutting element to the handle processor 7024. Position information provided by the shaft module 7078 and the gear position module 7080 allows the handle processor 7024 to receive a user switch 7070 signal to open the clamp, close the clamp, and / or fire the cutting element. Sometimes the motor 7038 can be actuated appropriately.

  The motor controller 7022 receives a command from the handle processor 7024, supplies the command to the MOSFET driver 7084, and the MOSFET driver 7084 drives the three-phase BLDC motor 7038 (FIG. 61). As described above, the BLDC motor controller 7022 must instruct the rotation of the rotor. Accordingly, the BLDC motor controller / driver 7022 determines the position / orientation of the rotor relative to the stator coil. Therefore, the rotor portion of the BLDC motor 7038 is configured to include the Hall effect sensor 7028 in order to directly measure the position of the rotor. The BLDC motor controller 7022 has three bidirectional outputs (i.e., frequency controlled three phase outputs) that are controlled by logic circuits.

  Accordingly, as described in FIGS. 61, 63A, 63B, and 64, a motor controller 7022, a motor driver 7084, a motor hall effect sensor 7028 combined with a gear position module 7080 and / or a shaft module 7078, and The motor control system including the control unit is operable to synchronize the gears so that the male coupler of the handle portion is smoothly coupled to the female coupler in the shaft portion of the surgical instrument described herein. It has become. In one example, some tolerance may be provided, for example to facilitate shifting or keying, but shifting from one side to the other or introducing two rotary keying The motor control system is configured to track the position of the gear so that the gear does not stop where it is prohibited. In another example, the motor may be configured to be indexed slowly during installation or shifting to resolve any trivial asynchronous conditions. These same problems can occur in the example described in connection with FIG. 6 not only when installing a new end effector, but when the instrument shifts between two drives. This situation can be resolved by properly synchronizing the gears using the motor control system described in connection with FIGS. 61, 63A, 63B, and 64. In other examples, an encoder may be provided to track the rotation of the gear / gear shaft.

  FIG. 64 is a block diagram of the electrical system for the handle and shaft portion of the modular powered surgical instrument. As shown in FIG. 64, the handle processor 7024 receives inputs from an open switch 7044, a close switch 7046, a fire switch 7048, a clamp position switch 7034, and a fire position switch 7036. In addition, handle processor 7024 receives inputs from clamp home switch 7090 and firing home switch 7092 of shaft module 7078. Using various combinations of these switch inputs, the handle processor 7024 provides appropriate commands to the motor 7038 and solenoid 7032. A battery monitoring circuit 7088 monitors the input to the handle processor 7024 for ground. The handle processor 7024 drives a three-color LED 7072. The accelerometer 7020 provides a 3-axis direction input to the handle processor 7024 to determine various parameters such as the orientation of the instrument 7000 and whether the instrument 7000 has been dropped. Voltage regulator 7026 provides a regulated power supply to the system. In order to detect the current drawn from the power source, a current detection module 7094 is provided.

  FIG. 65 shows a mechanical switching operation control system for eliminating the microprocessor control of the motor function. In the system described in connection with FIGS. 61-64, a microprocessor, such as handle processor 7024, is used to control the function of motor 7038. The handle processor 7024 executes a control algorithm based on the various states of each switch deployed throughout the instrument 7000. This requires the use of a handle processor 7024 and associated identification functions to control various end effectors.

  However, as shown in FIG. 65, another technique is used to control motor 7038, which eliminates the need for handle processor 7024 by placing motion-related switches 7096A, 7096B, 7096C, 7096D in the end effector shaft. May be used. Switches 7096A-D are then configured to turn on and off specific functions of motor 7038, or to reverse the direction of motor 7038 based on where a particular end effector component is located. . In one example, a switch indicating full deployment of the cutting member may be used to reverse the direction and switch the function of the motor 7038 to retract the cutting member. In another example, the switches 7096A-D are either pressure or It can be configured to detect force.

  In various examples, a surgical instrument may include a handle, an electric motor disposed within the handle, a shaft attachable to the handle, and an end effector extending from the shaft, wherein the electric motor is attached to the end effector. And configured to activate the end effector function. In some examples, the surgical instrument may include a control system having one or more sensors and a microprocessor that receives input signals from the sensors and monitors the operation of the surgical instrument. The end effector function can be implemented by operating the electric motor in consideration of the sensor input signal. In at least one such example, the surgical instrument handle may be usable with more than one shaft. For example, a linear stapling shaft or a circular stapling shaft can be assembled to the handle. The handle may include at least one sensor configured to detect the type of shaft that is assembled to the handle and communicate this information to the microprocessor. The microprocessor can operate the electric motor in various ways in response to the sensor input signal, depending on the type of shaft that is assembled to the handle. For example, if the electric motor is configured to operate the end effector closure system, the microprocessor may be in a first direction to close the circular stapler shaft anvil and the linear stapler shaft anvil. The electric motor is rotated in a second or opposite direction to close the anvil. Other control systems are conceivable in which the same operational control of the electric motor can be achieved without the use of a microprocessor. In at least one such example, the surgical instrument shaft and / or handle may include a switch that can operate the surgical instrument in various manners depending on the type of shaft that is assembled to the handle.

  In various examples, a surgical instrument system includes a power source, a first motor configured to perform a first end effector function, and a second configured to perform a second end effector function. A motor and a switch control system configured to selectively place a power supply in communication with the first motor and the second motor in response to the switch control system. In various examples, such a surgical instrument system may not include a microprocessor. The first motor may have a closure system closure motor configured to close the end effector anvil, and the second motor firing configured to fire staples from the end effector staple cartridge. It may have a launch motor for the system. The control system of the switch may include a closure trigger switch that, when closed, may close a closure power circuit that couples the power source to the closure motor. The control system may further include a closure stroke end switch, which may be opened by the closure system when the anvil is in its fully closed position, opening the closure power circuit and the closing motor and The closure drive can be stopped. The switch control system may also include a fire trigger switch, which may be part of a fire power circuit that couples a power source to the fire motor. In various situations, the default firing power circuit may be opened, thereby preventing the firing motor from being operated prior to closing the firing power circuit. Thus, simply closing the firing switch does not close the firing power circuit and the firing motor cannot be operated. The firing power circuit may further include a second closure stroke end switch, which may be closed by the closure system when the anvil is in the fully closed position. By closing the firing switch and the second closure stroke end switch, the firing power circuit can be closed and the firing motor can be operated. The control system may further include a firing stroke end switch that may be opened by the firing drive when the firing drive reaches the end of the firing stroke. By opening the firing stroke end switch, the firing power circuit can be opened and the firing motor can be stopped. The control system can further include a second firing stroke end switch, which can be closed by the firing drive to close the reverse firing power circuit, The polarity of the electric power applied to the firing motor is reversed, the firing motor is operated in the opposite direction, and the firing drive unit is moved backward. Closing the reverse firing power circuit may also require the firing trigger switch to be in a closed state. When the firing drive reaches its fully retracted position, it can close the proximal firing switch. Closing the proximal firing switch can close the reverse closure power circuit, which reverses the polarity of the power applied to the closure motor, operates the closure motor in the opposite direction, It can be opened. Closing the reverse closure power circuit may also require the closure trigger switch to be in a closed state. When the anvil reaches its fully open position, the anvil can open the proximal closure switch, which can open the reverse closure power circuit and stop the closure motor. This is only an example.

  In various examples, as described herein, a surgical instrument handle may be used with various shaft assemblies that may be selectively attached to the handle. In some examples, as also described herein, the handle is configured to detect the type of shaft that is assembled to the handle and operate the handle according to a control system included within the handle. obtain. For example, the handle may include a microprocessor and at least one memory unit, which may store and execute a plurality of operating programs each configured to operate a particular shaft assembly. Other embodiments are contemplated where the handle does not include a control system, but rather each shaft assembly may include a control system for the shaft assemblies. For example, a first shaft assembly may comprise a first control system, a second shaft assembly may comprise a second control system, and so forth. In various examples, the handle includes an electric motor, a power source such as a battery and / or an input cable, and an electric circuit configured to operate the electric motor based on a control input from an attached shaft assembly. Can be provided. The handle may further comprise an actuator that can control the electric motor in cooperation with the shaft control system. In various examples, the handle may not include additional control logic and / or a microprocessor, for example, to control an electric motor. With the exception of the handle actuator, the control system of the shaft assembly attached to the handle includes the control logic necessary to operate the electric motor. In various examples, the shaft assembly control system may include a microprocessor, but in other examples may not. In some examples, the first control system of the first shaft assembly may include a first microprocessor, the second control system of the second shaft assembly may include a second microprocessor, Others are the same. In various examples, the handle may include a first electric motor, such as a closure motor, and a second electric motor, such as a firing motor, and the attached shaft assembly control system may include a closing motor and a firing motor. The motor can be operated. In certain examples, the handle may include a closure actuator and a firing actuator. With the exception of the closure and firing actuators, the control system for the shaft assembly attached to the handle includes the control logic necessary to operate the closure and firing motors. In various examples, the handle may include a shaft interface, and each shaft assembly may include a handle interface configured to engage the shaft interface. The shaft interface may include an electrical connector configured to engage the electrical connector of the handle interface when the shaft assembly is assembled to the handle. In at least one example, each connector may include only one electrical contact that fits together such that there is only one control path between the handle and the shaft assembly. In other examples, each connector may include only two electrical contacts that form two mated pairs when the shaft assembly is attached to the handle. In such an example, only two control paths can exist between the handle and the shaft assembly. Other embodiments are possible where more than two control paths exist between the handle and the shaft assembly.

  In various examples, the surgical end effector attachment may be compatible with the surgical instrument handle. For example, the surgical end effector may be coupled to the handle of the surgical instrument and may transmit and / or perform a drive motion initiated within the handle of the surgical instrument. Referring to FIGS. 73 and 74, surgical end effector 8010 may be one of several surgical end effectors that may be compatible with a surgical instrument handle 8000. A variety of surgical end effectors are described throughout this disclosure and are shown throughout the accompanying figures. For example, the reader will appreciate that these various surgical end effectors described and illustrated herein may be compatible with the same surgical instrument handle and / or compatible with multiple types of surgical instrument handles. It will be clear.

  The handle 8000 may include, for example, a drive system, which may be configured to transmit drive motion from the surgical instrument handle 8000 to the components, assemblies and / or systems of the end effector 8010. For example, the handle 8000 can include a first drive system 8002a and a second drive system 8004a. In certain examples, one of the drive systems 8002a, 8004a can be configured to transmit, for example, a closing drive motion to the jaw assembly of the end effector 8010 (FIG. 73), and one of the drive systems 8002a, 8004a can be, for example, , May be configured to convey the firing drive motion to the firing element in the end effector 8010. The drive systems 8002a, 8004a may be configured to transmit linear motion, displacement, and / or translation from the handle 8000 to the end effector 8010. In various examples, the first drive system 8002a can include a drive bar 8006, which can be configured to translate and / or be linearly displaced when the first drive system 8002a is activated. . Similarly, the second drive system 8004a can include a drive bar 8008, which can be configured to translate and / or be linearly displaced when the second drive system 8004a is activated.

  In various examples, the end effector assembly 8010 may include a first drive system 8002b that may be responsive to, for example, the first drive system 8002a of the handle 8000, and may be responsive to, for example, the second drive system 8004a of the handle 8000. A resulting second drive system 8004b may also be included. In various examples, the first drive system 8002b in the end effector 8010 can include a drive element 8012 that can be operably and releasably coupled to the drive bar 8006 of the first drive system 8002a of the handle 8000, for example. For example, it can be configured to receive linear motion from drive bar 8006. In addition, the second drive system 8004b in the end effector 8010 can include a drive element 8014 that can be operably and releasably coupled to the drive bar 8008 of the second drive system 8004a of the handle 8000, for example, and for example It can be configured to receive linear motion from the drive bar 8008.

  In various examples, the handle 8000 and / or the end effector 8010 can include a coupling device that can release the drive bar 8006 to the drive element 8012 and / or the drive bar 8008 to the drive element 8014, for example. It can be configured to combine. In other words, the coupling device allows the drive force generated within the surgical instrument handle 8000 to be transmitted to the appropriate drive system 8002b, 8004b of the attached surgical end effector 8010. One drive system 8002a may be coupled to the first drive system 8002b of the end effector 8010, and the handle 8000 second drive system 8004a may be coupled to the second drive system 8004b of the end effector 8010. The surgical system shown in FIGS. 73 and 74 includes a pair of drive systems 8002a, 8004a in the handle 8000 and a corresponding pair of drive systems 8002b, 8004b in the end effector 8010. It will be apparent to the reader that the various coupling devices disclosed in the document can also be used in, for example, a surgical end effector and / or handle comprising a single drive system or more than two drive systems.

  In various examples, a coupling device for coupling a drive system in a handle of a surgical instrument to a drive system in an attached end effector may include a latch that includes the corresponding handle drive system and the end effector. And can be configured to hold and secure the connection with the drive system. As described in further detail herein, the latch may be spring loaded and may be coupled to a trigger, for example, which triggers, for example, operably defeats the biasing force of the spring to unlock the coupling device. Can be configured to open, release, and / or release. In various examples, the coupling device may include independent and / or individual coupling mechanisms for each drive system 8002b in the surgical end effector 8010. In such a case, one of the drive systems 8002b, 8004b can be activated without activating the other drive system 8002b, 8004b. In other examples, the drive systems 8002b, 8004b can be activated simultaneously and / or simultaneously, for example.

  Referring now to FIGS. 66-72, a coupling device 8100 for use with a surgical end effector is shown. For example, a surgical end effector may be attached to a surgical instrument handle 8170 (FIGS. 67-69), for example, via a coupling device 8100. In various examples, coupling device 8100 may include a coupler housing or frame 8102, for example. The coupler housing 8102 can be disposed, for example, within the proximal attachment portion of the end effector. In addition, the coupler housing 8102 can include, for example, a carriage 8104, and the carriage 8104 can be configured to move relative to the coupler housing 8102, for example. For example, the coupler housing 8102 can include a channel 8103 that can be sized and configured to receive a slidable and / or shiftable carriage 8104. For example, the carriage 8104 can be constrained by the coupler housing 8102 so that the carriage 8104 is movably held in the channel 8103 and is configured to move and / or slide within the channel 8103. Channel 8103 may guide and / or inhibit movement of carriage 8014 relative to housing 8102, for example. In certain examples, the carriage 8104 may have a ramped surface, such as a ramp or wedge 8106, which may further guide and / or facilitate movement of the carriage 8104, for example.

  In various examples, the coupling device 8100 can include a trigger 8120 that is in sliding engagement with the ramp 8106 of the carriage 8104. For example, the trigger 8120 can have an inclined surface 8122 that can be used, for example, when the trigger 8120 is in a first or non-actuated position (FIG. 68) and a second or actuated position (FIGS. 67 and 69). ) Is configured to slide along the ramp 8106 of the carriage 8104. In a particular example, the coupling device 8100 can include a guide, such as a guide rail 8110, for example, which position and so as to guide the trigger between a first non-actuated position and a second actuated position. The structure can be defined. For example, the coupler housing 8102 can include a pair of guide rails 8110 that can define an actuation path for the trigger 8120.

In various examples, the trigger 8120D is moved from the non-actuated position (FIG. 68) in the direction D ₁ (FIGS. 67 and 69), for example, along the actuation path defined by the at least one guide rail 8110 (FIGS. 67 and 69), the carriage 8104 can be shifted downward in the channel 8103, ie in the direction D ₃ (FIGS. 67 and 69), by the inclined surface 8122 of the trigger 8120 and the ramp 8106 of the carriage 8104. Thus, for example, activation of trigger 8120 causes carriage 8104 to shift relative to coupler housing 8102, trigger 8120, and / or various other components, assemblies, and / or systems of coupling device 8100. obtain.

In various examples, when the trigger 8120 is moved from the operating position (FIGS. 67 and 69) to the non-operating position (FIG. 68) in the direction D ₂ (FIG. 68), for example, along at least one guide rail 8110 The carriage 8104 can be shifted upward in the channel 8103, ie in the direction D ₄ (FIG. 68), by the inclined surface 8122 of the trigger 8120 and the ramp 8106 of the carriage 8104. Thus, actuation of the trigger 8120 can affect the movement of the carriage 8104 relative to the coupler housing 8102, for example. In certain examples, for example, a spring and / or other biasing mechanism is configured to bias the carriage 8104 and / or trigger 8120 toward a predetermined position relative to the channel 8103 and / or coupler housing 8102. obtain.

  Referring now to FIG. 66, in various examples, a slot 8112 can be defined in the coupler housing 8102 and / or the end effector. The slot 8112 can be dimensioned to receive, for example, a drive member 8172 of the surgical instrument handle 8170. In certain examples, for example, a pair of slots 8112 can be defined in the coupler housing 8102, and each slot 8112 can be configured to receive one of the drive members 8172 of the handle 8170. As described in further detail herein, drive member 8172 may be coupled to and / or driven by a drive system in handle 8170. For example, each drive member 8172 may be coupled to and / or driven by a linear actuator of a drive system in the handle 8170, which, for example, directs a linear drive motion to a corresponding drive in the end effector. It can be configured to transfer and communicate to the system.

  In various examples, the carriage 8104 can also be configured to move and / or shift relative to the drive member socket 8130 of the coupling device 8100. The drive member socket 8130 can be configured to receive one of the drive members 8172 from the handle 8170, for example. Referring primarily to FIG. 71, the socket 8103 may include an opening 8136 that may be sized and / or configured to receive a drive system component of the handle 8170. For example, referring primarily to FIG. 67, the opening 8136 can be configured to receive the distal portion of the drive bar 8172. In such an example, for example, when the drive bar 8172 is secured within an opening 8136 in the socket 8130, as described in more detail herein, the socket 8130 causes the drive bar 8172 and the socket 8130 to move together. Via the handle 8170 to the surgical end effector.

  Still referring to FIG. 67, the drive bar 8172 may include, for example, a bevel 8176 and a groove or divot 8174 that may facilitate engagement and / or locking of the drive bar 8172 to the socket 8130. In various examples, the drive member socket 8130 can be anchored and / or secured, for example, within the end effector and / or within the coupler housing 8102, and the carriage 8104 can move when the carriage 8104 slides within the channel 8103 of the coupler housing 8102. The socket 8130 may be configured to move and / or shift relative to and / or around the socket 8130.

  Referring primarily to FIG. 71, the socket 8130 may include at least one flexible tab 8132a, 8132b. The flexible tabs 8132a, 8132b may be biased inwardly toward the opening 8136 and / or may include teeth biased inwardly, for example. In certain examples, the flexible tabs 8132a, 8132b may include, for example, teeth 8133, which engage with the grooves 8174 in the drive bar 8172 when the drive bar 8172 is inserted into the opening 8136 in the socket 8130. Can be configured to match. For example, the bevel 8176 of the drive bar 8172 can pass through the teeth 8133 within the socket opening 8136 and the tab 8132 can be bent or bent outward from the opening 8136. As the drive bar 8172 continues to enter the opening 8136 of the socket 8130, the teeth 8136 of the tabs 8132a, 8132b may engage or capture the groove 8174 of the drive bar 8172. In such an example, the engagement of the teeth 8136 and the grooves 8174, for example, can cause the drive bar 8172 to be releasably retained in the socket 8130.

  In various examples, the socket 8130 can include a recess 8134 that can be configured to receive a spring 8150, for example. In other examples, for example, the socket 8136 can include two or more recesses 8134 and the coupling device 8100 can include two or more springs 8150. Further, in certain examples, the socket 8130 may include two or more flexible tabs 8132a, 8132b. For example, the socket 8130 can include a pair of tabs 8132a, 8132b disposed laterally. For example, the first tab 8132a can be disposed on the first side of the socket 8130 and, for example, the second tab 8132b can be disposed on the second side of the socket 8130. In certain examples, for example, tabs 8132a, 8132b may be flexed outwardly from opening 8136 to accommodate drive bar 8172 entry. In other examples, for example, socket 8130 may not have inwardly biased tabs and / or may include more than two tabs.

  In various examples, coupling device 8100 may also include a latch or sleeve 8140 that may be movably disposed relative to socket 8130. For example, the latch 8140 can include an opening 8142 (FIG. 72) that can be sized and configured to at least partially surround at least a portion of the socket 8130. For example, the latch 8140 can be disposed, for example, around the socket 8130 and can be movably disposed relative to the tabs 8132a, 8132b of the socket 8130. In various examples, the spring 8150 is disposed between a portion of the socket 8130 and a portion of the latch 8140 such that, for example, the spring 8150 can bias the latch 8140 toward the socket latch engagement position (FIG. 68). Can be done. For example, the spring 8150 may bias the latch 8140 into the socket latch engagement position (FIG. 68), where the latch 8140 surrounds the tabs 8132a, 8132b and / or the tabs 8132a, 8132b are out. It arrange | positions so that it may suppress bending in direction.

  In various examples, for example, when the latch 8140 is placed to limit and / or prevent outward deflection of the tabs 8132a, 8132b, i.e., in the socket latch engagement position, the tabs 8132a, 8132b may be The outward movement away from the opening 8136 of the tabs 8132a, 8132b may be limited so that entry and / or release of the drive bar 8172 relative to the opening 8136 of the 8130 may be prevented and / or otherwise prevented. Further, when the trigger 8120 moves from the non-actuated position (FIG. 68) to the actuated position (FIGS. 67 and 69), the latch 8140 can defeat, for example, the biasing force of the spring 8150 and the socket latch engaged position (FIG. 68). To a non-latching engagement position (FIGS. 67 and 69). For example, when in the unlatched position, the latch 8140 can be shifted away from the flexible tabs 8132a, 8132b, so that the flexible tabs 8132a, 8132b can be bent outward, for example, and the socket 8130 can move the drive bar 8172. Become acceptable.

  In various examples, the latch 8140 can include a nub or protrusion 8144. Still referring primarily to FIG. 70, the carriage 8104 within the coupler housing 8102 can include a biasing member 8108. The biasing member 8108 can include, for example, a ramp or angled surface, which can include, for example, the nub 8144, and thus the latch 8140, in the first or socket latch engagement position (FIGS. 67 and 69). ) And a second, or latched position (FIG. 68). For example, as described herein, when the carriage 8104 shifts relative to the coupler housing 8102 and socket 8130 due to movement of the trigger 8120, the nub 8144 can slide along the angled surface of the biasing member 8108; Thereby, the latch 8140 moves relative to the flexible tab 8132 of the socket 8130. In such an example, the trigger 8120 can be activated to overcome the biasing force of the spring 8150 and cause the latch 8140 to retract from the socket latch engagement position surrounding the flexible tab of the socket 8130 to the unlatched position. . In such an example, when the latch 8140 is retracted, the flexible tab 8132 can flex and / or engage the drive bar 8172. Further, for example, when the trigger is not activated, the spring 8150 may bias the latch 8140 against the flexible tabs 8132a, 8132b and / or around the flexible tabs 8132a, 8132b, such that the tabs 8132a, 8132b. , And thus engagement with the drive bar 8172 is limited and / or prevented.

  In certain examples, the latch 8140 can include a pair of laterally opposed nabs 8144 that can slidably engage the laterally opposed biasing members 8108 of the carriage 8104. Further, for example, if the coupling device 8100 couples two or more drive systems between the handle 8170 and the surgical end effector, the carriage 8104 may include a plurality of biasing members 8108 and / or a plurality of pairs of biasing members. 8108 may be included. For example, each socket 8130 can include a pair of laterally arranged nubs 8144 and, for example, the carriage 8104 can include a biasing member 8108 for each nub 8144.

  Referring primarily to FIG. 68, the trigger 8120 may be placed in a distal, inoperative position before the trigger 8120 is activated and / or immediately after the trigger 8120 is released, and the carriage 8104 may be placed in a raised position relative to the coupler housing 8102. , The latch 8140 can be placed in the socket latch engagement position. In such a device configuration, the latch 8140 may prevent entry of the drive bar 8172 and / or engagement with the socket 8130, for example. In various examples, the spring 8150 and / or different springs and / or biasing members may, for example, trigger 8120 to an inoperative position, carriage 8104 to an elevated position, and / or latch 8140 to a socket latch engaged position. Can be energized. Referring now to FIG. 67, for example, to connect and / or attach one of the drive bars 8172 to one of the sockets 8130, the trigger 8120 is in a proximal operating position that can shift the carriage 8104 to a lowered position. Although it can be moved, in its lowered position, the latch 8140 can be shifted to the unlatched position. In such a device configuration, for example, the drive bar 8172 is configured to enter and / or be received in the socket 8130.

  Then, for example, referring now to FIG. 68, if the trigger 8120 is released, the spring 8150 can bias the trigger 8120 again to the distal inoperative position and can bias the carriage 8104 again to the raised position. The latch 8140 can again be biased into the socket latch engagement position. Accordingly, the latch 8140 can prevent outward flexing of the flexible tabs 8132a, 8132b, and thus can secure the drive member 8172 within the socket 8130, so that the drive member 8172 is locked into engagement with the socket 8130. Can match. Thus, referring now to FIG. 69, in order to separate the drive member 8172 from the socket 8130, the trigger 8120 can again be moved to a proximal operating position that can shift the carriage 8104 to the lowered position. Then, the latch 8140 can be shifted to the inoperative position. In such a device configuration, ie when the socket 8130 is not latched, for example, the drive member 8172 can be removed from the socket 8130.

  In various examples, the surgical instrument can include a drive system coupled to a motor. In certain instances, motors and drive systems can affect various surgical functions. For example, the motor and drive system can affect the opening and / or closing of the surgical end effector and can affect the cutting and / or firing stroke, for example. In certain instances, the motor and drive system can affect a number of separate surgical functions. For example, the opening and closing of the surgical end effector can be separate and separate from cutting and / or firing of the fastener from the surgical end effector. In such instances, for example, the drive system may include a transmission and / or clutch assembly that may shift the engagement of the drive system between the various output systems.

  In various examples, a surgical instrument may include a drive system having a plurality of output shafts and a clutch for shifting between the various output shafts. In certain instances, the output shaft can accommodate various surgical functions. For example, the first output shaft may correspond to an end effector closing action and the second output shaft may correspond to an end effector firing action. In various examples, for example, the drive system may switch between engagement with the first output shaft and engagement with the second output shaft, so that the surgical function is separated, separated and / or Become independent. For example, the end effector closing motion may be separate and separate from the end effector firing motion. For example, it may be preferable to initiate a closing operation and initiate a separate firing operation after the closing operation is complete. Further, it may be preferable to control and / or drive independent closing and firing operations, for example, with a single drive system that may be coupled to an electric motor. In other examples, for example, the first output shaft and the second output shaft can be operatively coupled, and various surgical functions and / or surgical operations can occur simultaneously and / or at least partially simultaneously. .

  Referring now to FIGS. 75-78, for example, a surgical instrument handle 8600 may include a drive system 8602 that includes a first output drive system 8610 and a second output drive system 8620. obtain. In various examples, when the end effector is attached to the handle 8600, the first output drive system 8610 can be coupled to the first drive system in the attached end effector and the second output drive system 8620. May be coupled to a second drive system in the attached end effector. The first output drive system 8610 can affect a first surgical function, such as, for example, an end effector jaw clamp, and the second output drive system 8620 can, for example, fire a firing element through the end effector. The second surgical function can be affected. In other examples, for example, the surgical function for the first output drive system 8610 and the second output drive system 8620 can be reversed and / or otherwise modified.

  In various examples, drive system 8602 can include a motor assembly, which can include an electric motor 8640 and a motor shaft 8642. For example, a drive gear 8644 can be mounted on the motor shaft 8642 so that the electric motor 8640 drives the drive gear 8644 and / or affects the rotation of the drive gear 8644. In various examples, the first output drive system 8610 can include a first drive shaft 8612 and a first driven gear 8612. The first driven gear 8614 can be mounted on the first drive shaft 8612, for example, so that the rotation of the first driven gear 8614 affects the rotation of the first drive shaft 8612. In various examples, for example, a linear actuator 8616 can be screwably disposed on the first drive shaft 8612 and rotation of the first drive shaft 8612 can affect the linear displacement of the linear actuator 8616. Further, in various examples, the second output drive system 8620 can include a second drive shaft 8622 and a second driven gear 8624. The second driven gear 8624 can be mounted on the second drive shaft 8622, for example, so that the rotation of the second driven gear 8624 affects the rotation of the second drive shaft 8622. In various examples, for example, a linear actuator 8626 can be screwably disposed on the second drive shaft 8624, and the rotation of the second drive shaft 8624 can affect the linear displacement of the linear actuator 8626.

  In various examples, the drive system 8602 can further include a transmission or shifter assembly 8648. The shifter assembly 8648 may be configured, for example, to shift the engagement of the drive gear 8644 between the first output drive system 8610 and the second output drive system 8620. With respect to a particular example, for example, the shifter assembly 8648 may include a shift gear 8852 that may be in meshing engagement with the drive gear 8644. In addition, the shift gear 8852 can be configured to shift or move between a wide range of positions, for example, and still engage and engage with the drive gear 8644 as it moves within each position. Can do.

  For example, the shifting gear 8652 can move to engage and / or disengage with at least one of the first driven gear 8614 and / or the second driven gear 8624. In various examples, the shift gear 8852 can move to make in meshing engagement with the second driven gear 8624 of the second output drive system 8620. For example, when in the first position (FIG. 78) of the position range, the shift gear 8852 can be separated from the second driven gear 8624 and is in the second position (FIG. 77) of the position range. Sometimes, the shift gear 8652 can be engaged with the second driven gear 8624. For example, when the shift gear 8852 is engaged with the second driven gear 8624, the shift gear 8852 can transmit force from the drive gear 8644 to the second driven gear 8624, so that the motor 8640 is in the second driven gear 8624. Through the output drive system 8620, the surgical function can be affected. Further, for example, in the example where the shift gear 8852 is separated from the second driven gear 8624, the rotation of the motor 8640 cannot be transmitted to the second output drive system 8620.

  In various examples, the shifter assembly 8648 can further include an intermediate and / or transmission gear 8654. For example, the transmission gear 8642 can be configured to transmit drive force from the shift gear 8852 to the first driven gear 8614. In various examples, the transmission gear 8654 can be in meshing engagement with, for example, the first drive gear 8614 so that, for example, rotation of the transmission gear 8654 is transmitted to the first driven gear 8614. Further, in various examples, the shift gear 8852 can move to engage and / or disengage the transmission gear 8654. For example, when in the first position (FIG. 78) of the position range, the shift gear 8852 can be engaged with the transmission gear 8654, for example, also in the second position (FIG. 77) of the position range. At some time, the shift gear 8652 can be separated from the transmission gear 8654. For example, when the shift gear 8651 is engaged with the transmission gear 8654, the shift gear 8852 can transmit force from the drive gear 8644 to the first driven gear 8614 via the transmission gear 8654. In such an example, for example, the motor 8640 can affect the surgical function via the first output drive system 8610. Further, for example, in the example where the shift gear 8852 is separated from the transmission gear 8654, the rotation of the motor 8640 cannot be transmitted to the first output drive system 8610.

  In various examples, the transmission gear 8654 can be rotatably mounted on the second drive shaft 8622 of the second output drive system 8620. For example, the transmission gear 8654 can be configured to rotate relative to the second drive shaft 8622 without affecting the rotation of the second drive shaft 8622 and the second driven gear 8624 secured thereto. . In various examples, the shifter assembly 8648 can include a bracket or collar 8650 that can at least partially surround the shift gear 8852. The bracket 8650 can be disposed, for example, so as to surround the shift gear 8651, so that the shift gear 8852 can be moved by the movement of the bracket 8650.

  In various examples, handle 8600 and / or shift assembly 8648 may further include a trigger or clutch 8630. The clutch 8630 may be configured to shift the bracket 8650 and / or the shift gear 8852 within the position range. For example, the clutch 8630 can include a trigger extending from the handle 8600 and can be engaged with the bracket 8650 and / or the shift gear 8852. In various examples, the bracket 8650 can include a pin 8656 that can extend from the bracket 8640 into the aperture 8638 of the clutch 8630 (FIG. 75). For example, the clutch 8630 can include an arm 8632 and / or a pair of arms 8632 coupled to a pivot point 8634 on the handle 8600. For example, the clutch 8630 can turn at a turning point 8634, and the pin 8656 of the bracket 8560 can move when the arm 8632 turns. For example, the shift gear 8652 can be shifted between a first position (FIG. 78) and a second position (FIG. 77) by movement of the bracket 8650.

  In various examples, the movement of the bracket 8650 can be constrained so that the shifting gear 8852 moves along the longitudinal axis throughout its range of positions. Further, the turning stroke and / or range of movement of the clutch 8630 can be limited and / or limited such that the shifting gear 8852 remains within the position range when the clutch 8630 turns, for example. Further, for example, the aperture 8638 (FIG. 75) of the clutch 8630 maintains and / or shift gear 8652 in position and / or aligned with one of the second driven gear 8624 and / or the transmission gear 8654. Or may be configured and / or constructed to hold. In various examples, the handle 8600 can include a spring or other biasing mechanism to bias the shifting gear 8852 to either the first position or the second position. In some examples, the handle 8600 may include a bistable complaint mechanism configured to hold the shifting gear 8852 in its first position or its second position. The bistable flexible mechanism can be kinetically unstable to the extent that the shift gear 8652 is positioned between the first position and the second position, and the shift gear 8652 can be moved to its first position or Acting to place it in its second position. Alternatively, for example, the shift gear 8852 can be biased to an intermediate position, at which the shift gear 8852 is engaged simultaneously with the first output drive system 8610 and the second output drive system 8620. Can be done. In addition or alternatively, for example, the handle 8600 may include a lock and / or detent for holding the shift gear 8852 in either the first position or the second position.

  The surgical instrument may include a rotary drive shaft configured to operate the closure drive and firing drive of the surgical instrument. 79-84, the surgical instrument 10000 can include a rotary drive shaft 10020, a closure drive 10030, and a firing drive 10040. As described in further detail below, the drive shaft 10020 includes a first thread 10024 configured to operate the closure drive 10030 and a second thread configured to operate the firing drive 10040. Threads 10026 may be included. In various examples, for example, instrument 10000 may comprise a circular stapler.

  The surgical instrument 10000 can comprise a frame 10002 and means for generating a rotational motion. In certain instances, for example, rotational motion can be generated by a manual hand crank, while in various instances, rotational motion can be generated by an electric motor. In either case, the generated rotational motion can be transmitted to the rotational input shaft 10010. The input shaft 10010 may include a proximal bearing portion 10011 and a distal bearing portion 10013 that are rotatably supported by the frame 10002. In various examples, the proximal bearing portion 10011 and / or the distal bearing portion 10013 can be directly supported by the frame 10002, while in certain instances the proximal bearing portion 10011 and / or the distal bearing portion 10013 are A bearing disposed between the input shaft 10010 and the frame 10002 may be included. The input shaft 10010 further includes a gear 10012 attached and / or keyed to the input shaft 10010 such that when the input shaft 10010 is rotated in direction A (FIG. 79), the gear 10012 is also rotated in direction A. obtain. Similarly, when the input shaft 10010 is rotated in the opposite direction, ie, in the direction A ′ (FIG. 82), the gear 10012 is also rotated in the direction A ′.

  Referring primarily to FIGS. 79 and 80, the drive shaft 10020 can include a proximal end 10021 and a distal end 10027. Proximal end 10021 and distal end 1000023 may be rotatably supported by frame 10002. In various examples, the proximal end 10021 and / or the distal end 10027 can be directly supported by the frame 10002, while in certain examples, the proximal end 10021 and / or the distal end 10027 can be A bearing disposed between the drive shaft 10020 and the frame 10002 may be included. The gear 10022 can be mounted and / or keyed to the proximal end 10021 of the drive shaft 10020. Gear 10022 is in meshing engagement with gear 10012 so that when input shaft 10010 is rotated in direction A, drive shaft 10020 is rotated in direction B. Similarly, referring to FIG. 81, when the input shaft 10010 is rotated in the direction A ', the drive shaft 10020 is rotated in the direction B'. Similarly, referring to FIG. 81, when the input shaft 10010 is rotated in the direction A ', the drive shaft 10020 is rotated in the direction B'.

  Referring again to FIG. 79, the closure drive system 10030 can include a closure pin 10032 engaged with the first thread 10024 of the drive shaft 10020. The closure drive system 10030 can further include a translational closure member 10033. Closure pin 10032 is disposed within an aperture defined at the proximal end of closure member 10033. Closure pin 10032 may include a first end disposed within a groove defined by first thread 10024. When the drive shaft 10020 is rotated, the side wall of the groove contacts the first end of the closure pin 10032 and the closure pin 10032 is moved proximally or distally depending on the direction in which the drive shaft 10020 is rotated. Can be displaced to the side. For example, when the drive shaft 10020 is rotated in direction B (FIG. 79), the closure pin 10032 can be displaced or translated distally as shown in direction D. Similarly, when the drive shaft 10020 is rotated in the direction B ′ (FIG. 82), the closure pin 10032 can be displaced or translated proximally as indicated by the direction P. The closure pin 10032 may be tightly received within an aperture defined in the closure member 10033 such that displacement or translation of the closure pin 10032 is transmitted to the closure member 10033. As will be apparent to the reader, the closure pin 10032 and the closure member 10033 are constrained from rotating relative to the frame 10002, so that rotation of the drive shaft 10020 is translated into translation of the closure pin 10032 and closure member 10033. It has become so.

  Referring primarily to FIG. 80, the first thread 10024 extends along the first length 10025 of the drive shaft 10020. In certain examples, the first thread 10024 may extend along the entire length of the drive shaft 10020, but in other circumstances, the first thread 10024 extends along less than the entire length of the drive shaft 10020. It may be. First thread 10024 may include a proximal portion adjacent to proximal end 10021 of drive shaft 10020 and a distal portion adjacent to distal end 1000023 of drive shaft 10020. When the closure pin 10032 is in the distal portion of the first thread 10024 as shown in FIG. 81, the closure member 10033 may place the anvil of the surgical instrument 10000 in the open position. When the drive shaft 10020 is rotated in direction B ′, the closure pin 10032 may translate proximally until the closure pin 10032 reaches the proximal portion of the first thread 10024 as shown in FIG. . As the closure pin 10032 moves proximally, the closure pin 10032 may pull the closure member 10033 and the anvil proximally. When the closure pin 10032 reaches the proximal portion of the first thread 10024, the anvil can be in the fully closed position.

  In addition to the above, the closure drive 10030 can be operated to move the anvil of the surgical instrument 10000 to an appropriate position relative to the staple cartridge. In various examples, the surgical instrument 10000 may include an actuator that moves the input shaft 10010 in direction A and the input shaft 10010 in direction A to rotate the drive shaft 10020 in direction B. 'And can be operated in a second direction to rotate drive shaft 100120 in direction B'. In another example, surgical instrument 10000 is operated with a first actuator configured to rotate input shaft 10010 in direction A and drive shaft 10020 in direction B when operated. A second actuator configured to rotate shaft 10010 in direction A ′ and drive shaft 100120 in direction B ′. In either case, the operator of the surgical instrument 10000 may move the anvil of the surgical instrument 10000 toward the staple cartridge and staple as necessary to create the desired gap between the anvil and the staple cartridge. It can be moved away from the cartridge. Such a desired gap may or may not be provided when the anvil is in its fully closed position.

  In addition to the above, the surgical instrument 10000 may include a catch that is configured to receive and releasably hold the drive pin 10032 when the closure system 10030 reaches its fully closed configuration. It is a thing. Referring primarily to FIGS. 81 and 82, surgical instrument 10000 may include a catch bar 10073 having a catch aperture 10077 defined therein. When the drive pin 10032 is advanced proximally, the drive pin 10032 may be aligned with the catch aperture 10077 and then at least partially enter the catch aperture 10077. The catch pin 10032 can be biased toward the catch bar 10073 by a spring 10033 that is disposed between the closure member 10033 and an annular head portion 10037 that extends around the catch pin 10032. When the catch pin 10032 is disposed distal to the catch aperture 10077, the spring 10033 may bias the drive pin 10032 against the catch bar 10073. When the catch pin 10032 is moved proximally by rotation of the drive screw 10020 and aligned with the catch aperture 10077, the spring 10033 may move the drive pin 10032 upward into the catch aperture 10077. The drive pin 10032 can be moved upward by the spring 10033 until the head of the drive pin 10032 contacts the catch bar 10073. In particular, the drive pin 10032 can be operatively separated from the first thread 10024 by moving the drive pin 10032 toward the catch aperture 10077. In this way, the closure system 10030 can be stopped when the drive pin 10032 reaches the catch aperture 10077, so that even if the drive shaft 10020 subsequently rotates, the drive pin 10032, the closure member 10033, and the closure member 33. The anvil operatively engaged is not moved until at least the drive pin 10032 is re-engaged with the first thread 10024, as described in more detail below.

  As discussed above, the drive pin 10032 entering the catch aperture 10077 of the catch bar 10073 can delimit the end of the closure stroke of the closure system 10030 and the fully closed position of the anvil. In various examples, the catch bar 10073 may not be movable with respect to the frame 10002, and the catch aperture 10077 may delimit a fixed position. In other examples, the catch bar 10073 may be movable relative to the frame 10002. In such an example, the final closed position of the anvil will depend on the position of the catch aperture 10077. As a result, the gap between the anvil of the surgical instrument 10000 and the staple cartridge will depend on the position of the catch aperture 10077. Referring generally to FIG. 79, the surgical instrument 10000 can further comprise a gap setting system 10070 configured to move the catch bar 10073. The gap setting system 10070 can include a rotary knob 10072 and a drive gear 10071 engaged with the rotary knob 10072. The catch bar 10073 can include a rack 10075 extending from the catch bar 10073, and the rack 10075 has a plurality of teeth. The drive gear 10071 is in meshing engagement with the rack 10075 so that when the knob 10072 is rotated in the first direction, the rack 10075 can drive the catch bar 10073 distally and the knob 10072 is in the first direction. When rotated in the opposite second direction, the rack 10075 may drive the catch bar 10073 proximally. When the catch bar 10073 is moved distally, the catch aperture 10077 can be arranged such that a larger gap can exist between the anvil and the staple cartridge when the closure drive 10030 is in its fully closed position. . When the catch bar 10073 is moved proximally, the catch aperture 10077 is positioned so that a smaller gap can exist between the anvil and the staple cartridge when the closure drive 10030 is in its fully closed position. Can be done. In various examples, the catch aperture 10077 may be positionable within a range of positions that can accommodate a range of distances between the anvil of the surgical instrument 10000 and the staple cartridge.

  In various examples, the gap setting system 10070 may comprise a knot block configured to releasably hold the knob 10072 in place. For example, the frame 10002 can include a locking protrusion 10004 that extends from the frame 10002, which can be received within one or more locking apertures 10074 defined in the knob 10072. The lock aperture 10074 can be disposed along an annular path. Each lock aperture 10074 may correspond to a preset position of the closure drive 10030 and a pre-gap distance between the anvil of the surgical instrument 10000 and the staple cartridge. For example, when the lock protrusion 10004 is disposed within the first lock aperture 10074, the closure drive 10030 can be held in a first preset position, and accordingly the anvil is removed from the staple cartridge from the first preset. It can be held at a set distance. In order to move the knob 10072 to the second preset position, the knob 10072 is raised away from the frame 10002, so that the lock protrusion 10004 is no longer positioned within the first lock aperture 10074 and the rack 10075 And is rotated to drive the catch bar 10073 and then moved toward the frame 10002, so that the lock protrusion 10004 enters the second lock aperture 10074 defined in the knob 10072. When the lock projection 10004 is disposed within the second lock aperture 10074, the closure drive 10030 can be held in the second preset position, and correspondingly, the anvil is removed from the staple cartridge from the first preset. It may be held at a second preset distance that is different from the set distance. In order to move the knob 10072 to the third preset position, the knob 10072 is raised away from the frame 10002, so that the locking projection 10004 is not located within the first or second locking aperture 10074. , Rotated to drive rack 10075 and catch bar 10073 and then moved toward frame 10002, whereby lock protrusion 10004 enters a third lock aperture 10074 defined in knob 10072. . When the lock protrusion 10004 is disposed within the third lock aperture 10074, the closure drive 10030 can be held in a third preset position, and correspondingly, the anvil is removed from the staple cartridge from the first and first. It may be held at a third preset distance that is different from the two preset distances. The gap setting system 10070 can further include a biasing element configured to bias the knob 10072 toward the frame 10002. For example, the gap setting system 10070 can include a spring 10027 disposed, for example, between the housing 10002 and the drive gear 10071 that biases the lock aperture 10074 to engage the lock projection 10004. It is composed of.

  In certain examples, an operator of surgical instrument 10000 may be able to recognize the position of closure system 10030 by observing the position of the anvil. In some instances, however, the anvil may not be visible in the surgical field. Referring primarily to FIG. 79, the surgical instrument 10000 can further comprise an anvil position indicator system 10050 configured to indicate the position of the anvil. Anvil position indicator system 10050 can include a window 10058 defined in frame 10002 and a pivot member 10051 observable through window 10058. The pivoting member 10051 may include a pivot 10052 that is rotatably mounted on the frame 10002, a drive end 10054, and a display end 10056. Pivoting member 10051 is between a first position (FIG. 81) indicating that the anvil is in the fully open position and a second position (FIG. 82) indicating that the anvil is in the fully closed position, and It may be movable between a position range between a first position and a second position representing the position range. The closure system 10030 can be configured to contact the drive end 10054 of the pivot member 10051 to move the pivot member 10051. Referring primarily to FIG. 82, when the drive pin 10032 is moved proximally by the drive shaft 10020, the drive pin 10032 may pull the closure member 10033 proximally, thereby defining the closure member 10033. The shoulder 1003 is in contact with the drive end 10054 of the turning member 10051, and the turning member 10051 is rotated about the pivot 10052. As the pivoting member 10051 rotates, the display end 10056 can move within the window 10058 to indicate the position of the anvil. To facilitate this observation, frame 10002 and / or window 10058 may include one or more breaks 10059 that may indicate the location of the anvil. For example, when the display end 10056 of the pivoting member 10051 is aligned with the proximal partition 10059 (FIG. 81), the operator may determine that the anvil is in the open position and the display end 10056 is distal. When aligned with break 10059 (FIG. 82), the operator may determine that the anvil is in the closed position. If the display end 10056 is positioned between the proximal segment 10059 and the distal segment 10059, the operator speculates that the anvil is between its open and closed positions. Can do. A further partition 10059 between the proximal partition 10059 and the distal partition 10059 may be utilized to indicate a further location of the anvil. When the closure member 10033 is moved distally to release the anvil (FIG. 84), the pivot member 10051 can be rotated back into its first position and aligned once again with the proximal segment 10059. The position indicator system 10050 can further include a biasing member, such as a spring, configured to bias the pivoting member 10051 to its first position.

  As discussed above, the closure system 10030 of the surgical instrument 10000 can be operated to position the anvil of the surgical instrument 10000 relative to the staple cartridge. During operation of the closure system 10030, the firing system 10040 cannot be operated. The firing system 10040 cannot be operably engaged with the drive shaft 10020 until the closure drive 10030 reaches its fully closed position. Surgical instrument 10000 may include a switch, such as switch 10060, configured to switch the surgical instrument between an anvil closure mode of operation and a staple firing mode of operation. The closure drive 10030 can further comprise a switch pin 10031 that extends from the proximal end of the closure member 10033. 81 and 82, as will be apparent to the reader, switch pin 10031 contacts switch 10060 when closure pin 10032 is advanced proximally to close the anvil. Switch 10060 can be pivotally mounted to frame 10002 about pivot 10062 and can include one or more arms 10063 extending from pivot 10062. When the drive pin 10032 is in its fully closed position, the switch pin 10031 can contact the arm 10063 and rotate the switch 10060 about the pivot 10062. The switch 10060 can further comprise an arm 10066 extending from the switch 10060, which pushes the firing nut 10042 of the firing drive 10040 into operative engagement with the drive shaft 10020 when the switch 10060 is rotated about the pivot 10062. Can be configured as follows. More specifically, in at least one situation, the arm 10063 can be configured to displace the push bar 10044 distally, which then pushes the firing nut 10042 into the second thread 10026. Can be pressed against. At such time, the drive pin 10032 and closure system 10030 can be separated from the first thread 10024 as a result of the catch aperture 10077 described above, and the firing nut 10044 and firing system 10040 can be separated from the second screw. It can be engaged with the mountain 10026.

  In addition to the above, the firing nut 10044 can include a threaded aperture 10040 defined therein that can be threadably engaged with the second thread 10026. In addition to the above, when the closure drive 10030 is in operation, the firing nut 10044 is placed on the second thread 10026 so that the threaded aperture 10040 is not threadably engaged with the second thread 10026. It can be arranged proximally. In such a situation, the firing nut 10042 may run idle while the drive shaft 10020 is rotated and the closure system 10030 is operated. In addition to the above, the threaded aperture 10040 can be threadably engaged with the second thread 10026 when the firing nut 10044 is displaced distally. When the firing nut 10042 is threadably engaged with the second thread 10026, the drive shaft 10020 rotates in the direction B ′ (FIG. 82), causing the firing nut 10042 to be displaced distally. Become. Firing nut 10042 may include one or more anti-rotation mechanisms, such as, for example, flange 10043, which is slidably engaged with frame 10002 such that firing nut 10044 rotates with drive shaft 10020. Can be prevented. The firing drive 10040 can further include a firing member coupled to the firing nut 10042, which can be pushed distally by the firing nut 10042. The firing member may be configured to eject the staples from the staple cartridge. When the firing nut 10042 reaches the distal end of the second thread 10026, the firing nut 10042 can be screwably separated from the second thread 10026, where the drive shaft 10020 is in direction B ′. Even if it rotates further, the firing nut 10042 cannot be advanced.

  Referring primarily to FIGS. 82 and 83, the surgical instrument 10000 can further include a reverse activation portion 10047 disposed at the distal end of the second thread 10026. The firing nut 10042 may be configured to contact the reverse actuator 10047 and displace the reverse actuator 10047 distally when the fire nut 10042 reaches the distal end of the second thread 10026. For example, a biasing member, such as a spring 10048, may be disposed intermediate the reverse actuator 10047 and the frame 10002, and the biasing member may be configured to resist distal movement of the reverse actuator 10047. As the reverse actuator 10047 moves distally, the spring 10048 can be compressed and a proximal biasing force can be applied to the firing nut 10042 as shown in FIG. As shown in FIG. 84, when the drive shaft 10020 is rotated in direction B, the proximal biasing force applied to the firing nut 10042 causes the threaded aperture 10041 of the firing nut 10042 to interact with the second thread 10026. Re-engagement can be achieved and the firing nut 10042 can be moved proximally. By moving the firing nut 10042 proximally, the firing member can be moved proximally. When moving proximally, the firing nut 10042 may displace the push bar 10044, so that the push bar 10044 contacts the arm 10063 of the switch 10060, causing the switch 10060 to return to its non-switched position again in the opposite direction. Rotate. At such time, the firing nut 10044 may be threadably separated from the second thread 10026 and, even if the drive shaft 10020 further rotates in direction B, the firing nut 10044 will be proximal. It may not be displaced. At such time, the firing nut 10044 will return to its idle position.

  When switch 10060 is rotated back to its initial position, in addition to the above, arm 10063 of switch 10060 pushes switch pin 10031 and closure member 10033 distally. By moving the switch pin 10031 and the closure member 10033 distally, the drive pin 10032 can be displaced from the catch aperture 10077 defined in the catch bar 10073. When the drive pin 10032 exits the catch aperture 10077, the drive pin 10032 can move downward against the biasing force of the spring 10033 to slide under the catch bar 10073. The drive pin 10032 can re-engage with the first thread 10024 by moving the drive pin 10032 downward. As drive shaft 10020 further rotates in direction B, drive pin 10032 and closure member 10033 are displaced distally to open the anvil of surgical instrument 10000. At such time, the surgical instrument 10000 has been reconfigured for later use. In various examples, the staple cartridge can be replaced and / or reloaded, and the surgical instrument 10000 can be used once again.

  As will be apparent to the reader from the above, the drive screw 10020 can displace the drive pin 10032 to operate the closure drive 10030 and can displace the firing nut 10040 to operate the firing drive 10040. In addition to the above, the drive screw 10020 can displace the drive pin 10032 along the first length 10025 of the drive screw 10020. Similarly, the drive screw 10020 can displace the firing nut 10042 along the second length 10027 of the drive screw 10020. The first length 10025 may define the closure stroke of the closure system 10030 and the second length 10027 may define the firing stroke of the firing stroke 10040. Although the first length 10025 may be longer than the second length 10027, the second length 10027 may be longer than the first length 10025 in certain circumstances. In use, the closure pin 10032 may pass through the firing nut 10044. For example, when the closure pin 10032 is moved proximally to close the anvil, the closure pin 10032 may pass through the firing nut 10042 when the firing nut 10044 is in its idle position. Similarly, the closure pin 10032 may pass through the firing nut 10044 in the idle position when the closure pin 10032 is moved distally to open the anvil. To facilitate this relative movement, the firing nut 10042 may include an opening defined therein, such as slot 10046, for example, and the closure pin 10032 moves as the closure pin 10032 moves relative to the firing nut 10042. May pass through its slot 10046. Also, such an opening defined in firing nut 10044 may allow firing nut 10044 to slide over closure pin 10032 in various other embodiments.

  In addition to the above, the first length 10025 and the second length 10027 can at least partially overlap. Further, the first thread 10024 and the second thread 10026 can at least partially overlap. First thread 10024 and second thread 1000026 may be defined in the same portion of drive screw 10020. The first thread 10024 and the second thread 10024 may be sufficiently different, so that the closure pin 10032 will not follow the second thread 10026 and the firing nut 10044 will be in the first thread 10024. Will not follow. For example, the first thread 10024 can include a first thread pitch, and the second thread 1000026 can include a second thread pitch that is different from the first thread pitch. The first thread pitch of the first thread 10024 may or may not be constant. If the first thread pitch is constant, the closure pin 10032 and anvil operatively engaged with the first thread 10024 will remain constant throughout the closure stroke for a given rotational speed of the drive shaft 10020. It will move at speed. If the first thread pitch is not constant, the closure pin 10032 and the anvil will move at different speeds during the closure stroke for a predetermined rotational speed of the drive shaft 10020. For example, the distal portion of the first thread 10024 can include a thread pitch that is greater than the thread pitch of the proximal portion of the first thread 10024. In such a situation, the anvil will quickly move away from the open position for a given rotational speed of the drive shaft 10020, and will move more slowly as it approaches the closed position. With such a device, the anvil is quickly moved into position relative to the tissue located between the anvil and the staple cartridge and then excessively compresses the tissue when the anvil is engaged with the tissue. It will move more slowly to reduce the possibility of doing so. In various other examples, the distal portion of the first thread 10024 can include a thread pitch that is less than the thread pitch of the proximal portion of the first thread 10024. In either case, the thread pitch can vary between the ends of the first thread 10024. This change can be linear and / or non-linear.

  In addition to the above, the second thread pitch of the second thread 1000026 may or may not be constant. When the second thread pitch is constant, the firing nut 10044 and firing member operably engaged with the second thread 10026 are constant throughout the closure stroke for a predetermined rotational speed of the drive shaft 10020. Will move at a speed of. If the second thread pitch is not constant, the firing nut 10042 and the firing member will move at different speeds during the firing stroke for a predetermined rotational speed of the drive shaft 10020. For example, the distal portion of the second thread 10026 can include a thread pitch that is less than the thread pitch of the proximal portion of the second thread 10026. In such a situation, the firing member will move more slowly at the end of the firing stroke for a predetermined rotational speed of the drive shaft 10020. Such a device configuration will slow down the firing member when the end of the staple forming process is reached. Further, such a device configuration may generate a greater amount of torque at the end of the firing stroke that correlates with the completion of the staple forming process. In various other examples, the distal portion of the second thread 10026 can include a thread pitch that is greater than the thread pitch of the proximal portion of the second thread 10026. In either case, the thread pitch can vary between the ends of the second thread 1000026. This change can be linear and / or non-linear.

  Referring now to FIGS. 86-93, a surgical instrument 10500 can include a shaft 10504 and an end effector 10505. The end effector 10505 can include a staple cartridge 10506 and a movable anvil 10508. Surgical instrument 10500 may include a closure drive that includes a closure member operably engageable with anvil 10504 and a firing drive that includes a firing member configured to deploy staples from staple cartridge 10506. . Surgical instrument 10500 may include means for generating a rotational movement, such as a hand crank and / or an electric motor. Rotational motion can be transmitted to the input shaft 10510. As will be discussed in further detail below, the surgical instrument 10500 may include a transmission portion 10502 configured to selectively transmit rotation of the input shaft 10510 to the closure drive and to the firing drive. .

  The input shaft 10510 can include an input gear 10512 that is mounted and / or keyed to the input shaft 10510, and the input gear 10512 rotates with the input shaft 10510. The input shaft 10510 may be rotatably supported at the proximal end 10511 and the distal end 10519 by the frame of the surgical instrument 10500. The input gear 10512 may be meshed and engaged with an intermediate gear 10522 that is mounted and / or key-coupled to the intermediate shaft 10520. Therefore, when the input shaft 10510 and the input gear 10512 are rotated in the direction A (FIG. 89), the intermediate shaft 10520 and the intermediate gear 10522 are rotated in the direction B (FIG. 89). Similar to above, the intermediate shaft 10520 can be rotatably supported at the proximal end 10521 and the distal end 10529 by the frame of the surgical instrument. The intermediate shaft 10520 can further include a threaded portion 10524 that can be threadably engaged with the shifter block 10526. Referring primarily to FIG. 87, the shifter block 10526 may include one or more threaded apertures 10527 threadably engaged with the threaded portion 10524. When intermediate shaft 10520 is rotated in direction B, primarily referring to FIG. 89, intermediate shaft 10520 can displace shifter block 10526 proximally.

  In addition to the above, the shifter block 10526 can include a gear slot 10528 defined therein. The input shaft 10510 can further include a slider gear 10516 slidably mounted on the input shaft 10510, and the slider gear 10516 is disposed in the gear slot 10528. As discussed above, when the shifter block 10526 is moved proximally by the intermediate shaft 10520, the shifter block 10526 may push the slider gear 10516 proximally along the keyed input shaft portion 10514. Referring primarily to FIG. 87, the slider gear 10516 may include, for example, an aperture 10517 having one or more flat surfaces defined in the slider gear 10516, the flat surfaces being keyed input shafts. Aligned with a corresponding flat surface on portion 10514. Each flat surface of the aperture 10517 and the keyed input shaft portion 10514 can cause the slider gear 10516 to slide longitudinally along the input shaft 10510 and, in addition, transmits rotational motion between the slider gear 10516 and the input shaft 10510. Can work together. As described in more detail below, the shifter block 10526 includes a first position range in which the slider gear 10516 is engaged with the closure shaft 10530, a second position range in which the slider gear 10516 is engaged with the firing shaft 10540, and The slider gear 10516 may be slid over the entire zero position or zero position range that is intermediate between the first position range and the second position range where the slider gear 10516 is not engaged with the closure shaft 10530 or the firing shaft 10540.

  In addition to the above, FIG. 85 shows the anvil 10508 of the end effector 10505 in the fully closed position and the firing drive 10548 in the unfired position. FIG. 86 shows a transmitting portion 10502 having a configuration that matches the configuration of the end effector 10505 shown in FIG. More specifically, the slider gear 10516 is in its zero or idle position and is not operatively engaged with the closure shaft 10530 of the closure drive or the firing shaft 10540 of the firing drive. When the slider gear 10516 is in its idle position, the slider gear 10516 is intermediate between the closure gear 10532 attached and / or key-coupled to the closure shaft 10530 and the firing gear 10542 attached and / or key-coupled to the firing shaft 10540. Be placed. Further, when the slider gear 10516 is in its idle position, the slider gear 10516 is not engaged with the closure gear 10532 or the firing gear 10542. As shown in FIG. 88, to move the anvil 10508 to its open position and / or to separate the anvil 10508 from the end effector 10505, the input shaft 10510 is rotated in direction A as shown in FIG. obtain. As discussed above, rotating the input shaft 10510 in direction A can cause the intermediate shaft 10520 to rotate in direction B and the shifter block 10526 to move proximally. As shifter block 10526 moves proximally, shifter block 10526 may push slider gear 10516 into operative engagement with closure gear 10532. At such time, continuous rotation of input shaft 10510 in direction A may be transmitted to closure shaft 10530 via intermeshing slider gear 10516 and closure gear 10532. As shown in FIG. 89, when the slider gear 10516 is engaged with and engaged with the closure gear 10532, the input shaft 10510 rotates in the direction A, so that the output shaft 10530 rotates in the direction C. The closure drive may further include a closure nut 10536, which has a threaded aperture 10537 defined therein, and the threaded aperture 10537 is threadably engaged with the threaded portion 10534 of the closure shaft 10530. Engageable. The closure nut 10536 may include, for example, one or more anti-rotation mechanisms slidably engaged with the surgical instrument frame, which anti-rotation mechanism causes the closure nut 10536 to rotate with the closure shaft 10530. In order to prevent this, the rotational movement of the closure shaft 10530 can be converted into the longitudinal movement of the closure nut 10536. The closure system may further include a closure member 10538 extending from the closure nut 10536, which may be engaged with the anvil 10508. Referring again to FIG. 89, when the closure shaft 10530 is rotated in direction C, the closure nut 10536 and the closure member 10538 may be advanced distally to move the anvil 10508 to the open position.

  In addition to the above, FIG. 89 shows a transmission portion 10502 having a closure configuration, that is, a configuration in which the anvil 10508 can be opened and closed. When the slider gear 10516 is in meshing engagement with the closure gear 10532, the input shaft 10510 will directly drive the closure shaft 10530. At the same time, the input shaft 10510 directly drives the intermediate shaft 10520 because the input gear 10512 and the intermediate gear 10522 are engaged with each other. Further, when the slider gear 10516 is meshed and engaged with the closure gear 10532, the slider gear 10516 is not meshed and engaged with the firing gear 10542. Therefore, when the transmission portion 10502 has a closure configuration, the input shaft 10510 is 10540 is not driven.

  In addition to the above, when the anvil 10508 is moved to the open position and / or separated from the closure member 10538, tissue can be placed intermediate the anvil 10508 and the staple cartridge 10506. 90 and 91, the input shaft 10510 is then rotated in the opposite direction, ie, direction A ′, to move the closure nut 10536, closure member 10538, and anvil 10508 proximally, thereby closing the closure shaft. By rotating 10530 in the opposite direction, C ′, the anvil 10508 can be moved to its closed position. Input shaft 10510 also rotates intermediate shaft 10520 in the opposite direction, ie, direction B ', when input shaft 10510 is rotated in direction A'. When intermediate shaft 10520 is rotated in direction B ′, intermediate shaft 10520 displaces shifter block 10526 and slider gear 10516 distally. The shifter block 10526 can push the slider gear 10516 distally until the slider gear 10516 is no longer in meshing engagement with the closure gear 10532 and the slider gear 10516 is returned to its idle position. The intermediate shaft 10520 further rotates in the direction B ′ until the slider gear 10516 meshes with and engages with the firing gear 10542, causing the shifter block 10526 to displace the slider gear 10516 distally. Referring to FIGS. 92 and 93, at such time, input shaft 10510 may drive firing shaft 10540 directly. Thereafter, when the input shaft 10510 is rotated in the direction A ', the input shaft 10510 may rotate the firing shaft 10540 in the direction D'. The firing system may further include a firing nut 10546 that has a threaded aperture that is threadably engaged with a threaded portion 10544 of the firing shaft 10540. When firing shaft 10410 is rotated in direction A ', firing shaft 10540 may advance firing nut 10546 distally. Firing nut 10546 may include one or more anti-rotation mechanisms, which may be slidably engaged with the surgical instrument frame, such that firing nut 10546 is disposed on the firing shaft. The rotational movement of the firing shaft 10540 can be converted into the longitudinal movement of the firing nut 10546. The firing drive can further include a firing member 10548 that extends from a firing nut 10546 that is advanced distally to eject staples from the staple cartridge 10506. Throughout the firing stroke of the firing system, the shifter block 10526 can continue to advance the slider gear 10516 distally. The firing stroke can be completed when the shifter block 10526 advances the slider gear 10516 distally to the point where the slider gear 10516 no longer threadably engages the firing gear 10542. At such a point, firing member 10548 may be in its fully fired position.

  In addition to the above, FIG. 93 shows a transmission 10502 in a firing configuration, ie, a configuration in which the firing member 10548 can be advanced or retracted. When the slider gear 10516 is in meshing engagement with the firing gear 10542, the input shaft 10510 will drive the firing shaft 10540 directly. At the same time, the input shaft 10510 directly drives the intermediate shaft 10520 because the input gear 10512 and the intermediate gear 10522 are engaged with each other. Further, when the slider gear 10516 is meshed with the firing gear 10542, the slider gear 10516 is not meshed with the closure gear 10532. Therefore, when the transmission unit 10502 is in the firing configuration, the input shaft 10510 is closed. 10530 is not driven.

  To retract firing member 10548, input shaft 10510 is rotated in direction A to rotate intermediate shaft 10520 in direction B, shifter block 10526 is displaced proximally, and slider gear 10516 is reengaged with firing gear 10542. Can be. At such time, the input shaft 10510 continues to rotate in direction A, thereby rotating the firing shaft 10540 in the opposite direction of direction D ′, displacing the firing nut 10546 proximally, and retracting the firing member 10548. Will be. When the slider gear 10516 is rotating the firing gear 10542, the slider gear 10516 is no longer engaged and engaged with the firing gear 10542, and the shifter block 10526 can continue to pull the slider gear 10516 proximally until it reaches its idle position. . At such time, in order to reopen the anvil 10508, the input shaft 10510 continues to rotate in direction A, so that the shifter block 10526 and the slider gear 10516 continue to be displaced proximally, and the slider gear 10516 is connected to the closure gear 10532. It will re-engage.

  94-98 illustrate a surgical instrument 11010 configured to staple and / or dissect tissue. The surgical instrument 11010 may include a pistol grip shaped handle 11015. Handle 11015 includes a first handle portion 11020 that defines a longitudinal axis 11030 from which jaws 11070 and 11090 may extend. The handle 11015 includes a second handle portion or handle grip 11040 that defines a second portion axis 11050. Second portion axis 11050 defines an angle 11060 as longitudinal axis 11030. In various examples, angle 11060 may include any suitable angle, such as about 120 degrees. The jaw 11070 can include a cartridge channel that includes an opening configured to removably receive the staple cartridge 11080. As described in further detail below, the staple cartridge 11080 may include a plurality of staples removably stored within staple cavities installed in at least two longitudinal rows, the staple cavities being There is one on each side of the channel within which the knife for excising tissue can move. In at least one example, three longitudinal rows of staple cavities can be installed on the first side of the knife channel, while three longitudinal rows of staple cavities are on the second side of the knife channel. Can be deviced. The jaw 11090 can include an anvil that can be rotated to a position opposite and aligned with the staple cartridge 11080 so that an anvil pocket defined in the anvil 11090 can receive and shape staples ejected from the staple cartridge 11080. It is like that. FIG. 98 shows the anvil 11090 in the open position, and FIG. 94 shows the anvil 11090 in the closed position. Although not shown, other embodiments are contemplated where the jaws including the staple cartridge 11080 are rotatable relative to the anvil 11090. In any case, as described in further detail below, the handle 11015 includes a closure button 11065 (FIG. 98) configured to operate a closure system that moves the anvil 11090 between its open and closed positions. And a firing button 11055 configured to operate a firing system for ejecting staples from the staple cartridge 11080. The closure button 11065 can be positioned and arranged on the handle 11015 so that it can be easily accessed, for example, with the thumb of the operator's hand supporting the handle 11015, while the firing button 11055 supports the handle 11015. It can be arranged and arranged to be easily accessible with the index finger of the operator's handle.

  In addition to the above, the anvil 11090 can be moved toward and away from the staple cartridge 11080 during use. In various examples, the closure button 11065 can include a bidirectional switch. When the closure button 11065 is pressed in a first direction, the closure system of the surgical instrument 11010 can move the anvil 11090 toward the staple cartridge 11080 and when the closure button 11065 is pressed in the second direction, The closure system may move the anvil 11090 away from the staple cartridge 11080. Referring primarily to FIGS. 95 and 97, the closure system may include a closure motor 11110 configured to move the anvil 11090. The closure motor 11110 can include a rotatable closure shaft 11130 that extends from the closure motor 11110, and a first closure gear 11140 can be secured to the rotary closure shaft 11130. The closure motor 11110 can rotate the closure shaft 11130, and the closure shaft 11130 can rotate the first closure gear 11140. The first closure gear 11140 can be in meshing engagement with the idler gear 11150 and then the idler gear 11150 can be in meshing engagement with the closure feed screw drive gear 11160. The closure feed screw drive gear 11160 is fixed to the closure feed screw 11170. When the first closure gear 11140 is rotated by the closure shaft 11130, the first closure gear 11140 can rotate the idler gear 11150, the idler gear 11150 can rotate the closure feed screw drive gear 11160, and the closure feed screw drive gear 11160. Can rotate the closure feed screw 11170.

  Referring primarily to FIG. 97, the closure shaft 11130, the first closure gear 11140, the idler gear 11150, and the closure feed screw drive gear 11160 may be rotatably supported by a motor block 11125 supported within the handle portion 11120. The closure lead screw 11170 may also include a first end that is also rotatably supported by the motor block 11125 and / or a second end that is rotatably supported by the housing of the handle 11015. The closure lead screw 11170 can further include a threaded portion intermediate the first end and the second end. The closure system may further include a closure block 11175 (FIG. 96), which may have a threaded aperture 11176 that is threadably engaged with a threaded portion of the closure lead screw 11170. Because the closure block 11175 can be restrained from rotating with the closure lead screw 11170, when the closure lead screw 11170 is rotated, the closure lead screw 11170 is proximal depending on the direction in which the closure lead screw 11170 is being rotated. The closure block 11175 can be displaced laterally or distally. For example, if the closure lead screw 11170 is rotated in a first direction, the closure lead screw 11170 can displace the closure block 11175 distally and the closure lead screw 11170 is rotated in a second, or opposite direction. At times, the closure lead screw 11170 can displace the closure block 11175 proximally. Referring primarily to FIG. 96, the closure block 11175 can be mounted on a latch member in the form of a closure channel 11180 that translates along the outside of the cartridge channel 11170. In various examples, the closure channel 11180 may be housed in the handle portion 11120, but in some examples the closure channel 11180 may protrude from the handle portion 11120. The closure channel 11180 may include a generally “U” shaped channel as viewed from the end and may include opposing sidewalls 11182. Each sidewall 11182 may include a cam slot 11190 defined therein. As described in more detail below, the cam slot 11190 may be configured to engage the anvil 11090 and move the anvil 11090 relative to the staple cartridge 11080.

  In addition to the above, the closure channel 11180 fits around the cartridge channel 11070 so that the cartridge channel 11070 is nested inside the “U” shape of the closure channel 11180. Referring primarily to FIG. 96, the cartridge channel 11070 can include an elongate slot 11195 defined therein, and the closure channel 11180 can include a pin extending inwardly into the elongate slot 11195. The closure channel pin and elongated slot 11195 may restrain movement of the closure channel 11180 such that the closure channel 11180 translates relative to the cartridge channel 11070 along a longitudinal path. Due to the translational movement of the closure channel 11180, the anvil 11090 can be rotated. Anvil 11090 may be coupled to closure channel 11180 by a distal closure pin 11210 that extends through an anvil cam hole 11211 defined in anvil 11090 and a cam slot 11190 defined in closure channel 11180. Each cam slot 11190 may include a first or distal end 11191 and a second or proximal end 11192. Each cam slot 11190 can further include a first or proximal drive surface 11193 and a second or distal drive surface 11194. When the closure system is in its open configuration and the anvil 11090 is in its open position, the closure channel 11180 can be in its first or non-advanced position and the distal closure pin 11210 can be in the first or far position of the cam slot 11190. Can be at the distal end 11191. When the closure channel 11180 is advanced distally to move the anvil 11090 toward the staple cartridge 11080, the first drive surface 11193 contacts the distal closure pin 11210 and the distal closure pin 11210 is moved to the staple cartridge 11080. You can push downwards. When the closure system is in its closed configuration and the anvil 11090 is in its closed position facing the staple cartridge 11080, the closure channel 11180 can be in the second or fully advanced position and the distal closure pin 11210 is in the cam slot 11190. Can be at the second or proximal end 11192.

  Each cam slot 11190 may have a curved or arcuate path. The first drive surface 11193 can include a first arcuate surface and the second drive surface 11194 can include a second arcuate surface. In various examples, each cam slot 11190 can include at least one curved portion and at least a straight portion. In at least one example, each first drive surface 11193 can include a flat surface at the distal end 11191 of the cam slot 11190. The flat surface may include a vertical surface that is perpendicular to or at least substantially perpendicular to the longitudinal axis 11030 of the instrument 11010. Such a flat surface can serve as a detent, but that detent requires an initial amount of force to displace the closure pin 11210 into the arcuate portion of the cam slot 11190. In certain examples, each first drive surface 11193 can include a flat surface 11196 at the proximal end 11192 of the cam slot 11190. Each flat surface 11196 may include a horizontal surface that is parallel or at least substantially parallel to the longitudinal axis 11030. The flat surface 11196 can provide significant mechanical benefits between the closure channel 11180 and the anvil 11090. In various examples, the first drive surface 11193 may add very little mechanical benefit to the closure pin 11210 when the closure pin 11210 is at the distal end 11191 of the slot 11190, but the closure pin 11210 is a cam slot. When sliding toward the proximal end 11192 through 11190, the mechanical benefit applied to the closure pin 11210 by the first drive surface 11193 may be increased. When the closure pin 11210 enters the proximal end 11192, the mechanical benefit applied by the first drive surface 11193 is maximized and the closure pin 11210 is at the distal end 11191 of the cam slot 11190. Sometimes it can be definitely greater than the mechanical benefit added by the first drive surface 11193. That is, if the distal end 11191 can add less mechanical benefit to the closure pin 11210, the distal end 11191 can quickly displace the closure pin 11210 relative to the cartridge 11080. As discussed above, when the closure channel 11180 is advanced distally and the mechanical benefit applied to the closure pin 11210 is increased, the first drive surface 11193 is at a given speed of the closure channel 11180. Thus, the anvil 11090 can be moved more slowly.

  As shown in FIG. 96, the cartridge channel 11070 can further include a distal closure slot 11215 defined therein, which distal closure slot 11215 when the anvil 11090 approaches its closed position. It can be configured to receive the pin 11210. Distal closure slot 11215 is substantially vertical and may include an open end at the top of cartridge channel 11070 and a closed end at both ends of cartridge channel 11070. The slot 11215 may be wider at the open end compared to the closed end. In various examples, the closure pin 11210 may contact the closed end of the closure slot 11215 when the anvil 11090 reaches its closed position. In such an example, the closed end of closure slot 11215 may stop movement of anvil 11090. In certain examples, anvil 11090 may contact staple cartridge 11080 when anvil 11090 is in its closed position. In at least one example, the anvil 11090 may be rotated about the pivot pin 11200 until the distal end 11091 of the anvil 11090 contacts the distal end 11081 of the staple cartridge 11080. As shown in FIG. 98, the distal closure pin 11210 that moves the anvil 11090 is located distal to the pivot pin 11220. Accordingly, the closure force applied to the anvil 11090 by the closure drive is applied distally relative to the pivot that rotatably couples the anvil 11090 to the cartridge channel 11070. Similarly, the opening force applied to the anvil 11090 by the closure drive is also applied distally relative to the pivot that rotatably couples the anvil 11090 to the cartridge channel 11070.

  As discussed above, the handle 11015 can include a closure button 11065 configured to operate the closure system of the surgical instrument 11010. The movement of the closure button 11065 can be detected by, for example, a sensor or a switch. When the closure button 11065 is pressed, the closure switch 11285 is activated or closed, thereby causing power to flow into the closure motor 11110. In such an example, the switch 11285 may close a power circuit that may supply power to the closure motor 11110. In certain instances, surgical instrument 11010 may include a microprocessor, for example. In such an example, closure switch 11285 may be in signal communication with the microprocessor, and when closure switch 11285 is closed, the microprocessor may operably connect a power source to closure motor 11110. In either case, a first voltage polarity may be applied to the closure motor 11110 to rotate the closure output shaft 11130 in the first direction and close the anvil 11090, in addition to the closure output shaft 11130 being A second or opposite voltage polarity can be applied to the closure motor 11110 to rotate in two or opposite directions and open the anvil 11090.

  In various examples, the surgical instrument 11010 may be configured such that the operator of the surgical instrument 11010 needs to hold the closure button 11065 depressed until the closure drive reaches its fully closed configuration. Good. If the closure button 11065 is released, the microprocessor may stop the closure motor 11110. Alternatively, if the closure button 11065 is released before the closure drive reaches its fully closed configuration, the microprocessor can reverse the direction of the closure motor 11110. After the closure drive has reached its fully closed configuration, the microprocessor may stop the closure motor 11110. In various examples, as described in further detail below, the surgical instrument 11010 includes a closure sensor 11300 (FIGS. 96 and 98) configured to detect that the closure system has reached its fully closed configuration. obtain. The closure sensor 11300 can be in signal communication with the microprocessor, and the microprocessor can disconnect power from the closure motor 11110 when the microprocessor receives a signal from the closure sensor 11300 that the anvil 11090 is closed. In various examples, after the closure system is placed in its fully closed configuration, but before the firing system is activated, by re-pressing the closure button 11065, the microprocessor reverses the direction of the closure motor 11110, and the anvil 11090 can be reopened. In certain examples, the microprocessor may reopen the anvil 11090 to its fully open position, while in other examples the microprocessor may reopen the anvil 11090 to the partially open position.

  Once the anvil 11090 is fully closed, the firing system of the surgical instrument 11010 can be operated. Referring primarily to FIGS. 95 and 97, the firing system may include a firing motor 11120. Firing motor 11120 may be disposed adjacent to closure motor 11110. The closure motor 11110 may extend along a first motor longitudinal axis, and the firing motor 11120 is a second longitudinal motor longitudinal axis that is parallel or at least substantially parallel to the first motor axis. Can extend along. The first motor longitudinal axis and the second motor longitudinal axis may be parallel to the longitudinal axis 11030 of the surgical instrument 11010. The closure motor 11110 can be disposed on the first side of the longitudinal axis 11030 and the firing motor 11120 can be disposed on the second side of the longitudinal axis 11030. In such an example, the first motor longitudinal axis may extend along a first side of the longitudinal axis 11030 and the second motor longitudinal axis extends along a second side of the longitudinal axis 11030. obtain. In various examples, the first motor longitudinal axis can extend through the center of the closure shaft 11130. Similar to the above, the firing motor 11120 can include a rotatable firing shaft 11230 extending from the firing motor 11120. Also as above, the second motor longitudinal axis may extend through the center of the firing shaft 11230.

  In addition to the above, a first firing gear 11240 can be attached to the firing shaft 11230. First firing gear 11240 is in meshing engagement with firing feed screw drive gear 11250 mounted on firing feed screw 11260. When the firing shaft 11230 is rotated by the motor 11120, the firing shaft 11230 can rotate the first firing gear 11240, and the first firing gear 11240 can rotate the first lead screw drive gear 11250 and the firing lead screw. The drive gear 11250 can rotate the firing lead screw 11260. Referring primarily to FIG. 97, firing shaft 11230, first firing gear 11240, firing lead screw drive gear 11250, and / or firing lead screw 11260 may be rotatably supported by motor block 11125. The first firing gear 11240 and the firing feed screw drive gear 11250 may be disposed between the motor block 11125 and the first block plate 11126. The first block plate 11126 may be mounted to the motor block 11125 and may rotatably support the firing shaft 11230, the first firing gear 11240, the firing lead screw drive gear 11250, and / or the firing lead screw 11260. In various examples, the surgical instrument 11010 can further comprise a second block plate 11127 that can be attached to the first block plate 11126. Similar to the above, the first closure gear 11140, the idler gear 11150, and the closure feed screw drive gear 11160 can be disposed between the first block plate 11126 and the second block plate 11127. In various examples, the first block plate 11126 and / or the second block plate 11127 may include a closure shaft 11130, a first closure gear 11140, an idler gear 11150, a closure feed screw drive gear 11160, and / or a closure feed screw 11170. Can be rotatably supported.

  The motor and gear device described above can help maintain space in the handle 11015 of the surgical instrument 11010. As described above and with reference primarily to FIG. 97, the closure motor 11110 and firing motor 11120 are installed on a motor block 11125. The closure motor 11110 is installed on one side of the firing motor 11120 and slightly proximal to the firing motor 11120. By shifting one motor proximally from the other, one gear train is placed behind the other, creating space for two gear trains. For example, a closure gear train that includes a first closure gear 11140, a closure idler gear 11150, and a closure feed screw drive gear 11160 is a launch gear train that includes a first launch gear 11240 and a launch feed screw drive gear 11250. On the proximal side. The motor shaft extends proximally and away from the jaws, and the motor body extends distally toward the jaws, creating a space in the handle 11015 and the motors 11110 and 11120 in the handle 11015 with the other By aligning in parallel along the part, the handle 11015 is made shorter.

  In addition to the above, the closure and firing gear train are designed to maintain space. In the embodiment shown in FIG. 97, the closure motor 11110 drives three gears and the firing motor 11120 drives two gears, but the closure gear train and the firing gear train have any suitable number of gears. May be included. By adding a third gear, i.e., a closure idler gear 11150, to the closure gear train, the closure lead screw 11170 is shifted downward relative to the firing lead screw 11260 so that separate lead screws rotate about different axes. To get. In addition, the third gear eliminates the need for a larger gear to shift the lead screw shaft, thereby reducing the overall space diameter required for the gear train and the volume of the handle 11015.

  Referring primarily to FIG. 98, the closure lead screw 11170 can extend along the first shaft longitudinal axis and the firing lead screw 11260 can extend along the second shaft longitudinal axis. The first shaft longitudinal axis and the second shaft longitudinal axis can be parallel to the longitudinal axis 11030 of the surgical instrument 11010. The first shaft longitudinal axis or the second shaft longitudinal axis may be collinear with the longitudinal axis 11030. In various examples, the firing lead 1126 can extend along the longitudinal axis 11030 and the second shaft longitudinal axis can be collinear with the longitudinal axis 11030. In such an example, the closure lead screw 11170 and the first shaft longitudinal axis can be offset relative to the longitudinal axis 11030.

  In addition to the above, the firing lead screw 11260 includes, for example, a first end rotatably supported by the motor block 11125, a second end rotatably supported by the handle 11015, and a first end. And a threaded portion extending between the second end. The firing lead screw 11260 may reside within the “U” shape of the cartridge channel 11070 and above the closure lead screw 11170. Referring primarily to FIG. 95, the firing drive can further include a firing block 11265, which can include a threaded aperture 11266 threadably engaged with a threaded portion of the firing lead screw 11260. Because the firing block 11265 can be restrained from rotating with the firing lead screw 11260, rotation of the firing lead screw 11260 causes the firing motor 11120 to rotate proximally or farther depending on the direction in which the firing lead screw 11260 is rotated. The firing block 11265 can be translated to the distal side. For example, when the firing lead screw 11260 is rotated in a first direction, the firing lead screw 11260 can displace the firing block 11265 distally, and when the firing lead screw 11260 is rotated in the second direction, Lead screw 11260 may displace firing block 11265 proximally. As described in more detail below, firing block 11265 is advanced distally to deploy staples removably stored in staple cartridge 11080 and / or between staple cartridge 11080 and anvil 11090. The tissue captured in can be incised.

  In addition to the above, firing block 11265 may be secured to pusher block 11270 such that pusher block 11270 translates with firing block 11265. The firing system may further include a firing wedge 11280 that is attached to and extends distally from the pusher block 11270. Each firing wedge 11280 can include at least one cam surface at its distal end, which can be configured to eject staples from the staple cartridge 11080. The firing system can further include a knife block 11281 slidably disposed along the firing wedge 11280. In various examples, the initial distal motion of firing block 11265 may not be transmitted to knife block 11281, but, for example, pusher block 11270 contacts knife block 11281 when firing block 11265 is advanced distally. The knife block 11281 and the knife 11282 attached to the knife block 11281 can be pushed distally. In another example, the knife block 11281 can be attached to the firing wedge 11280 so that the knife block 11281 and the knife 11282 move with the firing wedge 11280 throughout the movement of the firing wedge 11280. Firing block 11265, pusher block 11270, firing wedge 11280, knife block 11281, and knife 11282 may form a pusher block and knife assembly. In either case, firing wedge 11280 and knife 11282 are moved distally to fire the staples stored in staple cartridge 11080 while simultaneously incising the tissue captured between staple cartridge 11080 and anvil 11090. Can do. The cam surface of the firing wedge 11280 can be disposed distal to the cutting surface of the knife 11282 so that the tissue captured between the staple cartridge 11080 and the anvil 11090 can be stapled before being incised. .

  As discussed above, the closure button 11065, when pressed, contacts the closure switch 11285 and energizes the closure motor 11110. Similarly, firing button 11055, when pressed, contacts firing switch 11290 and energizes firing motor 11120. In various examples, firing switch 11290 may close a power circuit that may supply power to firing motor 11120. In certain examples, the firing switch 11290 can be in signal communication with the microprocessor of the surgical instrument 11010, and when the firing switch 11290 is closed, the microprocessor can operably connect a power source to the firing motor 11120. In either case, a first voltage polarity may be applied to the firing motor 11120 to rotate the firing output shaft 11230 in a first direction and advance the firing assembly, and the firing output shaft 11230 may be A second or opposite voltage polarity can be applied to the firing motor 11120 to rotate in the opposite or reverse direction and retract the firing assembly. In various examples, the fire button 11055 fires in a first direction when the fire button 11055 is pushed in a first direction and fires in a second direction when the fire button 11055 is pushed in a second direction. A bi-directional switch configured to operate the motor 11120 may be included.

  As discussed above, the firing system may be activated after the closure system has fully closed the anvil 11090. In various examples, the anvil 11090 can be fully closed after reaching its fully closed position. Surgical instrument 11010 may be configured to detect that anvil 11090 has reached its fully closed position. Referring primarily to FIG. 98, the surgical instrument 11010 is configured to detect that the closure channel 11180 has reached the end of its closure stroke, and thus detect that the anvil 11090 is in its closed position. 11300. The closure sensor 11300 may be located at or adjacent to the distal end of the closure lead screw 11170. In at least one example, closure sensor 11300 can include a proximity sensor configured to sense that closure channel 11180 is adjacent and / or in contact with closure sensor 11300. Similar to the above, the closure sensor 11300 can be in signal communication with the microprocessor of the surgical instrument 11010. When the microprocessor receives a signal from the closure sensor 11300 that the closure channel 11180 has reached its fully advanced position and the anvil 11090 has been in the closed position, the microprocessor may activate the firing system. Further, the microprocessor may prevent the firing system from being activated until the microprocessor receives such a signal from the closure sensor 11300. In such an example, the microprocessor selectively applies power to the firing motor 11120 from the power source or selectively controls power being applied to the firing motor 11120 based on the input from the closure sensor 11300. Can do. Ultimately, in these embodiments, the firing switch 11290 cannot begin the firing stroke until the instrument is closed.

  Certain embodiments are contemplated where the firing system of the surgical instrument 11010 can be operated even when the closure system is in a partially closed configuration and the anvil 11090 is in a partially closed position. In at least one embodiment, the firing assembly of the surgical instrument 11010 contacts the anvil 11090 when the firing assembly is advanced distally to fire the staples stored in the staple cartridge 11080, causing the anvil 11090 to It can be configured to move to a fully closed position. For example, the knife 11282 can include a cam surface configured to engage the anvil 11090 when the knife 11282 is advanced distally, which moves the anvil 11090 to its fully closed position. obtain. Knife 11282 may also include a second cam member configured to engage cartridge channel 11070. The cam member can be configured to position the anvil 11090 relative to the staple cartridge 11080 and set a tissue gap distance therebetween. In at least one example, knife 11282 may comprise an I-beam that is displaced distally to establish a tissue gap, eject staples from staple cartridge 11080, and dissect tissue.

  Surgical instrument 11010 may include a sensor configured to detect that the firing system has completed its firing stroke. In at least one example, surgical instrument 11010 may include a sensor, such as an encoder, which may be configured to detect and count the rotation of firing lead screw 11260. Such a sensor may be in signal communication with the microprocessor of surgical instrument 11010. The microprocessor may be configured to count the rotation of the firing lead screw 11260 and after the firing lead screw 11260 has rotated a sufficient number of times to fire all staples from the staple cartridge 11080, the microprocessor may The power supply to the motor 11120 may be interrupted and the firing lead screw 11260 may be stopped. In certain examples, when the firing assembly fires all staples, the microprocessor may reverse the voltage polarity applied to firing motor 11120 to automatically retract the firing assembly.

  As discussed above, surgical instrument 11010 may include a power source. The power source can include, for example, a power source installed outside the handle 11015 and a cable that can extend into the handle 11015. The power source can include at least one battery housed within the handle 11015. The battery may be disposed within the first handle portion 11020 and / or the handle grip 11040. It is also contemplated that the battery, gear, motor, and rotating shaft can all be integrated into one unit that is separable from the rest of the handle 11015. Such units can be washable and sterilizable.

  In various examples, the surgical instrument 11010 may include one or more indicators configured to indicate the status of the surgical instrument 11010. In at least one embodiment, surgical instrument 11010 may include, for example, LED 11100. In order to communicate the status of the surgical instrument to the user, the LED 11100 may emit light in various colors during various operating states of the surgical instrument 11010. For example, LED 11100 may emit a first color when surgical instrument 11010 is powered and an unused staple cartridge 11080 is not placed in cartridge channel 11070. The surgical instrument 11010 includes one or more sensors that can be configured to detect whether a staple cartridge 11080 is present in the cartridge channel 11070 and whether staples are being ejected from the staple cartridge 11080. May be included. The LED 11100 may emit a second color when the surgical instrument 11010 is powered and an unused staple cartridge 11080 is placed in the cartridge channel 11070. The LED 11100 may emit a third color when the instrument 11010 is powered, an unused staple cartridge 11080 is loaded in the cartridge channel 11070, and the anvil 11090 is in the closed position. Such a third color may indicate that the surgical instrument 11010 is ready to fire staples from the staple cartridge. LED 11100 may emit a fourth color after the firing process is initiated. The LED may emit a fifth color after the firing process is complete. This is just one exemplary embodiment. Any suitable type of color may be utilized to indicate any suitable type of condition of the surgical instrument 11010. One or more LEDs are utilized to communicate the status of the surgical instrument, although other indicators may be utilized.

  In use, a user of surgical instrument 11010 may first load surgical instrument 11010 with staple cartridge 11080 by placing staple cartridge 11080 into cartridge channel 11070. By loading cartridge 11080 into cartridge channel 11070, LED 11100 may change from a first color to a second color. To place the staple cartridge 11080 in the cartridge channel 11070, the user can grasp the handle grip 11040 and use the thumb activated closure switch to open the anvil 11090 of the surgical instrument 11010. The user may then position the staple cartridge 11080 on one side of the tissue to be stapled and excised and the anvil 11090 on the other side of the tissue. Holding closure button 11065 with his thumb, the user can close surgical instrument 11010. If closure button 11065 is released before the closing stroke is complete, if necessary, anvil 11090 can be reopened and the user can reposition surgical instrument 11010. Users can enjoy the advantage that an open linear cutter with a swivel jaw can be used without having to assemble the parts of the linear cutter. The user can further enjoy the tactile benefits of the pistol grip.

  When the anvil 11090 is moved to its fully closed position, the closure channel 11180 can contact the closure sensor 11300, which can communicate to the microprocessor to enable the firing switch 11290. At such time, LED 11100 may emit a third color to indicate surgical instrument 11010 that has been loaded, closed, and prepared for firing. The user may then press the fire button 11055 that touches the fire switch 11290 and causes the fire switch 11290 to energize the fire motor 11120. Energizing firing motor 11120 causes firing shaft 11230 to rotate, which in turn causes first firing gear 11240 and firing feed screw drive gear 11250 to rotate. Firing feed screw drive gear 11250 rotates firing feed screw 11260. The thread of firing lead screw 11260 engages an internal thread defined in firing block 11265 and applies a force against the internal thread to move firing block 11265 distally. The firing block 11265 moves the pusher block 11270 distally to carry the firing wedge 11280 distally. The cam surface 11305 at the distal end of the firing wedge 11280 can cam drive the staples stored in the staple cartridge 11080 toward the anvil 11090, which can mold the staples and fasten the tissue. Pusher block 11270 engages knife block 11281 and pushes knife block 11281 and knife 11282 distally to ablate stapled tissue. After the firing stroke is completed, firing motor 1120 may be reversed to return pusher block 11270, knife block 11281, firing wedge 11280, and knife 11282. Surgical instrument 11010 may include a button and / or switch that automatically instructs the microprocessor to retract the firing assembly even if the firing stroke has not yet been completed. In some instances, the firing assembly may not need to be retracted. In either case, the user can open surgical instrument 11010 by pressing closure button 11065. The closure button 11065 can contact the closure switch 11285 and energize the closure motor 11110. The closure motor 11110 can be operated in the reverse direction to retract the closure channel 11180 proximally and reopen the anvil 11090 of the surgical instrument 11010. LED 11100 may emit a fourth color indicating cartridge firing and completion of the procedure.

  A surgical stapling instrument 12010 is shown in FIGS. The instrument 12010 includes a handle 12015, a closure drive that includes a closure latch 12050 configured to compress tissue between the staple cartridge 12080 and the anvil 12090, ejects staples from the staple cartridge 12080, and dissects the tissue. And a firing drive configured to. FIG. 99 shows the instrument 12010 in an open unlatched state. When the instrument 12010 is in its open unlatched state, the anvil 12090 is pivoted away from the staple cartridge 12080. In various examples, the anvil 12090 can be pivoted with respect to the staple cartridge 12080 over a wide angle so that the anvil 12090 and the staple cartridge 12080 can be easily placed on either side of the tissue. FIG. 100 shows the instrument 12010 in a closed unlatched state. When the instrument 12010 is in its closed unlatched state, the anvil 12090 is rotated toward the staple cartridge 12080 to a closed position facing the staple cartridge 12080. In various examples, the closed position of the anvil 12090 may depend on the thickness of the tissue disposed between the anvil 12090 and the staple cartridge 12080. For example, if the tissue disposed between the anvil 12090 and the staple cartridge 12080 is thicker than when the tissue is thinner, the anvil 12090 may reach a closed position further away from the staple cartridge 12080. FIG. 101 shows the instrument 12010 in a closed latch. When the instrument 12010 is in its closed latch, the closure latch 12050 is rotated to engage the anvil 12090 and position the anvil 12090 relative to the staple cartridge 12080. At such time, as described in more detail below, the firing drive of the surgical instrument 12010 can be actuated to fire staples from the staple cartridge 12080 and dissect tissue.

  Referring primarily to FIG. 106, the surgical instrument 12010 may include a frame 12020 that extends from the handle 12015. The frame 12020 can include a frame channel 12022 defined therein, and the frame channel 12022 can be configured to receive and / or support the cartridge channel 12070. The cartridge channel 12070 can include a proximal end and a distal end. The proximal end of the cartridge channel 12070 can be coupled to the frame 12020. The distal end of the cartridge channel 12070 can be configured to removably receive the staple cartridge 12080 therein. Frame channel 12022 may include pivot apertures 12207 defined on opposite sides thereof. A pivot pin 12205 may be supported within the pivot aperture 12207 and may extend between the sides of the channel 12022. The closure latch 12050 can include a latch frame 12051 having a latch bar 12052. The latch bar 12052 can be rotatably mounted to the frame 12020 using a pivot pin 12205 that can extend through a pivot aperture 12206 defined in the latch bar 12052. In various examples, the pivot apertures 12206, 12207 and the pivot pin 12205 can define a fixed axis 12208 about which the closure latch 12050 can rotate. The closure latch 12050 can further include a latch housing 12057 mounted to the latch bar 12052. When the latch housing 12057 is moved by the user of the surgical instrument 12010, the latch housing 12057 can move the latch bar 12052. The operation of the closure latch 12050 will be described in further detail below.

  In addition to the above, the anvil 12090 can include a proximal end and a distal end. The distal end of the anvil 12090 can include a plurality of staple forming pockets that can be aligned or aligned with the staple cavities defined in the staple cartridge 12080 when the anvil 12090 is in its closed position. It is. The proximal end of the anvil 12090 can be pivotally connected to the frame 12020. Anvil 12090 can include a pivot aperture 12201 that can be aligned with a pivot aperture 12202 defined in cartridge channel 12207 and a pivot aperture 12203 defined in frame 12020. A pivot pin 12200 can extend through the pivot apertures 12201, 12202, and 12203 and can rotatably couple the anvil 12090 to the cartridge channel 12207. In various examples, the pivot apertures 12201, 12202, and 12203, and the pivot pin 12200 can define a fixed axis about which the anvil 12090 can rotate. In certain examples, the pivot apertures 12201, 12202 and / or 12203 may be elongate in the longitudinal direction, for example, so that the pivot pin 12200 can slide within the pivot apertures 12201, 12202 and / or 12203. In such an example, the anvil 12090 can rotate relative to the cartridge channel 12070 about an axis and in addition can translate relative to the cartridge channel 12070. Anvil 12090 may further include an anvil housing 12097 attached thereto. When the anvil housing 12097 is moved by the user of the surgical instrument 12010, the anvil housing 12097 moves the anvil 12090 such that the anvil 1209 can be rotated between an open position (FIG. 99) and a closed position (FIG. 100). Can be.

  In addition to the above, the anvil 12090 can further include a latch pin 12210. Anvil 12090 can include a latch pin aperture 12211, and anvil housing 12097 can include a latch pin aperture 12212 that is configured to receive and support the latch pin 12210. When the anvil 12090 is being moved to its closed position or a position adjacent to the closed position, the latch 12050 can engage the latch pin 12210 and pull the anvil 12090 toward the staple cartridge 12080. In various examples, each latch bar 12052 of the latch 12050 can include a latch arm 12053 configured to engage the latch pin 12210. The latch 12050 may be rotated between an unlatched position (FIG. 100) and a latched position (FIG. 101) where the latch arm 12053 is not engaged with the latch pin 12210. When the latch 12050 is moved between its unlatched position and its latched position, the latch arm 12053 can engage the latch pin 12210 and move the anvil 12090 toward the staple cartridge 12080. Each latch arm 12053 may include a cam surface configured to contact the latch pin 12210. The cam surface may be configured to push and guide the latch pin 12210 toward the staple cartridge 12080. When the latch 12050 reaches its latched position, the latch pin 12210 can be captured in a latch slot 12054 defined in the latch bar 12052. The latch slot 12054 can be at least partially defined by the latch arm 12053. As discussed in more detail below, both sides of the latch slot 12054 may include a raised surface that is between the latched position for the latch 12050 and the unlatched position for opening the instrument 12010. When rotated, it may be configured to engage the latch pin 12210 and raise the anvil 12090 away from the staple cartridge 12080.

  As discussed above, the anvil 12090 can be moved toward the staple cartridge 12080. In various examples, the movement of the anvil 12090 toward the staple cartridge 12080 can be stopped when the distal end of the anvil 12090 contacts the distal end of the staple cartridge 12080. In certain examples, the movement of the anvil 12090 can be stopped when the latch pin 12210 contacts the cartridge channel 12070. The cartridge channel 12070 can include a slot 12215 defined therein, the slot 12215 being configured to receive the latch pin 12210. Each slot 12215 may include an upward open end through which the latch pin 12210 may enter the slot 12215, and in addition, a closed end. In various examples, the latch pin 12210 can contact the closed end of the slot 12215 when the anvil 12090 reaches its closed position. In certain examples, the latch pin 12210 cannot contact the closed end of the slot 12215 when thick tissue is disposed between the anvil 12090 and the staple cartridge 12080. In at least one example, the anvil 12090 can further include a stop pin 12095. Stop pin 12095 may be attached to and supported by anvil 12090 using pin aperture 12096 defined in anvil 12090. Stop pin 12095 may be configured to contact cartridge channel 12070 and stop movement of anvil 12090 toward staple cartridge 12080. Similar to above, the cartridge channel 12070 can further include a stop slot 12075 defined therein, and the stop slot 12075 can be configured to receive the stop pin 12095. Each stop slot 12075 can include an upward open end through which stop pin 12095 can enter stop slot 12275 and a closed end in addition thereto. In various examples, the stop pin 12095 can contact the closed end of the stop slot 12075 when the anvil 12090 reaches its closed position. In certain examples, the stop pin 12095 cannot contact the closed end of the stop slot 12075 when thick tissue is disposed between the anvil 12090 and the staple cartridge 12080.

  As discussed above, the cartridge channel 12070 can be attached to the frame 12020. In various examples, the cartridge channel 12070 can be securely and fixedly attached to the frame 12020. In such an example, the cartridge channel 12070 cannot be movable with respect to the frame 12020 and / or the handle 12015. In certain examples, the cartridge channel 12070 can be pivotally coupled to the frame 12020. In at least one such example, the cartridge channel 12070 can include a pivot aperture 12202 defined therein, and the pivot aperture 12202 can be configured to receive a pivot pin 12200. In such a situation, both the anvil 12090 and the cartridge channel 12070 can be rotatable relative to the frame 12020 about the pivot pin 12200. When the latch 12050 is engaged with the latch pin 12210, the latch 12050 can hold the anvil 12090 and the cartridge channel 12070 in place.

  In certain examples, in addition to the above, the instrument 12010 may include one or more sensors configured to detect whether the anvil 12090 is in its closed position. In at least one example, the instrument 12010 may include a pressure sensor disposed intermediate the frame 12020 and the cartridge channel 12070. The pressure sensor may be mounted on the bottom of the frame channel 12022 or the cartridge channel 12070, for example. When the pressure sensor is attached to the bottom of the cartridge channel 12070, the pressure sensor may contact the frame channel 12022 when the cartridge channel 12070 is moved toward the frame channel 12022. As discussed above, if the cartridge channel 12070 is rotatable relative to the frame channel 12022, the cartridge channel 12070 can be moved toward the frame channel 12022. In addition to or in lieu of the above, if the cartridge channel 12070 bends toward the frame channel 12022, the cartridge channel 12070 can be moved toward the frame channel 12022. Cartridge channel 12070 may bend toward frame channel 12022 when a compressive load is generated between anvil 12090 and cartridge channel 12070. A compressive load can be generated between the anvil 12090 and the cartridge channel 12070 when the anvil 12090 is moved to its closed position and / or when the anvil 12090 is moved toward the cartridge channel 12070 by the latch 12050. The cartridge channel 12070 can bear the pivot pin 12205 when the anvil 12090 is pushed toward the cartridge channel 12070 and / or when the latch 12050 is used and the anvil 12090 is pulled toward the cartridge channel 12070. In various examples, the cartridge channel 12070 can include a slot or groove 12209 defined therein, and the slot or groove 12209 can be configured to receive the pivot pin 12205. In either case, the pressure sensor may be configured to detect that pressure or force is being applied to the cartridge channel 12070. The pressure sensor can be in signal communication with the microprocessor of the surgical instrument 12010. When the pressure or force sensed by the pressure sensor exceeds a threshold, the microprocessor can operate the firing system of the instrument 12010. Before the pressure or force exceeds a threshold, the microprocessor warns the user of surgical instrument 12010 that the anvil 12090 cannot be closed or cannot be fully closed when the user attempts to operate the firing system. Can do. In addition to or in lieu of such warnings, the microprocessor may prevent the firing system of the instrument 12010 from being operated even if the pressure or force detected by the pressure sensor does not exceed a threshold.

  In certain examples, in addition to the above, the instrument 12010 may include one or more sensors configured to detect whether the latch 12050 is in its latched position. In at least one example, the instrument 12010 can include a sensor 12025 disposed intermediate the frame 12020 and the cartridge channel 12070. The sensor 12025 can be mounted at the bottom of the frame channel 12022 or the cartridge channel 12070, for example. If the sensor 12025 is mounted on the bottom of the cartridge channel 12070, the latch 12050 may contact the sensor 12025 when the latch 12050 is moved from its unlatched position to its latched position. Sensor 12025 may be in signal communication with the microprocessor of surgical instrument 12010. When sensor 12025 detects that latch 12050 is in its latched position, the microprocessor may operate the firing system of instrument 12010. Before the sensor 12025 detects that the latch 12050 is in its latched position, the microprocessor may or may not close the anvil 12090 when the user attempts to operate the firing system. Can be warned to the user of the surgical instrument 12010. In addition to or in lieu of such warnings, the microprocessor may prevent the firing system of the instrument 12010 from being operated if the latch 12050 is not detected at that latched position. In various examples, for example, sensor 12025 may comprise a proximity sensor. In various examples, for example, sensor 12025 may comprise a Hall effect sensor. In at least one such example, the latch 12050 can include at least one magnet element, such as a permanent magnet, that can be detected by a Hall effect sensor. In various examples, the sensor 12025 can be held in place, for example, by a bracket 12026.

  Referring primarily to FIG. 105, the firing system of the surgical instrument 12010 may include a firing motor 12120 configured to rotate the firing shaft 12230. The firing motor 12120 can be mounted to the motor frame 12125 within the handle 12015 of the surgical instrument 12010 such that the firing shaft 12230 extends distally. The firing system may further comprise a gear train that includes firstly a first firing gear 12240 attached to the closure shaft 12230 and secondly a feed screw gear 12250 attached to the lead screw 12260. The first firing gear 12240 can be in meshing engagement with the lead screw gear 12250 such that the first firing gear 12240 engages the lead screw gear 12250 when the first firing gear 12240 is rotated by the firing shaft 12230. The feed screw gear 12250 can rotate the feed screw 12260. Referring primarily to FIG. 104, the lead screw 12260 is within a first end 12261 that is rotatably mounted within an aperture defined within the motor block 12125 and within a bearing that is mounted to the bearing portion 12264 of the handle 12015. And a second end 12263 that is rotatably supported. The lead screw 12260 may further include a threaded portion 12262 that extends between the first end 12261 and the second end 12263. The firing system may further comprise a firing nut 12265 threadably engaged with the threaded portion 12262 of the lead screw 12260. The firing nut 12265 may be restrained from rotating with the lead screw 12260 so that when the lead screw 12260 is rotated in the first direction by the firing motor 12120, the lead screw 12260 advances the firing nut 12265 distally. And, similarly, when the lead screw 12260 is rotated in the second or opposite direction by the firing motor 12120, the lead screw 12260 is capable of retracting the firing nut 12265 proximally.

  In addition to the above, the firing nut 12265 may be mounted on a firing block 12270 that may translate with the firing nut 12265. In various examples, firing nut 12265 and firing block 12270 can be integrally formed. Similar to above, the firing system may further include a firing bar 12280 extending from the firing system that translates with the firing nut 12265 and the firing block 12270. In various examples, firing nut 12265, firing block 12270, and firing bar 12280 may constitute a firing assembly that is translated proximally and / or distally by lead screw 12160. As the firing assembly is advanced distally by the lead screw 12260, the firing bar 12280 may enter the staple cartridge 12080 and eject the staples from the staple cartridge 12080. The firing system may further comprise a knife block 12281 and a knife bar 12282 that is attached to and extends from the knife block 12281. When firing block 12270 is advanced distally, firing bar 12280 may engage knife block 12281 and advance knife block 12281 and knife bar 12282 distally. In various examples, firing block 12270 may move relative to knife block 12281 during the initial portion of the firing stroke and then move together during the final portion of the firing stroke. In at least one such example, firing bar 12280 may be moved until one or more raised surfaces extending from firing bar 12280 are in contact with knife block 12281 and push knife block 12281 distally with firing bar 12280. , And can slide through slots defined in knife block 12281. In various examples, the firing assembly may further include a knife block 12281 and a knife bar 12282, which may move simultaneously with the firing block 12270 and the firing bar 12280. In either case, when the knife bar 12282 is advanced distally, the cutting edge 12283 of the knife bar 12282 may incise the tissue captured between the anvil 12090 and the staple cartridge 12080. The entire disclosure of US Pat. No. 4,633,874, issued on January 6, 1987, entitled “SURGICAL STAPLING INSTRUMENT WITH WITH JAW LATCHING MECHANISM AND DISPOSABLE LOADING CARTRIDGE” is incorporated herein by reference.

  Referring primarily to FIG. 106, the firing system of surgical instrument 12010 may include a fire button 12055 and a fire switch 12290. When the user of the surgical instrument 12010 depresses the fire button 12055, the fire button 12055 may contact the fire switch 12290 and close the fire circuit that can operate the fire motor 12120. When the user of surgical instrument 12010 releases firing button 12055, the firing circuit can be opened and power supply to firing motor 12120 can be interrupted. The fire button 12055 can be pressed again to activate the fire motor 12120 once again. In a particular example, firing button 12055 may comprise a bidirectional switch that, when pressed in a first direction, can cause firing motor 12120 to operate in a first direction and is pressed in a second direction. And firing motor 12120 may be operated in a second, or opposite direction. The firing switch 12090 and / or any suitable configuration firing switch may be in signal communication with the microprocessor of the surgical instrument 12010, which may be configured to control the power supplied to the firing motor 12120. In certain examples, in addition to the above, the microprocessor may ignore the signal from the fire button 12055 until the sensor 12025 detects that the latch 12050 has been closed. In either case, the fire button 12055 is in a first direction to advance the fire bar 12280 and knife 12282 distally and a second to retract the fire bar 12280 and knife 12282 proximally. Can be pushed in the direction of In certain examples, the surgical instrument 12010 is configured to operate the firing motor 12120 in its first direction and the firing button and switch configured to operate the firing motor 12120 in its second direction. A back button and switch may be included. After the firing bar 12280 and knife 12282 are retracted, the latch 12050 can be moved from its latched position to its unlatched position to separate the latch arm 12053 from the latch pin 12210. Thereafter, the anvil 12090 can be pivoted away from the staple cartridge 12080 to return the surgical instrument 12010 to the release unlatched state. Similar to above, surgical instrument 12010 may include one or more indicators, such as LED 12100, configured to indicate the status of surgical instrument 12010. The LED 12100 may be in signal communication with the microprocessor of the surgical instrument 12010, for example, and may operate in a manner similar to that described in connection with the LED 11100. The LED 12100 can be held in place, for example, by a bracket 12101.

  In various examples, instrument 12010 can include a firing lockout system that prevents advancement of knife 12282 and / or firing bar 12280 when anvil 12090 is in a closed or substantially closed position. Can do. Referring to FIGS. 104 and 106, the instrument 12010 may comprise a biasing member 12400 mounted, for example, on the cartridge channel 12070, which biases the knife 12282 to engage the lock portion of the handle 12015. Can be. When the anvil 12090 is rotated to its closed position, the anvil 12090 can push the knife 12282 downward and move it away from the locking portion against the biasing force of the biasing member 12400. At such time, knife 12282 can be advanced distally. Similarly, the instrument 12010 can include a biasing member that can bias the firing bar 12280 into engagement with the locking portion of the handle 12015, where the anvil 12090 is moved when the anvil 12090 is moved to its closed position. May separate firing bar 12280 from the locking portion.

  Surgical instrument 12010 may comprise a manual closure system and a powered staple firing system. A portion 12040 of the handle 12015 can be grasped with one hand of the user of the surgical instrument 12010 and the anvil 1209 and latch 12050 can be operated with the other hand. As part of closing the latch 12050, in at least one embodiment, the user can move his or her hand generally in the direction of his or her other hand, thereby allowing accidental and Accidental motion can be reduced. Surgical instrument 12010 may be powered by any suitable power source. For example, an electrical cable can extend from an external power source into the handle 12015. In certain examples, for example, a battery can be stored in the handle 12015.

  A surgical stapling instrument 13010 is shown in FIGS. FIG. 107 is a side view of surgical instrument 13010 with some components removed and others shown in cross-sectional view. The instrument 13010 can comprise a handle 13015, a first actuator 13020, a second actuator 13030, a shaft assembly 13040, and an end effector 13012, which includes an anvil 13050 and a staple cartridge 13055. Yes. The shaft portion 13040 and the anvil 13050 may be operated as illustrated and discussed in US Pat. No. 5,704,534, issued January 6, 1998, titled “ARTICULATION ASEMBLY FOR SURGICAL INSTRUMENTS”. The entire disclosure of US Pat. No. 5,704,534, issued on Jan. 6, 1998, entitled “ARTICULATION ASSEMBLY FOR SURGUMENT INSTRUMENTS” is incorporated herein by reference. An electrical input cable 13018 may connect the instrument 13010 to an external power source. In at least one example, the external power source may include a generator such as, for example, a GEN11 generator manufactured by Ethicon Energy of Cincinnati, Ohio. In various examples, the external power source may include an AC / DC adapter. In a particular example, the instrument 13010 is, for example, a battery illustrated and discussed in U.S. Pat. No. 8,210,411 issued July 3, 2012, entitled “MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT”, It can be powered by an internal battery. The entire disclosure of US Pat. No. 8,210,411, issued on July 3, 2012, entitled “MOTOR-DRIVEN SURGICAL COUNTING INSTRUMENT”, is incorporated herein by reference.

  In various examples, referring primarily to FIG. 107, the anvil 13050 of the end effector 13012 is in an open position as shown in FIG. 107 and the anvil 13050 is adjacent or in contact with the staple cartridge 13055, as described in more detail below. It is possible to move between the closed position and the closed position. In at least one such example, the staple cartridge 13055 cannot be pivotable relative to the anvil 13050. In certain examples, although not shown, staple cartridge 13055 can be pivotable relative to anvil 13050. In at least one such example, the anvil 13050 cannot be pivotable relative to the staple cartridge 13055. In either case, the user of instrument 13010 can manipulate end effector 13012 to place tissue T between anvil 13050 and cartridge 13055. Once the tissue T is properly positioned between the anvil 13050 and the staple cartridge 13055, the user can then pull the first actuator 13020 to activate the closure system of the instrument 13010. The closure system may move the anvil 13050 relative to the staple cartridge 13055. For example, as described in more detail below, the first actuator 13020 can be pulled toward the pistol grip portion 13016 of the handle 13015 to close the anvil 13050.

  The closure drive may include a closure motor 13105 (FIG. 110) configured to move the anvil 13050. The closure motor 13105 can be attached to the handle 13015 via a motor bracket 13101, for example. Closing the first actuator 13020 from its open position (FIG. 108) to its closed position (FIG. 109) can energize the closure motor 13105. Referring primarily to FIG. 110, the closure motor 13105 may include a rotatable output shaft that is operatively engaged with the closure lead screw 13110. When the closure motor 13105 rotates the output shaft in the first direction, the output shaft can rotate the closure feed screw 13110 in the first direction. Closure lead screw 13110 may be rotatably supported within handle 13015 and may include a threaded portion. The closure drive may further include a closure nut threadably engaged with the threaded portion 12262 of the closure lead screw 13110. The closure nut can be prevented from rotating with the closure feed screw 13110 so that the rotational movement of the closure feed screw 13110 can be transmitted to the closure nut. The closure nut can be engaged with the closure yoke 13120 or formed integrally with the closure yoke 13120. When the closure motor 13015 is rotated in its first direction, the closure lead screw 13110 can advance the closure yoke 13120 distally. In various examples, the closure yoke 13120 can be slidably supported within the handle 13015 by a rail 13122 extending from the handle 13015, which restrains the movement of the closure yoke 13120 in a defined path along the longitudinal axis. Can do. Such an axis may be parallel, substantially parallel, collinear, or substantially collinear with the longitudinal axis defined by the shaft assembly 13040. The closure drive may further include a closure tube 13125 extending distally from the closure yoke 13120. The closure tube 13125 can also be part of the shaft assembly 13040 and can translate relative to the frame of the shaft assembly 13040. When the closure yoke 13120 is advanced distally by the closure lead screw 13110, the closure yoke 13120 may advance the closure tube 13125 distally. The distal end of the closure tube 13125 can be operably engaged with the anvil 13050 so that when the closure tube 13125 is advanced distally, the closure tube 13125 moves the anvil 13050 from its open position to its closed position. You can push towards. A manual closure system is disclosed in US Pat. No. 5,704,534 issued Jan. 6, 1998, entitled “ARTICULATION ASSEMBLY FOR SURGICAL INSTRUMENTS”.

  In at least one form, the instrument 13010 can include a closure system switch disposed within the handle 13015, which includes a first actuator 13020 from its open position (FIG. 108) to its closed position (FIG. 109). ) Can be closed when moved towards. In a particular example, the closure system switch can be closed when the first actuator 13020 is in its closed position (FIG. 109). In any case, as discussed above, when the closure system switch is closed, the closure system power circuit is closed and power is supplied to the closure motor 13105 to rotate the closure motor 13105 in its first direction. Can be supplied. In certain examples, the surgical instrument 13010 can include a microprocessor, and, similar to the above, the closure system switch can be in signal communication with the microprocessor. When the closure system switch sends a signal to the microprocessor indicating that the first actuator 13020 is closed, the microprocessor supplies power to the closure motor 13105 to operate the closure motor 13105 in its first direction. And the anvil 13050 can be moved toward its closed position. In various examples, as long as the first actuator 13020 is at least partially activated and the closure system switch is in a closed state, the closure motor 13105 can move the anvil 13050 toward its closed position. If the user releases the first actuator 13020 and the first actuator 13020 is returned to its inactivated position, the closure system switch can be opened and the power supply to the closure motor 13105 can be interrupted. In such an example, the anvil 13050 may be partially left in the closed position. When the first actuator 13020 is once again activated and the closure system switch is closed, power is once again supplied to the closure motor 13105 and the anvil 13050 can be moved toward its closed position. In view of the above, a user of surgical instrument 13010 can actuate first actuator 13020 and wait until closure motor 13105 places anvil 13050 in its fully closed position.

  In at least one form, the movement of the first actuator 13020 can be proportional to the movement of the anvil 13050. When the first actuator 13020 is moved between its open position (FIG. 108) and its closed position (FIG. 109), it may move over the entire operating range of the first or actuator. Similarly, when the anvil 13050 is moved between its open position (FIG. 107) and its closed position, the anvil 13050 may move throughout the second or anvil operating range. The operating range of the actuator may correspond to the operating range of the anvil. As an example, the operating range of the actuator may be equal to the operating range of the anvil. For example, the operating range of the actuator can include about 30 degrees and the operating range of the anvil can include about 30 degrees. In such an example, the anvil 13050 may be in the fully open position when the first actuator 13020 is in its fully open position, and the anvil 13050 may be rotated 10 degrees toward the closed position of the first actuator 13020. When rotated, the anvil 13050 may rotate 20 degrees toward the closed position when the first actuator 13020 is rotated 20 degrees toward the closed position. And so on. This direct proportionality between the first actuator 13020 and the anvil 13050 allows the user of the instrument 13010 to obtain a sense of the anvil position 13050 relative to the staple cartridge 13055 even when the anvil 13050 is obstructed from view at the surgical site. Can do.

  In addition to the above, the anvil 13050 may be responsive to both closing and opening operations of the first actuator 13020. For example, when the first actuator 13020 is moved 10 degrees toward the pistol grip 13016, the anvil 13050 can be moved 10 degrees toward the staple cartridge 13055, and the first actuator 13020 is moved from the pistol grip 13016. When moved 10 degrees away, the anvil 13050 can be moved 10 degrees away from the staple cartridge 13055. The movement of the first actuator 13020 and the movement of the anvil 13050 may be directly proportional according to a 1: 1 ratio, but other ratios are possible. For example, the movement of the first actuator 13020 and the movement of the anvil 13050 can be directly proportional, for example according to a ratio of 2: 1. In such an example, the anvil 13050 will move once relative to the staple cartridge 13055 when the first actuator 13020 is moved twice relative to the pistol grip 13016. Further, in such an example, the operating range of the first actuator 13020 can be twice the operating range of the anvil 13050. In another example, for example, the movement of the first actuator 13020 and the movement of the anvil 13050 may be directly proportional according to a ratio of 1: 2. In such an example, the anvil 13050 will move twice relative to the staple cartridge 13055 when the first actuator 13020 is moved once relative to the pistol grip 13016. Further, in such an example, the operating range of first actuator 13020 may be half of the operating range of anvil 13050. In various examples, the motion of the first actuator 13020 may be linearly proportional to the motion of the anvil 13050. In other examples, the operation of the first actuator 13020 can be non-linearly proportional to the operation of the anvil 13050. As will be described in more detail below, regardless of the ratio used, such an embodiment may be possible, for example, by the use of a potentiometer that can evaluate the rotation of the first actuator 13020.

  In addition to the above, referring to FIGS. 108-110, the closure system of the instrument 13010 can include a slide potentiometer 13090 that can sense the movement of the first actuator 13020. The first actuator 13020 can be pivotally attached to the handle 13015 via a pivot 13021. The first actuator 13020 can include a gear portion 13070 that includes a plurality of gear teeth extending circumferentially about a pivot 13021. In addition to the above, when the first actuator 13020 is rotated proximally toward the pistol grip 13016, the gear portion 13070 can be rotated distally. Similarly, when the first actuator 13020 is rotated distally away from the pistol grip 13016, the gear portion 13070 can be rotated proximally. The closure system may further comprise a closure yoke rack 13080 that is slidably supported within the handle 13015. The closure yoke rack 13080 may comprise a longitudinal array of teeth extending along the bottom surface of the closure yoke rack 13080 facing the gear portion 13070 of the first actuator 13020. The gear portion 13070 of the first actuator 13020 may be in meshing engagement with an array of teeth defined on the closure yoke rack 13080, so that when the first actuator 13020 is rotated about the pivot 13021, the first The actuator 13020 can displace the closure yoke rack 13080 proximally or distally depending on the direction in which the first actuator 13020 is rotated. For example, when the first actuator 13020 is rotated toward the pistol grip 13016, the first actuator 13020 can displace the closure yoke rack 13080 distally. Similarly, when the first actuator 13020 is rotated away from the pistol grip 13016, the first actuator 13020 can displace the closure yoke rack 13080 proximally. The handle 13015 can include a guide slot defined therein that slidably supports the closure yoke rack 13080 and allows movement of the closure yoke rack 13080 in a defined path along the longitudinal axis. It can be configured to suppress. This longitudinal axis may be parallel, substantially parallel, collinear, or substantially collinear with the longitudinal axis of shaft assembly 13040.

  The closure yoke rack 13080 can include a detectable element 13081 mounted thereon. The detectable element 13081 may include a magnetic element such as a permanent magnet. Detectable element 13081 can be configured to translate within a longitudinal slot 13091 defined within slide potentiometer 13090 when closure rack 13080 is translated within handle 13015. The slide potentiometer 13090 can be configured to detect the position of the detectable element 13081 in the longitudinal slot 13091 and communicate that position to the microprocessor of the surgical instrument 13010. For example, when the first actuator 13020 is in its open or non-actuated position (FIG. 108), the detectable element 13081 can be placed at the proximal end of the longitudinal slot 13091 and the potentiometer 13090 can be A signal may be transmitted to the microprocessor that may indicate to the microprocessor that the actuator 13020 is in its open position. With this information, the microprocessor can maintain the anvil 13050 in its open position. When the first actuator 13020 is rotated toward the pistol grip 13016, the detectable element 13081 can slide distally within the longitudinal slot 13091. Potentiometer 13090 may transmit a signal or signals that may indicate the position of first actuator 13020 to the microprocessor. In response to such a signal or signals, the microprocessor may operate the closure motor 13105 to move the anvil 13055 to a position corresponding to the position of the first actuator 13020. For example, when the first actuator 13020 is in its closed or fully inoperative position (FIG. 109), the detectable element 13081 can be placed at the distal end of the longitudinal slot 13091 and the potentiometer 13090 can be A signal may be transmitted to the microprocessor that may indicate to the microprocessor that the actuator 13020 is in its closed position. With this information, the microprocessor can move the anvil 13050 to its closed position.

  As discussed above, when the first actuator 13020 is pulled so as to be substantially adjacent to the pistol grip 13016 of the handle 13015, the closure yoke rack 13080 is moved to its most distal position. When the closure yoke rack 13080 is in its most distal position, the closure release button 13140 engages the closure yoke rack 13080 to releasably hold the closure yoke rack 13080 in its most distal position, so that the anvil 13050 may be releasably held in its closed position. Referring primarily to FIG. 108, the closure release button 13140 may be mounted to the handle 13015 so as to be pivotable about a pivot 13141. The closure release button 13140 can include a lock arm 13142 extending from the closure release button 13140. When the first actuator 13120 is in its inoperative position and the closure yoke rack 13080 is in its proximal position, the lock arm 13142 is disposed above and / or in contact with the top surface of the closure yoke rack 13080. obtain. In such a position, the closure yoke rack 13080 can slide relative to the lock arm 13142. In some situations, the lock arm 13142 can be biased against the top surface of the closure yoke rack 13080. As will be described in further detail below, the instrument 13010 further comprises a lock 13290 configured to releasably hold the first actuator 13020 and the second actuator 13030 in the inoperative configuration shown in FIG. obtain. A spring 13150 may be disposed between the lock 13290 and the firing button 13140, which spring urges the closure release button 13140 to pivot about the pivot 13141 and abuts the top surface of the closure yoke rack 13080. A lock arm 13142 may be disposed. In various examples, the lock 13290 can include a proximal protrusion 13296, the closure release button 13140 can include a distal protrusion 13146, and the distal protrusion 13146 can be positioned between the lock 13290 and the closure release button 13140. It can be configured to hold and align the spring 13150 in position. As shown in FIG. 109, when the first actuator 13020 is rotated to its operative position, the closure yoke rack 13080 can be in its most distal position and the lock arm 13142 can be proximal to the closure yoke rack 13080. It can be biased or retracted into a notch 13082 defined at the end. Further, when the first actuator 13020 is moved to its closed or actuated position shown in FIGS. 109 and 110, the first actuator 13020 pushes the lock 13290 proximally and causes the lock 13290 to pivot about the pivot 13214. Can be rotated. In at least one example, the first actuator 13020 can include an actuator protrusion 13025 that extends from the first actuator 13020, and the actuator protrusion 13025 is configured to engage a distal protrusion 13295 that extends from the lock 13290. Is done. Such movement of the lock 13290 may compress the spring 13150 between the lock 13290 and the closure release button 13140 and increase the biasing force applied to the closure release button 13140. When the lock arm 13142 is engaged with the notch 13082, the closure yoke rack 13080 cannot be movable in the proximal direction or the distal direction, or cannot be at least partially movable.

  As discussed above, the first actuator 13020 and the second actuator 13030 may be releasably held in and / or biased to the inoperative position shown in FIG. The instrument 13010 can include a return spring 13210 that includes a first end coupled to the pivot 13214 and a second end coupled to a spring mount 13034 extending from the second actuator 13030. obtain. The second actuator 13030 can be mounted on the handle 13015 so as to be rotatable about the pivot 13021, and the return spring 13210 applies a biasing force to the second actuator 13030 to rotate the second actuator 13030 about the pivot 13021. Can be. The lock 13290 can stop the rotation of the second actuator 13030 about the pivot 13021. More specifically, the spring 13150 may act to urge the closure return button 13140 to engage the closure yoke rack 13080 and may also act to push the lock 13290 distally, so The lock arm 13292 of the lock 13290 is disposed behind a shoulder 13032 defined in the second actuator 13030, thereby limiting the rotation of the second actuator 13030, which is shown in FIG. It can be held in its inoperative position. Referring primarily to FIG. 110, the second actuator 13030 can include a shoulder 13031 that abuts the gear portion 13070 of the first actuator 13020 and places the first actuator 13020 in its inoperative position (FIG. 108). May be configured to be biased toward. When the first actuator 13020 is rotated toward its operating position (FIG. 109), the first actuator 13020 moves the second actuator 13030 to the pistol grip 13016 against the biasing force provided by the spring 13210. Can be at least partially rotated toward. Indeed, actuation of the first actuator 13020 may make the second actuator 13030 accessible to the user of the surgical instrument 13010. Prior to actuation of the first actuator 13020, the second actuator 13030 may become inaccessible to the user. In either case, the reader will recall that the lock 13295 is pushed proximally by actuation of the first actuator 13020. Such movement of the lock 13295 proximally may cause the lock 13295 to be displaced from behind the shoulder 13032 defined in the second actuator 13030.

  As discussed above, when the first actuator 13020 is moved and locked to its fully operational position (FIG. 109) and the anvil 13050 is moved to its closed position, the instrument 13010 is used to anvil 1305. And the tissue disposed intermediate the staple cartridge 13055 can be stapled. If the user is dissatisfied with the position of the tissue between the anvil 13050 and the staple cartridge 13055, the user can unlock the anvil 13050 by depressing the closure release button 13140. When the closure release button 13140 is depressed, the lock arm 13142 of the closure release button 13140 can be pivoted upward to disengage the notch 13082, thereby allowing the closure yoke rack 13080 to move proximally. Further, the return spring 13210 can return the first actuator 13020 and the second actuator 13030 to their non-actuated positions shown in FIG. The return spring 13210 may return the closure yoke rack 13080 to its proximal position again. Such movement of the closure yoke rack 13080 can be detected by a slide potentiometer 13090 that has the first actuator 13020 returned to its inoperative position and the anvil 13050 returned to its open position. A signal to be transmitted may be transmitted to the instrument 13010 microprocessor. In response, the microprocessor may instruct the closure motor 13105 to rotate in the second direction to drive the closure nut of the closure system proximally and retract the closure tube 13125 proximally; As a result, the anvil 13050 is returned to its open position again. The user can then reposition the anvil 13050 and staple cartridge 13055 by re-activating the first actuator 13020 and reclose the anvil 13050. In various examples, the microprocessor of the instrument 13010 may be configured to ignore the input signal from the second actuator 13030 until the potentiometer 13090 detects that the anvil 13050 is in the closed or fully closed position. .

  When the user is satisfied with the position of the anvil 13050 and staple cartridge 13055, in addition to the above, the user can move the second actuator 13030 to the closed or operative position so that the second actuator 13030 is proximate to the first actuator 13020. You can pull on. Actuation of the second actuator 13030 may cause the firing switch 13180 in the handle 13015 to be depressed, ie closed. In various examples, firing switch 13180 can be supported by motor mount 13102, which can also be configured to support closure motor 13105 and / or firing motor 13100. By closing the firing switch 13180, the firing motor 13100 can be operated. In certain examples, firing switch 13180 can be in signal communication with the microprocessor of surgical instrument 13010. When the microprocessor receives a signal from the firing switch 13180 that the second actuator 13030 is fully activated, the microprocessor may supply power to the firing motor 13100. In various examples, closure of firing switch 13180 may cause firing motor 13100 to be connected directly to a DC or AC power source to operate firing motor 13100. In at least one example, firing switch 13180 can be configured such that firing switch 13180 is not closed until second actuator 13030 reaches its fully closed position. Referring primarily to FIG. 110, the rotation of the second actuator 13030 may be stopped in the fully closed position when the second actuator 13030 contacts the first actuator 13020. In at least one such example, the first actuator 13020 can include a stop recess 13023 that can be removed from the second actuator 13030 when the second actuator 13030 reaches its closed position. It is configured to receive an extending stop projection 13033.

  Firing motor 13100 may include a rotatable output shaft operatively engaged with firing lead screw 13190 of the firing system. When the firing motor 13100 is operated to rotate its output shaft in a first direction, the output shaft may cause the firing lead screw 13190 to rotate in the first direction. When the firing motor 13100 is operated to rotate its output shaft in a second or opposite direction, the output shaft may cause the firing lead screw 13190 to rotate in the second direction. The firing system may further comprise a firing nut that is threadably engaged with a threaded portion of the firing lead screw 13190. Because the firing nut can be restrained from rotating with the firing lead screw 13190, rotation of the firing lead screw 13190 causes the firing nut to be proximal or distal depending on the direction in which the firing lead screw 13190 is rotated. Can be translated. The firing system can further comprise a firing shaft 13220, which is operably coupled to the firing nut that can be displaced together with the firing nut. The firing system may also further comprise a knife bar 13200 and a staple deployment firing band that extends distally from the firing shaft 13220. When firing motor 13020 is rotated in its first direction, firing lead screw 13190 displaces firing nut, firing shaft 13220, knife bar 13200, and firing band distally to eject staples from staple cartridge 13055. The tissue disposed between the anvil 13050 and the staple cartridge 13055 can then be incised. When the knife 13200 and firing band reach the end of their movement, the microprocessor rotates the firing motor 13100 in its second, opposite direction, to return the knife 13200 and band to their original positions again. obtain. In various examples, the instrument 13010 may include a mobile end sensor in signal communication with the microprocessor, the mobile end sensor indicating that the firing drive has reached the end of its firing stroke, and the firing stroke is retracted. Can tell the microprocessor what to do. For example, such a stroke end sensor may be disposed within the anvil 13050 and / or the staple cartridge 13055. In a particular example, an encoder operably coupled to firing motor 13100 determines that firing motor 13100 is rotating for a sufficient number of revolutions for knife 13200 and firing band to reach the end of their stroke. , May tell the microprocessor that the launch system should be retracted.

  When the second actuator 13030 is actuated, however, the instrument 13010 is in its firing state and the microprocessor is in contact with the first actuator 13020 and / or slide potentiometer 13090 until the firing system is returned to its original position. Can be configured to ignore any input from. In various examples, the instrument 13010 may include a stop button that, when pressed, may inform the microprocessor that the firing assembly should be retracted immediately. In at least one such example, the firing sequence may be paused when the closure release button 13140 is pressed. As discussed above, pressing the closure release button 13140 moves the closure yoke rack 13080 proximally, which then moves the detectable element 13081 proximally. Proximal movement of the detectable element 13081 can be detected by a slide potentiometer 13090, which reverses the rotation of the firing motor 13100 to retract the firing assembly and / or the closure motor 13105. May be operated to open the anvil 13050 to the microprocessor.

  The instrument 13010 may also include one or more indicators, such as an LED 13300, that may be configured to indicate the operational status of the instrument 13010. In various examples, the LED 13300 may operate in a manner similar to, for example, the LED 11100. Instrument 13010 also incorporates the ability to articulate end effector 13012. This is done using an articulated knob 13240 as discussed in US Pat. No. 5,704,534. Manual rotation of the shaft assembly 13040 is also discussed in US Pat. No. 5,704,534.

  In the modular concept of instrument 13010, shaft assembly 13040 and end effector 13012 are disposable and can be attached to a reusable handle 13015. In another embodiment, the anvil 13050 and staple cartridge 13055 are disposable, and the shaft assembly 13040 and handle 13015 are reusable. In various embodiments, the end effector 13012 including the anvil 13015, the shaft assembly 13040, and the handle 13015 may be reusable and the staple cartridge 13055 may be replaceable.

  111 is a perspective view of a surgical stapling instrument 14010. FIG. The instrument 14010 may comprise an actuator or handle 14020, a shaft portion 14030, a tubular cartridge casing 14040, and an anvil 14050. Instrument 14010 may further include a closure system configured to move anvil 14050 between an open position and a closed position. The actuator 14020 can include a rotary closure knob 14075, which can operate the closure system as described in more detail below. The instrument 14010 can further include a firing system configured to eject staples removably stored in the cartridge casing 14040. The actuator 14020 can further comprise a firing activation trigger 14070, which can operate the firing system as described in more detail below. Shaft portion 14030, cartridge casing 14040, and anvil 14050 are similar to the system illustrated and discussed in US Pat. No. 5,292,053, issued on March 8, 1994, entitled “SURGICAL ANASTOMOSIS STAPLING INSTRUMENT”. Can operate in the same manner. The entire disclosure of US Pat. No. 5,292,053, entitled “SURGICAL ANASTOMOSIS STAPLING INSTRUMENT”, issued March 8, 1994, is incorporated herein by reference.

  In addition to the above, the actuator 14020 can include a transmission portion 14000 and a slider button 14060 configured to operate the transmission portion 14000. The slider button 14060 is movable between a distal position closer to the cartridge casing 14040 (FIG. 115) and a proximal position further away from the cartridge casing 14040 (FIG. 114). When the slider button 14060 is in its proximal position, the actuator 14020 is in a first mode of operation, the closed mode, and can move the anvil 14050 toward the cartridge casing 14040 and away from the cartridge casing 14040. When the slider button 14060 is in its distal position, the actuator 14020 is in a second mode of operation, firing mode, and can eject staples from the cartridge casing 14040 toward the anvil 14050. When the actuator 14020 is in its closed mode, the rotary closure knob 14075 has a longitudinal axis extending through the actuator 14020 to move the anvil 14050 proximally or distally depending on the direction in which the closure knob 14075 is rotated. Can be rotated about. When actuator 14020 is in its firing mode, firing trigger 14070 can be rotated proximally to eject staples from cartridge casing 14040. The closure system and launch system are discussed in more detail below.

  Actuator 14020 may comprise an electric motor, such as a motor 14090 (FIGS. 113-115), that may cause the closure drive and firing drive to operate via transmission 14000. The motor 14090 can be supported within the actuator housing 14080 of the actuator 14020. Referring primarily to FIG. 113, the actuator housing 14080 can include two halves: an actuator housing right half 14080a and an actuator housing left half 14080b. Actuator housing halves 14080a and 14080b may be held together by screws, but any suitable fastening and / or gluing method may be used to assemble actuator housing 14080. The motor 14090 can be supported between the actuator housing halves 14080a and 14080b and can include a rotatable shaft 14100 extending distally from the motor 14090. In a particular example, the actuator 14020 can include a motor support 14101 disposed within the housing 14080 that supports the housing of the motor 14100 such that the motor housing rotates relative to the actuator housing 14080. Configured to suppress. In various examples, the rotatable shaft 14100 can include an extension portion 14110 secured to the rotatable shaft 14100. The shaft 14100 and the extension portion 14110 can be rotatably coupled to rotate together.

  In addition to the above, referring primarily to FIG. 116, the extension portion 14110 includes a cylindrical or at least substantially cylindrical body 14111 and a flat portion 14120 defined within the distal end 14113 of the extension portion 14110. Can be included. The cylindrical body 14111 of the extension portion 14110 can be rotatably supported within the actuator housing 14080 by a bearing 14105. The distal end 14113 of the extension portion 14110 can be disposed within a slider aperture 14114 defined in the slider 14115. The slider 14115 is part of the transmission 14000, as discussed in more detail below, and the slider 14115 is a proximal position (FIG. 114) where the rotational movement of the motor 14090 is transmitted to the closure system, and the slider 14115 is a motor. It can be shifted between a distal position (FIG. 115) that transmits the rotational motion of 14090 to the firing system. When the slider 14115 is shifted between its proximal position (FIG. 114) and its distal position (FIG. 115), the slider 14115 can slide relative to the extension 14110. The slider aperture 14114 defined in the slider 14115 may define a perimeter that matches, or at least substantially matches, the perimeter of the distal end 14113 of the extension portion 14110, so firstly, the extension portion 14110. And the slider 14115 are rotationally coupled to each other, and secondly, the slider 14115 can be translated with respect to the extended portion 14110. In at least one example, the slider aperture 14114 is aligned with a cylindrical portion 14116 that aligns with the cylindrical body 14111 of the extension portion 14110 and a flat portion 14120 that is defined within the distal end 14113 of the slider 14115. Part 14117.

  In addition to the above, the slider 14115 may comprise a tubular or generally tubular structure. As shown in FIG. 115, the slider 14115 can comprise a distal end 14118 and a peripheral spline 14130 extending around the outer surface of the distal end 14118, the peripheral spline 14130 being operable with a firing drive. Can be engaged. As shown in FIG. 114, the slider 14115 can further comprise a plurality of inner splines 14140 defined in the distal end of the slider aperture 14114, the inner splines 14140 being operatively engaged with the closure drive. obtain. The slider 14115 can form part of the slider assembly 14150. Referring primarily to FIG. 116, the slider assembly 14150 may further include an upper journal bearing 14160, a lower journal bearing 14170, a slider button 14060, and a slider spring 14180. The upper journal bearing 14160 and the lower journal bearing 14170 combine to form a journal bearing, which first supports the slider 14115 sufficiently loosely so that the slider 14115 can rotate within the journal bearing. Second, the slider 14115 can be displaced proximally and distally. Referring primarily to FIG. 116, the slider 14115 can include a distal flange 14121 and a proximal flange 14122 extending from the slider 14115, which can define a recess 14123 therebetween that closely receives the journal bearing. It is configured as follows. When the slider button 14060 is pushed distally, the journal bearing can support the distal flange 14121 and push the slider 14115 distally. Similarly, when the slider button 14060 is pushed proximally, the journal bearing can support the proximal flange 14122 and push the slider 14115 proximally.

  The slider assembly 14150 can include a lock configured to releasably hold the slider 14115 in place. Referring primarily to FIG. 116, the slider button 14060 can include a flange 14181, which is a first recess defined in a first or proximal end of a longitudinal slot defined in the actuator housing 14080. , And a second recess of the longitudinal slot defined in the second or distal end of the longitudinal slot. When the flange 14181 is engaged with the proximal recess, the flange 14181 can hold the slider assembly 14150 in a proximal position that operably engages the slider 14115 and closure drive with the motor 14090. When the flange 14181 is engaged with the distal recess, the flange 14181 may hold the slider assembly 14150 in a distal position that operably engages the slider 14115 and firing drive with the motor 14090. Upper journal bearing 14160 may include a journal aperture 14161 configured to slidably receive shaft 14061 of button 14060. Button 14060 can be pushed downward within journal aperture 14161 to separate flange 14181 from actuator housing 14080. When the flange 14181 is separated from the actuator housing 14080, the button 14060 is slid within a longitudinal slot defined in the actuator housing 14080 to move the slider 14115 between its proximal and distal positions. obtain. The spring 14180 may be configured to bias the flange 14181 toward the actuator housing 14080, and when the user of the surgical instrument 14010 releases the button 14006, the spring 14180 biases the button 14060 upward to engage the actuator housing 14080. Once again, it can be engaged.

  In addition to the above, when the slider assembly 14150 is in its proximal position, the slider 14115 is engaged with the closure nut 14190 of the closure drive. The closure nut 14190 comprises an elongated tubular structure that includes a closure nut external spline 14200 defined at a proximal end thereof. When the slider 14115 is in its proximal position, the inner spline 14140 of the slider 14115 is in meshing engagement with the outer spline 14200 of the closure nut 14190 so that when the slider 14115 is rotated by the motor 14090, the closure nut 14190 14115 is rotated. Closure nut 14190 may be rotatably supported within actuator housing 14080 by one or more bearings, such as bushing 14220, which rotatably support the distal end of closure nut 14190. The closure nut bushing 14220 can be comprised of, for example, delrin, nylon, copper, brass, bronze, and / or carbon. In certain examples, the closure nut bushing 14220 can include, for example, a ball bearing or a roller bearing. In various examples, the closure nut bushing 14220 may be an integral part of the actuator housing 14080.

  The closure nut 14190 can include a longitudinal aperture 14191 defined therein. The closure system may further comprise a closure rod 14230, which may be at least partially disposed within the longitudinal aperture 14191. The closure rod 14230 can further comprise a thread 14231 defined thereon, the thread 14231 being threadably engaged with a closure nut thread 14210 defined within the longitudinal aperture 14191. The closure rod 14230 can be restrained from rotating with the closure nut 14190 so that when the closure nut 14190 is rotated in the first direction by the motor 14090, the closure rod 14230 is translated proximally by the closure nut 14190. To be able to be. As shown in FIG. 115, the closure rod 14230 can move proximally within the longitudinal aperture 14191 of the closure nut 14190. Similarly, the closure rod 14230 can be translated distally by the closure nut 14190 when the closure nut 14190 is rotated in the opposite or second direction by the motor 14090. As described in more detail below, the closure rod 14230 can be operatively engaged with the anvil 14050 so that when the closure rod 14230 is pulled proximally, the anvil 14050 moves toward the cartridge casing 14040. To be able to be. Similarly, the anvil 14050 can be moved away from the cartridge casing 14040 when the closure rod 14230 is pushed distally. In various examples, the length of the closure stroke of the closure system can be measured between the open and closed positions of the anvil 14050. The closure rod 14230 can be at least as long as the closure stroke to accommodate the length of the closure stroke.

  As discussed above, the button 14060 of the actuator 14020 has a proximal position (FIG. 114) where the transmission 14000 is engaged with the closure drive and a distal position where the transmission 14000 is engaged with the firing drive. (FIG. 115). In this way, the transmission 14000 can be used to selectively couple the closure drive and firing drive with the motor 14090. When the user of surgical instrument 14010 is satisfied with the position of anvil 14050 relative to cartridge casing 14040, the user displaces button 14060 distally as shown in FIG. 115 to separate slider 14115 from the closure drive and slider 14115. Can be engaged with the firing drive. When the slider 14115 is slid distally, the inner spline 14140 of the slider 14115 is separated from the outer spline 14200 of the closure nut 14190 so that subsequent rotation of the slider 14115 is not transmitted to the closure nut 14190 and the closure system. . At the same time that the slider is separated from the closure system, the slider 14115 can become engaged with the firing system. Alternatively, when the slider 14115 is displaced distally, the slider 14115 can become detached from the closure system, and the slider 14115 is further displaced further to cause the slider 14115 to engage the firing system. Can come together. In such a situation, the transmission 14000 cannot operably engage the closure drive and firing drive with the motor 14090 at the same time. In either case, the firing system can include a firing nut 14260 that can be engaged by the slider 14115 when the slider 14115 is moved distally.

  In addition to the above, referring primarily to FIG. 116, the firing nut 14260 can include an aperture 14261 defined therein, which can be used when the slider 14115 is advanced to its distal position (FIG. 115). It may be configured to receive the distal end 14118 of the slider 14115. Firing nut aperture 14261 may include a firing nut spline 14270 defined around its inner circumference, and firing nut spline 14270 may mesh with outer peripheral spline 14130 of slider 14115. When the outer spline 14130 of the slider 14115 is engaged with the firing nut spline 14270 of the firing nut 14260, the slider 14115 can be rotatably coupled to the firing nut 14260 so that the rotation of the slider 14115 is transmitted to the firing nut 14260. It becomes like this. The actuator 14020 can further include a firing nut bushing 14275 that rotatably supports the firing nut 14260. The firing nut bushing 14275 may comprise, for example, a needle bearing, Delrin, nylon, and / or other plastic bushing, metal bushing, or an integral part of the actuator housing 14080. Firing nut 14260 may further comprise an internal thread 14272 defined in the distal inner surface of firing nut aperture 14261. The firing system may further comprise a firing tube 14280 that is threadably engaged with the internal thread 14272 of the firing nut 14260.

  In various examples, in addition to the above, the firing tube 14280 can include a thread 14281 defined on an outer surface thereof, the thread 14281 being threadably engaged with the female thread 14272. The firing tube 14280 can be restrained from rotating with the firing nut 14260 so that when the firing nut 14260 is rotated by the motor 14090 and the slider 14115, the firing nut 14260 can translate the firing tube 14280. . For example, when the firing nut 14260 is rotated in a first direction, the firing tube 14280 can be displaced distally by the firing nut 14260 and the firing nut 14260 is rotated in a second or opposite direction. Sometimes the firing tube 14280 can be displaced proximally by the firing nut 14260. At least a portion of the firing tube 14280 can be disposed within an aperture 14261 defined in the firing nut 14260. When the firing tube 14280 is displaced proximally, the firing tube 14280 can move proximally within the aperture 14261. When the firing tube 14280 is displaced distally, the firing tube 14280 can move distally within the aperture 14261. As described in more detail below, firing tube 14280 may be operably coupled with a firing member that ejects staples from cartridge housing 14040 as firing tube 14280 is advanced distally. obtain. When the firing tube 1428 is moved proximally, the firing tube 14280 can retract the firing member. Firing tube 1428 may be long enough to accommodate the firing stroke of the firing member as it is moved between the non-fired position and the fired position. In various examples, the threaded portion of launch tube 14280 is shorter than the threaded portion of closure rod 14230. In such situations, the firing stroke can be shorter than the closure stroke. In other examples, the threaded portion of the firing tube 14280 can be the same length as the threaded portion of the closure rod 14230. In such an example, the firing stroke can be as long as the closure stroke. In a particular example, the threaded portion of launch tube 14280 is longer than the threaded portion of closure rod 14230. In such a situation, the firing stroke can be longer than the closure stroke.

  In addition to the above, the actuator 14020 and the shaft portion 14030 may constitute an integral system. In various examples, actuator 14020 and shaft portion 14030 may constitute a unitary assembly. In certain examples, the actuator 14020 can be disassembled from the shaft portion 14030. FIG. 34 is a perspective view of surgical stapling instrument 14010 showing actuator 14020 disassembled from shaft portion 14030. The instrument 14010 may comprise one or more locks or latches configured to releasably hold the shaft portion 14030 to the actuator 14020. For example, the actuator 14020 can include latches 14025 on both sides thereof, and the latch 14025 is configured to releasably hold the shaft portion 14030 to the actuator 14020. The latch 14025 can be slid between a first position engaged with the shaft portion 14030 and a second position separated from the shaft portion 14030. As described in further detail below, the actuator 14020 and the shaft portion 14030 may comprise portions of a closure system that are operatively assembled together when the shaft portion 14030 is assembled to the actuator 14020. Similarly, actuator 14020 and shaft portion 14030 can comprise portions of the firing system that are operatively assembled together when shaft portion 14030 is assembled to actuator 14020.

  In addition to the above, referring primarily to FIG. 113, the closure system may further comprise a closure fixation component 14240 secured to the distal end of the closure rod 14230. In various examples, a screw may lock the closure fixation component 14240 to the closure rod 14230 so that the closure fixation component 14240 is displaced distally when the closure rod 14230 is translated distally, as well. When the closing rod 14230 is translated proximally, it is translated proximally. The closure fixation component 14240 can include one or more lateral extensions that are in the grooves of the actuator housing 14080 to align the closure fixation component 14240 and the closure rod 14230. Can fit. The side extensions may also prevent the closure rod 14230 and the closure fixture 14240 from rotating when the closure rod 14230 is driven by the closure nut 14190, as discussed above. The closure fixture 14240 can comprise a closure drive output of the actuator 14020 and can be attached to the closure drive input of the shaft portion 14030. The closure drive input of the shaft portion 14030 can comprise a second securing component 14250 that can be attached to the closure securing component 14240 when the shaft portion 14030 is assembled to the actuator 14020. The closure fixation component 14240 may push the second fixation component 14250 distally when the closure fixation component 14240 is advanced distally by the closure rod 14230, and similarly, the closure fixation component 14240 may be closed. The second securing component 14250 can be pulled proximally when 14240 is retracted proximally by the closure rod 14230.

  The closing drive portion of the shaft portion 14030 can further comprise one or more tension bands 14252 and 14253, which are attached to and extend from the second securing component 14250. . The tension bands 14252 and 14253 may be fastened to the second securing part 14250 so that when the second securing part 14250 is advanced distally by the closure securing part 14240, the second securing part 14250 is tension band 14252. 14253 can be pushed distally, and similarly, when the second securing component 14250 is retracted proximally by the closure securing component 14240, the second securing component 14250 pushes the tension bands 14252, 14253 proximally. To be able to pull on. In various examples, the shaft portion 14030 may be curved and in at least one example may include a curved shaft housing 14031 extending from the proximal housing mount 14032. In certain examples, the tension bands 14252 and 14253 may be flexible to conform to the curvilinear path of the closed drive portion of the shaft portion 14030. The closing drive portion of the shaft portion 14030 can further include an attachment portion attached to the tension bands 14252 and 14253, ie, a trocar 14258. Trocar 14258 may be fastened to tension bands 14252, 14253 so that trocar 14258 is advanced and retracted along with tension bands 14252, 14253. The trocar 14258 can include a distal end that can be releasably engaged with the anvil 14050 such that when the anvil 14050 is assembled to the trocar 14258, the anvil 14050 is advanced and retracted with the trocar 14258. This is discussed in more detail in US Pat. No. 5,292,503 referenced above.

  In addition to the above, referring primarily to FIG. 113, the firing system can further comprise a firing fixture 14290 secured to the distal end of the launch tube 14280. In various examples, a screw may lock the firing fixture 14290 to the firing tube 14280 so that the firing fixture 14290 is displaced distally when the firing tube 14280 is translated distally, as well. , When the launch tube 14280 is translated proximally, it is translated proximally. The firing fixture 14290 may include one or more lateral extensions that are in the grooves of the actuator housing 14080 to align the firing fixture 14290 and the firing tube 14280. Can fit. The side extensions may also prevent the firing tube 14280 and firing fixture 14290 from rotating when the firing tube 14280 is driven by the firing nut 14260, as discussed above. The firing fixture 14290 may comprise the firing drive output of the actuator 14020 and may be attached to the firing drive input of the shaft portion 14030. The firing drive input of the shaft portion 14030 can comprise a second securing piece 14300, which can be attached to the firing securing component 14290 when the shaft portion 14030 is assembled to the actuator 14020. The firing fixture 14290 can mesh with the second firing fixture 14300 in a tongue and groove manner. When assembled, the firing fixture 14290 may push the second fixture 14300 distally as the firing fixture 14290 is advanced distally by the firing tube 14280, and similarly the firing fixture 14290 The second securing part 14300 can be pulled proximally when the firing securing part 14290 is retracted proximally by the firing tube 14280.

  The firing drive may further comprise a staple driver 14310 that is coupled to the second securing component 14300 for movement proximally and distally with the second securing component 14300. When the staple driver 14310 is moved distally by the second securing component 14300, the staple driver 14310 can eject the staples from the cartridge casing 14040. In various examples, the second fixation component 14300 can advance the knife 14320 distally with the staple driver 14310 to incise the tissue captured between the anvil 14050 and the cartridge housing 14040. When the second securing component 14300 is retracted proximally by the firing securing component 14290, the second securing component 14300 can retract the staple driver 14310 and knife 14320 proximally.

  In addition to the above, it may be noted that the portion of the closure system comprising the closure nut 14190 and the closure rod 14230 and the portion of the firing system comprising the firing nut 14260 and the firing tube 14280 are concentric. None and can be nested. Firing nut 14260 and firing tube 14280 may be considered external mechanisms, and closing nut 14190 and closing rod 14230 may be considered internal mechanisms. Along with the slider 14115, the closing nut 14190, the closing rod 14230, the firing nut 14260, and the firing tube 14280 may constitute the transmission unit 14000. To create a smaller and more easily held actuator 14020, the concentric and nested device configuration of the transmission 14000 can reduce the space required for the closure and firing system. In this device configuration, the external mechanism can also act as a support, and a support surface can be provided for moving each part of the internal mechanism. In the illustrated embodiment, the translation member of the internal mechanism is shown as being longer than the translation member of the external mechanism. For example, the closure rod 14230 may be on the order of 5 centimeters (2 inches), for example, and the launch tube 14280 may be on the order of 2.5 centimeters (1 inch), but any suitable length. Can be used. Longer translational members are useful when longer translational distances are required. In the illustrated embodiment, the internal mechanism, or closure drive, can drive a load over a longer distance than the external mechanism, or firing drive. That is, the launch drive unit can drive the load over a longer distance than the launch drive unit.

  As discussed above, actuator 14020 and shaft portion 14030 are designed to facilitate assembly. The firing fixture 14290 has a semi-circular lip at the end of the distally extending flange. This semi-circular lip fits into a semi-circular groove at the proximal end of the second firing fixture 14300. Since this fit is for a semi-circular surface, the firing fixture 14290 is directed toward the second firing fixture 14300 in a direction perpendicular or perpendicular to the generally longitudinal axis of these components. Translation of the firing fixture 14290 with the second launch fixture 14300. The coupling of the closure assembly parts is also facilitated in generally the same manner. For example, the closure fixation component 14240 can include a flange extending distally. At the distal end of the flange is a semi-circular lip that extends from a substantially semi-circular portion of the closure fixture 14240. An annular groove in the proximal portion of the second securing component 14250 receives this semi-circular lip and attaches the closure securing component 14240 to the second securing component 14250. Due to the semi-circular nature of the closure fixation part 14240, the closure fixation part 14240 and the second fixation part 14250 are assembled and disassembled by translation perpendicular to or perpendicular to the generally longitudinal axis of each part. Thus, quick connection and disconnection between the shaft portion 14030 and the actuator 14020 can be facilitated.

  Referring generally to FIG. 113, firing trigger 14070 and closure knob 14075 are shown in a further enlarged view to better understand the interaction with adjacent portions. The closure knob 14075 is rotatable in a first or clockwise direction and in a second or counterclockwise direction. When the closing knob 14075 is rotated in the first direction, the closing knob 14075 can contact the first switch and close the first switch, and when the closing knob 14075 is rotated in the second direction, the closing knob 14075 is closed. Knob 14075 may contact the second switch and close the second switch. When the first switch is closed by the closure knob 14075, the motor 14090 can be energized and operated in the first direction, and when the second switch is closed by the closure knob, the motor 14090 is energized and the second Can be operated in the direction of When the motor 14090 is operated in its first direction, the motor 14090 can drive the closure rod 14230 distally to move the anvil 14050 away from the cartridge casing 14040 and the motor 14090 can move in its second direction. When operated in this direction, motor 14090 can drive closure rod 14230 proximally to move anvil 14050 toward cartridge casing 14040. The closure knob 14075 may be positionable in a central or neutral position where neither the first switch nor the second switch is closed and the motor 14090 does not respond to the closure knob 14075. In various examples, the instrument 14010 can comprise at least one spring, such as, for example, a spring 14076, configured to bias the closure knob 14075 to its neutral position, for example.

  Looking now at firing trigger 14070, firing trigger 14070 is rotatably pinned to actuator housing 14080 and is spring loaded by torsion spring 14071, which is separated from actuator housing 14080. The firing trigger 14070 is pushed to the rotated position. A firing switch 14305 located near the firing trigger 14070 is in a position to be contacted by the firing trigger 14070 when the firing trigger 14070 is rotated toward the actuator housing 14080 against the biasing force of the torsion spring 14071. . The firing trigger 14070 may close the firing switch 14305 when the firing trigger 14070 is activated. When firing switch 14305 is closed, motor 14090 can be operated in a first direction to advance firing tube 14280 and staple driver 14310 distally. When the firing trigger 14070 is released, the torsion spring 14071 can move the firing trigger 14070 back to its inoperative position and be released from contact with the firing switch 14305. At such time, firing switch 14305 may be in an open state and motor 14090 may not respond to firing trigger 14070. In various examples, the instrument 14010 can further comprise a safety latch 14320 that is rotatably pinned to the actuator housing 14080, wherein the safety latch 14320 includes a locked position that prevents the firing trigger 14070 from being actuated, and a firing trigger. It is rotatable between a second position in which 14070 can be actuated to close firing switch 14035. In either case, motor 14090 can be operated in the second direction to retract firing tube 14280 and staple driver 14310. In a particular example, the motor 14090 can be switched between a first direction and a second direction when the firing system reaches the end of its firing stroke. In some examples, the actuator 14020 can further comprise a reverse button and switch that, when operated, can cause the motor 14090 to operate in its second direction.

  In view of the above, a method of using instrument 14010 is shown below, but any suitable method may be used. Furthermore, it has been described above that the actuator 14020 can provide two outputs and the shaft portion 14030 can receive two inputs and perform two functions. While functions such as a closing function and a firing function have been described, the present invention is not so limited. Those functions may include any suitable function, such as, for example, an articulation function. In order to use actuator 14020, as shown in FIG. 112, in various examples, a user first moves actuator 14020 toward shaft portion 14030 by moving actuator 14020 perpendicular to the longitudinal axis of actuator 14020. The shaft portion 14030 can be assembled. A user can align the open side of the proximal end of shaft portion 14030 toward the open side of the distal portion of actuator 14020 and assemble the parts together. Such an assembly may couple the closure and firing fixtures as discussed above. As discussed above, the latch 14025 on the actuator 14020 can grip the ledge on the shaft portion housing 14032 to releasably hold the actuator 14020 and the shaft portion 14030 together. After assembling the actuator 14020 and the shaft portion 14030, the user can place the slider assembly 14150 in its first position to use the first desired function of the surgical tool of the attachment portion. As discussed above, button 14060 may be utilized to place slider assembly 14150 in its first portion.

  Referring generally to FIG. 114, the inner spline 14140 on the slider 14115 can engage the outer spline 14200 on the closure nut 14190 when the slider assembly 14150 is in its first position. The user will then rotate the closure knob 14075 to position the anvil 14050 relative to the cartridge casing 1404. As discussed above, the closure knob 14075 closes the first closure switch and closes the second closure switch in the first direction to move the anvil 14050 away from the cartridge casing 14040 and the anvil. It can be rotated in a second direction to move 14050 toward the cartridge housing 14040. In a particular example, closing the first closure switch may close the circuit that operates the motor 14090 in its first direction, and similarly, closing the second closure switch causes the motor 14090 to move to its second The circuit operating in the direction can be closed. In certain examples, the first closure switch and the second closure switch may be in communication with the microprocessor of the surgical instrument 14010, which is supplied including the polarity of the power supplied to the motor 14090. Power may be controlled based on inputs from the first closure switch and the second closure switch. As discussed above, the motor 14090 can rotate the rotatable shaft 14100, the extension 14110, the slider 14115, and the closure nut 14190 depending on the configuration of the transmission 14000. As discussed above, the closure nut 14190 is threadably engaged with a closure rod 14230 that displaces the anvil 14050 proximally and distally. Alternatively, the closure rod 14230 may perform a number of other functions.

  As shown in FIG. 114, when the slider assembly 14150 is in its first or proximal position, the motor 14090 is responsive to the closure knob 14075 and cannot be responsive to the firing trigger 14070. In at least one example, the lower journal bearing 14170 of the slider assembly 14150 contacts the first transmission switch 14340 and closes the first transmission switch 14340 when the slider assembly 14150 is in its first position. obtain. In various examples, the first transfer switch 14340 may communicate with the microprocessor of the surgical instrument 14010, which receives input from the firing switch 14305 when the first transfer switch 14340 is closed. Can be configured to ignore. In such a situation, the user of surgical instrument 14010 may depress firing trigger 14070 and motor 14090 does not respond thereto. Rather, in such a situation, the motor 14090 is responsive to the first and second closure switches, and the first and second closure switches are actuated by the closure knob 14075 to move the anvil 14050. As shown in FIG. 115, when the slider assembly 14150 is moved toward its second or distal position, the lower journal bearing 14170 is separated from the first transmission switch 14340 and the first transmission switch 14340. Will return to the open state. When the slider assembly 14150 is moved to its second or distal position, the lower journal bearing 14170 can contact the second transmission switch 14350 and close the second transmission switch 14350. In various examples, the second transfer switch 14350 may be in communication with the microprocessor of the surgical instrument 14010, which receives the input from the closure knob 14075 when the second transfer switch 14350 is closed. Can be configured to ignore. In such a situation, the user of surgical instrument 14010 may rotate closure knob 14075 and motor 14090 does not respond to it. Rather, in such a situation, motor 14090 is responsive to firing switch 14305 that is actuated by firing trigger 14070.

  As discussed above, in order to move the slider assembly 14150 from its first position to its second position, the user depresses the slider button 14060 to release the slider button 14060 from its detent and the slider assembly. The solid 14150 can be moved distally to its second position. In such a situation, the slider 14115 can be separated from the closure nut 14160 and engaged with the firing nut 14260. More specifically, the inner spline 14140 on the slider 14115 is separated from the outer spline 14200 on the closing nut 14190, and the outer spline 14130 of the slider 14150 is engaged with the inner spline of the firing nut 14260. obtain. At such a time, the user may rotate safety latch 14320 to its unlocked position and prepare firing trigger 14070 for firing. A user may fire the firing system by rotating firing trigger 14070 counterclockwise toward actuator housing 14080 as shown in FIG. As discussed above, firing trigger 14070 may contact firing switch 14305 that may electrically energize motor 14090. Similar to the first configuration of the transmission unit 14000, the motor 14090 can rotate the rotatable shaft 14100, the extended portion 14110, and the slider 14115, but in the second configuration of the transmission unit 14000, the slider 14115 is The firing nut 14260 is rotated to translate the firing tube 14280.

  In various examples, power may be supplied to instrument 14010 by an external power source. In particular examples, one or more batteries disposed within actuator 14020 may be utilized. The battery may be, for example, a lithium secondary battery. In some examples, the battery and motor 14090 can be placed in a hermetically detachable housing that is washable, sterilizable, and reusable.

  After actuator 14020 is used during the surgical procedure, the user may separate actuator 14020 from shaft portion 14030. The user may depress latch 14025 to separate actuator 14020 from shaft portion 14030. The actuator 14020 can then be cleaned, sterilized, reused, or disposed of. Similarly, shaft portion 14030 can be cleaned, sterilized, reused, or disposed of. Staples can be reloaded into the cartridge casing 14040 when the shaft portion 14030 is reused. In certain examples, the cartridge housing 14040 can include a replaceable cartridge that can be used to reload the staples. In various examples, various portions of the actuator 14020 may also be combined in a sealed segmentation module that can be easily inserted into and removed from the actuator housing 14080. . For example, motor 14090, rotatable shaft 14100, extension 14110, slider assembly 14150, closure nut 14190, closure rod 14230, firing nut 14260, and firing tube 1280 into a modular assembly removable from actuator housing 14080. Can be combined. Further, each portion of actuator 14020 may be part of a separate assembly module. For example, the electronic parts of the actuator 14020, such as a motor 14090 and a battery, may constitute the first module, while a mechanical assembly that includes a rotation and / or translation portion constitutes the second module. May be. In such a situation, the first module may be sterilized differently than the second module. In such a situation, for example, it may be easy to use gamma radiation in the second module, which may be inappropriate for sterilizing the first module.

  Various additions to the actuator 14020 are possible. For example, microprocessing may be utilized to detect a stroke end position of the closure system and / or firing system, and to indicate to the motor 14090 when to stop the closure stroke and / or firing stroke. Microprocessing may also be utilized to determine the type of shaft assembly that is attached to the actuator 14020. For example, the actuator 14020 may include a sensor in signal communication with the microprocessor of the actuator 14020, with a circular stapler shaft assembly attached to the actuator 14020 or a linear cutter assembly attached to the actuator 14020. It is contemplated that the actuator 14020 can power many types of surgical tools that require input for at least one, perhaps two or more, longitudinal movements, for example. In various examples, for example, the actuator 14020 may power circular staplers, linear staplers, right angle staplers, scissors, graspers, and / or other types of surgical instruments.

  Further improvements to actuator 14020 include utilizing multiple motors so that the number of functions available by actuator 14020 can be increased. Particular improvements of actuator 14020 include performing more than two functions with the same motor. For example, a third position of the slider assembly 14150 is conceivable where the third function is driven by a third nested mechanism. In some examples, in addition to the above, slider assembly 14150 may have a third position that is an idler or neutral position without the ability to be driven by motor 14090.

  Further improvements can include using electrical and / or magnetic means to translate the slider 14115 from one position to another. For example, a solenoid may be used to move the slider 14115 from one position to another position. A spring may preload the slider 14115 to the default position, or the slider 14115 may be moved from the default position to the second position by biasing the solenoid.

  A surgical stapling instrument 15010 is shown in FIGS. As above, the instrument 15010 includes a closure system configured to move the anvil 15090 between a handle, staple cartridge 15080, between an open position (FIG. 117) and a closed position (FIG. 118); A firing system may be provided that is configured to deploy staples from the staple cartridge 15080 and to dissect the tissue captured between the anvil 15090 and the staple cartridge 15080. The housing of the surgical instrument handle has been removed from FIGS. 117 and 118 for the purpose of showing the various components housed therein. Also, similar to the above, the closure system of the instrument 15010 obtains a closure motor 15110 and a closure gear train that is operatively coupled to the closure motor 15110 and a closure drive screw gear 15160. And a closure drive screw 15170 operably coupled to the housing. In various examples, the closure motor 15110 can be supported by a motor frame 15125, which in addition can rotatably support a closure drive screw gear 15160 and a closure drive feed screw 15170. The closure system may further include a closure button 15065 configured to contact and close the closure switch 15285, and the closure switch 15285 may activate the closure motor 15110 when closed. In some examples, in addition to the above, the closure button 15065 can cause the closure motor 15110 to operate in the first direction, the closure switch configured to close the anvil 15090, and the closure motor 15110 to the second And may be configured to contact an open switch configured to open the anvil 15090.

  In addition to the above, the closure system may further include a carriage 15180 that engages the anvil 15090 and moves the anvil 15090 between its open position (FIG. 117) and its closed position (FIG. 118). Configured as follows. The carriage 15180 can include a threaded nut portion 15175 that is threadably engaged with the threaded portion of the closure drive feed screw 15170. Since the carriage 15180 can be restrained from rotating with the closure drive feed screw 15170, rotation of the closure drive feed screw 15170 causes the proximal or distal side to depend on the direction in which the closure drive feed screw 15170 is rotated. The carriage 15180 can be translated in parallel. When the closure drive feed screw 15170 is rotated in the first direction by the closure motor 15110, the closure drive feed screw 15170 can displace the carriage 15180 distally to close the anvil 15090. Similarly, when the closure drive feed screw 15170 is rotated in the second or opposite direction by the closure motor 15110, the closure drive feed screw 15170 can displace the carriage 15180 proximally to open the anvil 15090. . The carriage 15180 can be disposed at least partially surrounding the cartridge channel 15070 and, in various examples, can be slidably held in the cartridge channel 15070. Referring primarily to FIG. 118, the cartridge channel 15070 can include one or more slots 15195 defined on either side thereof, the slots 15195 extending inwardly from the carriage 15080. The projecting portion 15185 is slidably received. In other situations, the channel 15070 may comprise a protrusion 15185 and the carriage 15080 may comprise a slot 15195. In any case, the slot 15195 and the protrusion 15185 can be configured, for example, to constrain movement of the carriage 15180 to a longitudinal or substantially longitudinal path.

  The carriage 15080 is movable from a first or proximal position (FIG. 117) to a second or distal position (FIG. 118) to close the anvil 15090. The carriage 15080 can include a crossbar 15081 that is configured to contact and move the anvil 15090 when the carriage 15080 is moved relative to the anvil 15090. In various examples, anvil 15090 may be pivotally coupled to cartridge channel 15070 about pivot 15200, and anvil 15090 may be rotated about pivot 15200 by carriage crossbar 15081. More specifically, when the carriage 15080 is moved distally to rotate the anvil 15090 toward the cartridge 15080 disposed within the cartridge channel 15070, the carriage crossbar 15181 may It can be configured to contact the cam surface 15092 and slide over the entire upper surface 15092. In some examples, the distal end 15091 of the anvil 15090 can contact the distal end 15081 of the cartridge 15080 when the anvil 15090 reaches its fully closed position. As shown in FIG. 118, the carriage 15180 can be advanced distally until the carriage 15180 reaches its distal most position and / or the anvil 15090 is in its fully closed position. In various situations, when the carriage 15180 reaches its distal most position, the carriage 15180 may contact the end of stroke sensor and close the end of stroke sensor. In certain examples, the end-of-stroke sensor may be in signal communication with the surgical instrument 15010 microprocessor. When the end-of-stroke sensor is closed by the carriage 15180, the microprocessor can interrupt the power supply to the closing motor 15110 and stop the advancement of the carriage 15180.

  As discussed above, the crossbar 15181 of the carriage 15180 can cam the anvil 15090 toward the staple cartridge 15080 by pushing the cam surface 15092 downward. The anvil 15090 may further comprise a latch pin 15210 extending from its side, which latch pin 15210 is received in a slot 15215 defined in the side of the cartridge channel 15070 when the anvil 15090 is rotated toward the staple cartridge 15080. obtain. In various examples, the latch pin 15210 can contact the closed end of the slot 15215, for example, when the anvil 15090 reaches its closed position. In some examples, the anvil 15090 may be in a closed position and the latch pin 15210 may not make contact with the closed end of the slot 15215. In certain examples, the closure system may include one or more latches 15190 that engage the latch pins 15210 and / or move the anvil 15090 closer to the staple cartridge 15080. Composed. The latch 15190 can be rotatably coupled to the cartridge channel 15070 by a pivot pin 15191 and can be rotated about the pivot axis to engage the latch pin 15210. In some examples, the latch 15190 may engage the latch pin 15210 and the latch pin 15210 may be placed against the closed end of the slot 15215. Each latch 15190 can include a latch arm 15192 that can slide over the latch pin 15210 and push the latch pin 15210 downward as the latch 15190 is rotated distally to its closed position. Each latch arm 15192 may at least partially define a latch slot 15193, which may be configured to receive a latch pin 15210 when the latch 15190 is moved to the activated position. The latch arm 15192 and the closed end of the slot 15215 may cooperate to capture and / or hold the latch pin 15210 in place.

  In addition to the above, the latch 15190 can be moved between the unlatched position (FIG. 117) and the latched position (FIG. 118) by the carriage 15180 as the carriage 15180 is advanced distally. To the extent that the anvil 15090 is not moved to the fully closed position by the crossbar 15181, the latch 15190 can move the anvil 15090 to the fully closed position. In various examples, the carriage 15180 can include a distal cam surface 15182 defined thereon that engages the latch 15190 when the carriage 15180 is advanced distally. obtain. In at least one such example, each cam surface 15182 may include, for example, a beveled or angled surface. When the closure drive feed screw 15170 is rotated in its second direction and the carriage 15180 is retracted proximally by the closure drive feed screw 15170, the latch 15190 can be returned to the inoperative position. In various examples, the instrument 15010 may further comprise, for example, one or more biasing springs 15195 that are latched when the distal cam surface 15182 is retracted away from the latch 15190. 15190 can be configured to rotate proximally. Each latch 15190 can include an aperture 15194 defined therein, the aperture 15194 being configured to receive a first end of a spring 15195. The second end of each spring 15195 can be engaged with a spring post 15079 extending from the cartridge channel 15070. For example, as discussed above, when the latch 15190 is rotated distally from the unlatched position to the latched position by the carriage 15180, the spring 15195 can be elastically extended so that the carriage 15180 is retracted. When the spring 15195 is elastically restored to its original state, a force can be applied to the latch 15090 via the aperture 15194. In either case, the anvil 15090 can once again be moved relative to the staple cartridge 15080 when the latch 15190 is returned to the unlatched position.

  As discussed above, the crossbar 15181 of the carriage 15180 may contact the cam surface 15092 of the anvil 15090 to rotate the anvil 15090 toward the staple cartridge 15080. The carriage 15180 can also be configured to rotate the anvil 15090 away from the staple cartridge 15080. In at least one such example, the anvil 15090 can include a second cam surface 15093 defined thereon, the second cam surface 15093 being proximal to the carriage 15080 by a closure drive lead screw 15170. Can be contacted by the crossbar 15181 of the carriage 15080 when it is moved to. As will be apparent to the reader, the closing cam surface 15092 can be defined on the first side of the pivot pin 15200 and the opening cam surface 15093 can be defined on the second or opposite side of the pivot pin 15200. The opening cam surface 15093 can extend at an angle with respect to the closing cam surface 15092. In various examples, the crossbar 15181 can contact and slide against the open cam surface 15093 when the carriage 15180 is retracted. The opening cam surface 15093 can be configured such that the degree or amount by which the anvil 15090 is opened relative to the staple cartridge 15080 is determined by the distance that the crossbar 15181 is retracted proximally. For example, if the crossbar 15181 is retracted proximally relative to the pivot 15200 by a first distance, the crossbar 15181 pivots the anvil 15090 upward and away from the staple cartridge 15080 by a first angle. And if the crossbar 15181 is retracted proximally relative to the pivot 14200 by a second distance greater than the first distance, the crossbar 15181 causes the anvil 15090 to pivot upward, The staple cartridge 15080 may be separated by a second angle that is greater than the first angle.

  In the closed system discussed above, the user of the surgical instrument can pivot the anvil 15090 between the open and closed positions without manually manipulating the anvil 15090. The closure system discussed above can also automatically latch or lock the anvil 15090 in its closed position without the need to use a separate actuator. As long as the user is dissatisfied with the placement of tissue between the anvil 15090 and the staple cartridge 15080 when the anvil 15090 is in its closed position, the user reopens the anvil 15090 and removes the anvil 15090 and staple cartridge 15080 from the tissue. And then the anvil 15090 can be closed again. The user may open and close the anvil 15090 as many times as necessary before activating the firing system of the instrument 15010. The firing system includes a firing motor 15120 mounted on a motor frame 15125, a firing drive gear train operably coupled to a firing motor 15120 including a firing gear 15240, a launch feed screw gear 15250, and a launch drive feed screw 15260. Can be provided. As above, the firing drive gear train and / or the firing drive lead screw 15260 may be rotatably supported by the motor frame 15125. The firing drive may further comprise a firing trigger 15055 that is configured to close the firing switch 15290 when the firing trigger 15055 is depressed to operate the firing motor 15120. When the firing motor 15120 is operated in the first direction to rotate the firing drive lead screw 15260 in the first direction, the firing drive deploys the staples removably stored in the staple cartridge 15080 and the anvil 15090. The tissue captured between the staple cartridge 15080 and the staple cartridge 15080 can be incised. When the firing motor 15120 is operated in the second direction to rotate the firing drive lead screw 15260 in the second or opposite direction, the firing drive can be retracted. Thereafter, the anvil 15090 can be reopened and tissue can be removed from between the anvil 15090 and the staple cartridge 15080. In some examples, the firing drive may not need to be retracted to open the anvil 15090. In such an example, the firing drive may not engage the anvil 15090 when the firing drive is advanced distally. In at least one such example, a firing drive may enter the staple cartridge 15080 to eject staples from the staple cartridge 15080, with the edge of the knife moving between the staple cartridge 15080 and the anvil 15090. The tissue may be incised. While the firing drive may not lock the anvil 15090 in its closed position, embodiments are contemplated where the firing drive can lock the anvil 15090 in its closed position. In such an embodiment, for example, an I-beam may be utilized that engages the anvil 15090 and staple cartridge 15080 when the I-beam is advanced distally to place them in place relative to each other. Can hold on.

  The instrument 15010 may be powered by an external power source and / or an internal power source. For example, a cable may enter the actuator housing 15080 to supply power from an external power source. For example, one or more batteries, such as battery 15400, may be placed in the handle of instrument 15010, for example, to supply power from an internal power source. The instrument 15010 may further comprise one or more indicators, such as, for example, an LED indicator 15100, which may indicate the operational status of the instrument 15010, for example. For example, the LED indicator 15100 may operate in the same or similar manner as the LED indicator 11100 described above. For example, the LED indicator 15100 may be in signal communication with the microcontroller of the instrument 15010, which may be disposed on the printed circuit board 15500.

  Previous surgical instruments have utilized manual closure systems configured to move the anvil between an open position and a closed position. Various embodiments disclosed herein utilize a motorized closure system configured to move an anvil between an open position and a closed position relative to a fixed staple cartridge. Other embodiments are also contemplated where the anvil can be secured and the electric closure system can move the staple cartridge between the open and closed positions. In either case, the closure system motor may set a tissue gap between the anvil and the staple cartridge. In various examples, the surgical instrument closure system is separate and distinct from the firing system. In other examples, the closure system and the firing system may be integral. When the closure system and firing system are separate and separate, the user of the surgical instrument can evaluate the position of the anvil and staple cartridge relative to the tissue to be stapled and dissected before operating the firing system.

  As discussed above, an end effector of a surgical instrument, such as, for example, end effector 1000, may be configured to clamp tissue between its anvil jaw 1040 and staple cartridge 1060. A tissue gap may be defined between the anvil jaw 1040 and the staple cartridge 1060 when the anvil jaw 1040 is in its closed position. In certain examples, the end effector 1000 may be suitable for use with thin tissue, thick tissue, and tissue having a thickness intermediate between the thin and thick tissue. The thinnest and thickest tissues that the end effector 1000 can be suitably used for stapling may define a tissue thickness range for the end effector 1000. In various examples, a surgical instrument system can include a handle and a plurality of end effectors that can be assembled to the handle, one or more of the end effectors having different tissue thickness ranges. Can do. For example, the first end effector can have a first tissue thickness range, and the second end effector can have a second tissue thickness range that is different from the first tissue thickness range. In some examples, the first tissue thickness range and the second tissue thickness range may be different, while in other examples, the first tissue thickness range and the second tissue thickness range are partially Can overlap. The surgical instrument system may utilize any suitable number of end effectors having various tissue thickness ranges, some of the tissue thickness ranges may at least partially overlap, and other tissue thickness ranges Do not have to overlap at all.

  In various examples, in addition to the above, the end effector staple cartridge, such as the staple cartridge 1060 of the end effector 1000, can be replaceable. In various examples, the staple cartridge 1060 can be removably locked into place within the lower jaw 1020 of the end effector 1000. When locked in place, the deck or tissue contacting surface of the staple cartridge 1060 cannot move or at least substantially not move relative to the lower jaw 1020. Thus, when the anvil jaw 1040 is moved to its closed position, a fixed distance, or tissue gap, may be defined between the anvil jaw 1040 and the staple cartridge deck surface. To change this fixed distance, the staple cartridge 1060 can be removed from the lower jaw 1020 and a different staple cartridge can be removably locked within the lower jaw 1020. The deck surface of the various staple cartridges can be configured to provide a tissue gap that is different from the tissue gap provided by the staple cartridge 1060. Also contemplated are embodiments in which the surgical instrument system includes a handle, a plurality of end effectors that can be assembled to the handle, and a plurality of staple cartridges that can be interchangeably inserted into the end effectors. Such an embodiment allows a user to select an end effector that can be used with a range of tissue thicknesses, and a staple cartridge selected for use with that end effector depends on the end effector. The range of tissue thickness that can be stapled can be adjusted or fine tuned. In certain examples, the first staple cartridge of the surgical instrument system can include a first type of staples and the second staple cartridge can include a second type of staples. For example, the first staple cartridge may include staples having a first pre-molding or pre-fire height, and the second staple cartridge is different from its first height, a second pre-molding or firing. Staples having a previous height may be included.

The entire disclosure below is incorporated herein by reference.
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  As previously described, the sensor may be configured to detect and collect data associated with the surgical device. The processor processes sensor data received from those sensors.

  The processor may be configured to execute operational logic. The processor may be any one of a number of single or multi-core processors known in the art. The storage device may comprise volatile and non-volatile storage media configured to store permanent and working (working) copies of the operating logic.

  In various embodiments, as described above, the operational logic may be configured to process data associated with the operation. In various embodiments, the operational logic may be configured to perform initial processing and transmit data to a computer hosting the application to determine and generate instructions. For these embodiments, the operational logic may be further configured to receive information from the host computer and provide feedback to the host computer. In another embodiment, the operational logic may be configured to play a greater role in receiving information and determining feedback. In any case, regardless of whether it is determined by itself or in response to a command from the host computer, the operational logic can be further configured to control and provide feedback to the user.

  In various embodiments, the operational logic may be implemented by instructions supported by the processor's instruction set architecture (ISA) or by a high-level language and compiled into a supported ISA. The operating logic may include one or more logic units or modules. The behavioral logic can be implemented in an object-oriented manner. The operational logic may be configured to be executed in a multitasking and / or multithreaded manner. In other embodiments, the operational logic may be implemented in hardware such as a gate array.

  In various embodiments, the communication interface may be configured to facilitate communication between the peripheral device and the computing system. This communication transmits collected biometric data related to the position, posture, and / or movement data of the user's body part to the host computer, and transmits data related to tactile feedback from the host computer to the peripheral device. Can include. In various embodiments, the communication interface may be a wired communication interface or a wireless communication interface. Examples of wired communication interfaces include, but are not limited to, universal serial bus (USB) interfaces. Examples of the wireless communication interface include, but are not limited to, a Bluetooth interface.

  For various embodiments, the processor may be packaged with operational logic. In various embodiments, the processor may be packaged with operational logic to form a system in package (SiP). In various embodiments, the processors may be integrated with operational logic on the same die. In various embodiments, the processor may be packaged with operational logic to form a system on chip (SoC).

  Various embodiments may be described herein in the general context of computer-executable instructions, such as software, program modules, and / or engines being executed by a processor. Generally, software, program modules, and / or engines include any software element configured to perform a specific operation or implement a specific abstract data type. Software, program modules, and / or engines may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Software, program modules, and / or engine components and technology implementations may be stored and / or passed across several forms of computer-readable media. In this regard, computer-readable media can be any available media that can be used by a computing device to store and access information. Some embodiments may also be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network. In a distributed computing environment, software, program modules, and / or engines can be located in both local and remote computer storage media including memory storage devices. Memory, such as random access memory (RAM) or other dynamic storage, may be used to store information and instructions that are executed by the processor. The memory may also be used to store temporary variables or other intermediate information while executing instructions by the processor.

  Although some embodiments are shown and described with functional components, software, engines, and / or modules that perform various operations, such components or modules may include one or more hardware. It will be appreciated that may be implemented from components, software components, and / or combinations thereof. Functional components, software, engines, and / or modules may be implemented with logic (eg, instructions, data, and / or code), for example, as executed by a logic device (eg, processor). Such logic may be stored in or out of logic devices on one or more types of computer readable storage media. In other embodiments, functional components such as software, engines, and / or modules may be processors, microprocessors, circuits, circuit elements (eg, transistors, resistors, capacitors, inductors, etc.), integrated circuits, application specific integrations. By hardware elements that may include circuits (ASIC), programmable logic devices (PLD), digital signal processors (DSP), field programmable gate arrays (FPGA), logic gates, registers, semiconductor devices, chips, microchips, chipsets, etc. It may be realized.

  Examples of software, engines, and / or modules include software components, programs, applications, computer programs, application programs, system programs, machine programs, operation system software, middleware, firmware, software modules, routines, subroutines, functions, A method, procedure, software interface, application program interface (API), instruction set, calculation code, computer code, code segment, computer code segment, character, value, symbol, or any combination thereof may be mentioned. Determining whether an embodiment is implemented by hardware and / or software elements depends on the desired calculation rate, power level, heat resistance, processing cycle budget, input data rate, output data rate, memory resources, data bus speed And may vary depending on any number of factors, such as other design or performance limitations.

  One or more of the modules described herein may comprise one or more embedded applications implemented as firmware, software, hardware, or any combination thereof. One or more of the modules described herein may include various executable modules, such as software, programs, data, drivers, application program interfaces (APIs). Firmware may be stored in the memory of controller 2016 and / or controller 2022, which may include non-volatile memory (NVM), such as in bit-masked read only memory (ROM) or flash memory. In various implementations, flash memory can be protected by storing firmware in ROM. Non-volatile memory (NVM) can be, for example, programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), dynamic RAM (DRAM), double data rate DRAM ( Other types of memory may be included, including battery-backed random access memory (RAM) such as DDRAM) and / or synchronous DRAM (SDRAM).

  In some cases, various embodiments may be implemented as a product. The product may include a computer readable storage medium configured to store logic, instructions and / or data for performing various operations of one or more embodiments. In various embodiments, for example, the product may comprise a magnetic disk, optical disk, flash memory or firmware containing computer program instructions suitable for being executed by a general purpose or application specific processor. Those embodiments, however, are limited to this situation.

  The various functional elements, logic blocks, modules, and circuit element functions described in connection with the embodiments disclosed herein are software, control modules, logic, and / or logic modules that are executed on a processing device. And can be implemented in the general context of computer-executable instructions. In general, software, control modules, logic, and / or logic modules include any software element configured to perform a particular operation. Software, control modules, logic, and / or logic modules may include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. Software, control modules, logic, and / or logic modules and technology implementations may be stored on and / or passed through some form of computer readable media. In this regard, computer-readable media can be any available media that can be used by a computing device to store and access information. Some embodiments may also be practiced in distributed computing environments where operations are performed by one or more remote processing devices that are linked through a communications network. In a distributed computing environment, software, control modules, logic, and / or logic modules may be located in both local and remote computer storage media including memory storage devices.

  In addition, the embodiments described herein are illustrative of implementations, and functional elements, logic blocks, modules, and circuit elements may be implemented in various other ways consistent with the described embodiments. It will be clear that this can be realized in a manner. Further, the operations performed by such functional elements, logic blocks, modules, and circuit elements may be combined and / or separated for a given implementation, and a greater or lesser number. May be implemented by the following components or modules. As will become apparent to those skilled in the art upon reading this disclosure, each of the individual embodiments described and illustrated herein is easily adapted to any of several other aspects without departing from the scope of this disclosure. It has separate components and features that can be separated from and combined with these features. Any of the described methods may be performed in the order of events described or in any other order that is logically possible.

  It should be noted that reference to “an embodiment” or “an embodiment” includes at least one embodiment with a particular feature, structure, or characteristic described in connection with that embodiment. Means that. Although the phrases “in one embodiment” or “in one aspect” appear herein, this does not necessarily refer to the same embodiment.

  Unless otherwise specified, terms such as “processing”, “computing”, “calculating”, “determining” are used in registers and / or memory. Manipulate and / or convert data represented as physical quantities (eg, electronic) into other data that is also represented as physical quantities in memory, registers or other such information storage devices, transmission or display devices. General purpose processor, DSP, ASIC, FPGA or other programmable logic device, individual gate or transistor logic, individual hardware components, or any of them designed to perform each function described herein Operation of a computer or computing system or similar electronic computing device, such as a combination of It will be apparent to and / or is intended to refer to the process.

  Notably, some embodiments may be described using the terms “coupled” and “coupled” together with their derivatives. These terms are not intended to be synonymous with each other. For example, some embodiments may use the terms “coupled” and / or “coupled” to indicate that two or more elements are in direct physical or electrical contact with each other. Can be used to explain. The term “coupled” can also mean, however, that two or more elements do not make direct contact with each other but still cooperate or interact with each other. For example, with respect to software elements, the term “coupled” can refer to an interface, a message interface, an application program interface (API), an exchange message, and the like.

  It should be understood that any patents, publications, or other disclosure materials stated to be incorporated herein by reference are, in part or in whole, incorporated into the existing definitions and descriptions. Incorporated into the present specification to the extent that it is consistent with the content or other disclosure material presented in this disclosure. Accordingly, to the extent necessary, the disclosure expressly set forth herein shall supersede any conflicting literature incorporated herein by reference. Any document or portion thereof that is stated to be incorporated herein by reference that conflicts with the current definitions, views, or other disclosed documents described in this disclosure shall be It shall be incorporated only to the extent that no contradiction arises with the current disclosure documents.

  The disclosed embodiments have applicability in normal endoscopes and open surgical instruments and applicability in robot-assisted surgery.

  Embodiments of the devices disclosed herein may be designed to be disposed of after a single use, or the embodiments may be designed to be used multiple times. Embodiments may be reconditioned for reuse in any case after at least one use. Reconditioning can include any combination of the steps of disassembling the device, followed by cleaning and replacement of particular parts, and subsequent reassembly. In particular, each embodiment of the device may be disassembled, and any number of specific pieces or parts of the device may be selectively replaced or removed in any combination. Upon cleaning and / or replacement of particular parts, each embodiment of the device may be reassembled for later use either at a reconditioning facility or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that various techniques for disassembly, cleaning / replacement, and reassembly can be utilized in reconditioning the device. The use of such techniques and the resulting reconditioned device are all within the scope of this application.

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

  It should be appreciated by those skilled in the art that the components (e.g., operations), devices, purposes, and associated discussions described herein are used as examples to clarify concepts and are described in various ways. Configuration changes are contemplated. As a result, as used herein, the specific examples described and their accompanying discussion are intended to represent a more general type. In general, use of a particular representative example is intended to be representative of that type, and not including a particular component (eg, operation), device, and purpose is considered limiting. Should not be.

  With respect to the use of substantially any plural and / or singular terms herein, one of ordinary skill in the art will recognize from plural to singular and / or singular to plural as appropriate to the situation and / or application. Can be replaced. The various singular / plural permutations are not explicitly described herein for the sake of brevity.

  The subject matter described herein sometimes indicates various components that are included in or otherwise coupled with various other components. It should be understood that the architecture so expressed is merely an example, and indeed many other architectures that achieve the same functionality may be implemented. In the context of the concept, any arrangement of components that achieve the same functionality is effectively “associated” to achieve the desired functionality. Thus, any two components combined to achieve a particular functionality should be considered “associated” to achieve the desired functionality, regardless of architecture or intermediate components. Can do. Similarly, any two components so associated may also be considered “operably coupled” or “operably coupled” to each other to achieve the desired functionality. Also, any two components that can be so associated can also be considered “operably coupleable” to each other to achieve the desired functionality. Specific examples that are operably coupleable include, but are not limited to, physically matable and / or physically interacting components, and / or wirelessly interactable and / or Or wirelessly interactable components and / or components that interact logically and / or logically interactable.

  Some aspects may be described using the terms “coupled” and “linked” together with their derivatives. It should be understood that these terms are not intended as synonyms for each other. For example, some aspects may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact with each other. In another example, some aspects may be described using the term “coupled” to indicate that two or more elements are in direct physical or electrical contact. The term “coupled” can also mean, however, that two or more elements do not make direct contact with each other but still cooperate or interact with each other.

  In some cases, one or more components herein may be “configured as”, “configurable as”, “operable / operable as”, “ May be referred to as “adapted / adaptable”, “can be”, “can be adapted / adapted” and the like. It should be understood by those skilled in the art that “configured as” is generally an active component and / or an inactive component and / or stand, unless the context requires otherwise. Bi-state components can be included.

  While particular aspects of the subject matter described in this specification have been illustrated and described, modifications and changes have been described herein based on the teachings herein as will be apparent to those skilled in the art. The appended claims can therefore be made without departing from the subject matter and its broad aspects, and thus all such changes and modifications are included within the true scope of the subject matter described herein. Will be included. As will be appreciated by those skilled in the art, the terminology generally used herein and particularly in the appended “claims” (eg, the text of the appended “claims”) is generally referred to as “open”. Is intended to be an "inclusive" term (eg, the term "including" should be interpreted as "including but not limited to" The term “having” should be interpreted as “having at least”, and the term “includes” should include “but includes but is not limited”. to) ", etc.). Further, where a particular number is intended in an introduced claim recitation, such intention is clearly stated in the claim, and if there is no such statement, such intention Those skilled in the art will understand that it does not exist. For example, as an aid to understanding, in the accompanying “Claims” that follow, the introductory phrases “at least one” and “one or more” May be included to introduce claim statement. However, if such a phrase is used and a claim statement is introduced by the indefinite article “a” or “an”, then “one or more” or “ Even if both the introductory phrase “at least one” and the indefinite article “a” or “an” are included, a particular claim including such an introductory claim statement may It should not be construed as implying that it is limited to claims containing only one (eg, “a” and / or “an” are usually “at least one” or “one or two”. Should be taken to mean more than one). The same applies when introducing claim statements using definite articles.

  Furthermore, even if a particular number is explicitly stated in an introduced claim statement, it should be understood that such a description should normally be interpreted to mean at least the stated number. As will be understood by those skilled in the art (for example, if there is a mere “two entries” with no other modifiers, this statement will contain at least two entries, or two or more entries. means). Further, when a notation similar to “at least one of A, B, C, etc.” is used, generally such syntax is intended in the sense that one of ordinary skill in the art would understand the notation. (Eg, “a system having at least one of A, B, and C” includes, but is not limited to, A only, B only, C only, both A and B, A and C Including both, B and C, and / or all of A, B and C, etc.). Where a notation similar to “at least one of A, B, or C, etc.” is used, generally such syntax is intended in the sense that one of ordinary skill in the art would understand the notation (For example, “a system having at least one of A, B, or C” includes, but is not limited to, only A, only B, only C, both A and B, both A and C, Including systems having both B and C, and / or all of A, B and C, etc.). In general, any disjunctive words and / or phrases that represent two or more optional terms, whether in the description, in the claims, or in the drawings, Those skilled in the art will appreciate that it should be understood that one of the terms, any of those terms, or both, is intended to be included. For example, the phrase “A or B” will generally be understood to include the possibilities of “A” or “B” or “A and B”.

  As will become apparent to those skilled in the art when referring to the appended claims, the operations cited herein may generally be performed in any order. Also, although various operational flows are shown in sequence, it should be understood that the various operations may be performed in an order other than that shown, or may be performed simultaneously. Examples of such other ordering include duplication, interleaving, interrupting, reordering, incremental, preliminary, additional, simultaneous, reverse, or other, unless the context requires otherwise Different ordering can be mentioned. In addition, adjectives “responding to”, “related to”, or other past tense are generally intended to exclude such variations unless the context requires otherwise. is not.

  In short, a number of advantages have been described that result from using the concepts described herein. The foregoing description of one or more embodiments has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit to the precise form disclosed. In view of the above teachings, modifications or variations are possible. One or more embodiments illustrate the principles and practical applications so that various embodiments can be utilized by those skilled in the art as being suitable for the particular application contemplated, with various modifications. It is to make. It is intended that the “claims” presented with this specification define the overall scope.

Embodiment
(1) A surgical instrument,
An end effector,
A fastener cartridge having a plurality of fasteners removably stored therein;
An end effector comprising: an anvil configured to deform the fastener;
A closure drive configured to move the anvil relative to the fastener cartridge;
A firing drive configured to deploy the fastener from the fastener cartridge;
A rotatable shaft,
A first thread, wherein the closure drive is engageable with the first thread to move the anvil;
A second thread, wherein the firing drive is engageable with the second thread to deploy the fastener, the first thread being the second thread; A surgical instrument comprising: a rotatable shaft that includes a second thread that overlaps at least partially.
(2) The surgical instrument of embodiment 1, further comprising a motor, the motor including a rotatable output operatively engaged with the rotatable shaft.
(3) The closure drive unit includes a closure pin engaged with the first thread, the closure pin is configured to translate along a first path, and the firing drive unit is A firing nut threadably engaged with the second thread, the firing nut being configured to translate along a second path, the first path and the second path; The surgical instrument of embodiment 1, wherein the surgical instrument overlaps at least partially.
(4) The surgical instrument of embodiment 3, wherein the closure pin is configured to pass through the firing nut when translated along the first path.
5. The surgical instrument of embodiment 4, wherein the firing nut includes a slot defined therein, and the closure pin is configured to pass through the slot.

(6) The first screw thread includes a first screw pitch, the second screw thread includes a second screw pitch, and the first screw pitch is different from the second screw pitch. The surgical instrument of embodiment 1, wherein
(7) The surgical instrument according to embodiment 6, wherein the first screw pitch includes a non-constant screw pitch, and the second screw pitch includes a constant screw pitch.
(8) a surgical instrument,
An end effector;
A first drive configured to perform a first end effector function;
A second drive configured to perform a second end effector function;
A rotatable shaft,
A first thread, wherein the first drive is engageable with the first thread to perform the first end effector function;
A second thread, wherein the second drive is engageable with the second thread to perform the second end effector function, the first thread being A surgical instrument comprising a rotatable shaft including a second thread that is at least partially coextensive with the second thread.
9. The surgical instrument of embodiment 8, further comprising a motor, wherein the motor includes a rotatable output operatively engaged with the rotatable shaft.
(10) The first drive unit includes a closure pin engaged with the first thread, and the closure pin is configured to translate along a first path, and the second drive unit A drive unit including a firing nut threadably engaged with the second thread, the firing nut being configured to translate along a second path, the first path and the The surgical instrument of embodiment 8, wherein the surgical instrument is at least partially coextensive with the second pathway.

11. The surgical instrument of embodiment 10, wherein the closure pin is configured to pass through the firing nut when translated along the first path.
The surgical instrument of claim 11, wherein the firing nut includes a slot defined therein, and wherein the closure nut is configured to pass through the slot.
(13) The first thread includes a first thread pitch, the second thread includes a second thread pitch, and the first thread pitch is different from the second thread pitch. The surgical instrument of embodiment 8, wherein
(14) The surgical instrument according to embodiment 13, wherein the first screw pitch includes a non-constant screw pitch, and the second screw pitch includes a constant screw pitch.
(15) a surgical instrument,
An end effector,
A fastener cartridge having a plurality of fasteners removably stored therein;
An end effector comprising: an anvil configured to deform the fastener;
A closure drive configured to move the anvil relative to the fastener cartridge;
A firing drive configured to deploy the fastener from the fastener cartridge;
A rotatable shaft,
A first thread, wherein the closure drive includes a closure pin engageable with the first thread to move the anvil, the closure pin along a first path; A first thread configured to translate;
A second thread, wherein the firing drive includes a firing nut engageable with the second thread to deploy the fastener, the firing nut along a second path; A surgical instrument comprising: a rotatable shaft configured to translate, and including a second thread, wherein the first path and the second path at least partially overlap.

16. The surgical instrument of embodiment 15, wherein the closure pin is configured to pass through the firing nut when translated along the first path.
The surgical instrument of claim 16, wherein the firing nut includes a slot defined therein, and wherein the closure nut is configured to pass through the slot.
(18) The first thread pitch includes a first thread pitch, the second thread thread includes a second thread pitch, and the first thread pitch is different from the second thread pitch. The surgical instrument of embodiment 15, wherein
(19) The surgical instrument according to embodiment 18, wherein the first screw pitch includes a non-constant screw pitch, and the second screw pitch includes a constant screw pitch.
The surgical instrument of claim 15, further comprising a motor, the motor including a rotatable output operatively engaged with the rotatable shaft.

Claims (20)

A surgical instrument,
An end effector,
A fastener cartridge having a plurality of fasteners removably stored therein;
An end effector comprising: an anvil configured to deform the fastener;
A closure drive configured to move the anvil relative to the fastener cartridge;
A firing drive configured to deploy the fastener from the fastener cartridge;
A rotatable shaft,
A first thread, wherein the closure drive is engageable with the first thread to move the anvil;
A second thread, wherein the firing drive is engageable with the second thread to deploy the fastener, the first thread being the second thread; A surgical instrument comprising: a rotatable shaft that includes a second thread that overlaps at least partially.   The surgical instrument of claim 1, further comprising a motor, the motor including a rotatable output operatively engaged with the rotatable shaft.   The closure drive includes a closure pin engaged with the first thread, wherein the closure pin is configured to translate along a first path, and the firing drive is the second A firing nut threadably engaged with the screw thread, wherein the firing nut is configured to translate along a second path, wherein the first path and the second path are at least The surgical instrument of claim 1, wherein the surgical instrument partially overlaps.   The surgical instrument of claim 3, wherein the closure pin is configured to pass through the firing nut as it translates along the first path.   The surgical instrument according to claim 4, wherein the firing nut includes a slot defined therein, and the closure pin is configured to pass through the slot.   The first thread includes a first thread pitch, the second thread includes a second thread pitch, and the first thread pitch is different from the second thread pitch; The surgical instrument according to claim 1.   The surgical instrument of claim 6, wherein the first screw pitch includes a non-constant screw pitch and the second screw pitch includes a constant screw pitch. A surgical instrument,
An end effector;
A first drive configured to perform a first end effector function;
A second drive configured to perform a second end effector function;
A rotatable shaft,
A first thread, wherein the first drive is engageable with the first thread to perform the first end effector function;
A second thread, wherein the second drive is engageable with the second thread to perform the second end effector function, the first thread being A surgical instrument comprising: a rotatable shaft including a second thread that at least partially overlaps the second thread.   The surgical instrument of claim 8, further comprising a motor, wherein the motor includes a rotatable output operably engaged with the rotatable shaft. The first drive unit includes a closure pin engaged with the first thread, the closure pin configured to translate along a first path, and the second drive unit A firing nut threadably engaged with the second thread, the firing nut being configured to translate along a second path, the first path and the second path The surgical instrument of claim 8, wherein the surgical instrument at least partially overlaps the pathway.   The surgical instrument according to claim 10, wherein the closure pin is configured to pass through the firing nut when translated along the first path. The surgical instrument of claim 11, wherein the firing nut includes a slot defined therein, and the closure pin is configured to pass through the slot.   The first thread includes a first thread pitch, the second thread includes a second thread pitch, and the first thread pitch is different from the second thread pitch; The surgical instrument according to claim 8.   The surgical instrument of claim 13, wherein the first screw pitch includes a non-constant screw pitch and the second screw pitch includes a constant screw pitch. A surgical instrument,
An end effector,
A fastener cartridge having a plurality of fasteners removably stored therein;
An end effector comprising: an anvil configured to deform the fastener;
A closure drive configured to move the anvil relative to the fastener cartridge;
A firing drive configured to deploy the fastener from the fastener cartridge;
A rotatable shaft,
A first thread, the closure drive unit includes a first thread engageable with the closure pin including a first thread for moving said anvil,
A second thread, the firing drive may include a second thread engageable with firing nut to deploy the fastener, before Symbol first thread and the second A surgical instrument comprising: a rotatable shaft that includes a second thread that at least partially overlaps the thread. The surgical instrument of claim 15, wherein the closure pin is configured to pass through the firing nut as it translates along the first thread . The surgical instrument of claim 16, wherein the firing nut includes a slot defined therein, and the closure pin is configured to pass through the slot.   The first thread includes a first thread pitch, the second thread includes a second thread pitch, and the first thread pitch is different from the second thread pitch; The surgical instrument according to claim 15.   The surgical instrument of claim 18, wherein the first screw pitch includes a non-constant screw pitch and the second screw pitch includes a constant screw pitch.   The surgical instrument of claim 15, further comprising a motor, the motor including a rotatable output operatively engaged with the rotatable shaft.

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