JP6526670B2 - Interactive display for surgical instruments - Google Patents

Description

  The present invention relates to surgical instruments and, in various configurations, to a powered surgical cutting and stapling instrument and its staple cartridge designed to perform cutting and stapling of tissue.

  Surgical staplers are often used to deploy staples into soft tissue to reduce or eliminate bleeding from soft tissue, for example, particularly when the tissue is being transected. A surgical stapler, such as, for example, an endcutter, can include an end effector that can be moved or articulated relative to the elongate shaft assembly. An end effector is often configured to secure soft tissue between a first jaw member and a second jaw member, and the first jaw member is configured to releasably store staples. And the second jaw member often includes an anvil. Such surgical staples can include a closure system for pivoting the anvil relative to the staple cartridge.

  As outlined above, the surgical stapler can be configured to pivot the anvil of the end effector relative to the staple cartridge to capture soft tissue therebetween. In various cases, the anvil can be configured to apply a clamping force to the soft tissue to hold the soft tissue firmly between the anvil and the staple cartridge. However, if the surgeon is not satisfied with the position of the end effector, the surgeon generally actuates the release mechanism of the surgical stapler to pivot the anvil to the open position and then reposition the end effector There must be. The staples are then generally deployed from the staple cartridge by a driver, which traverses the channels in the staple cartridge, deforms the staples against the anvil, and secures the multiple layers of soft tissue together. In many cases, as is known in the art, staples are deployed in the form of multiple staple lines, i.e., in rows, in order to more accurately secure multiple layers of tissue together. The end effector may also include a cutting member that is advanced between the two rows of staples, eg, a knife, to ablate the soft tissue after multiple layers of soft tissue are stapled together.

  Such surgical staplers and effectors may be sized and configured to be inserted into a body cavity through a trocar or other access opening. The end effector is generally coupled to an elongate shaft sized to pass through the trocar or opening. The elongate shaft assembly is often operably coupled to a handle that supports a control system and / or a trigger that controls the movement of the end effector. In order to facilitate proper positioning and orientation of the end effector within the body, many surgical instruments are configured to facilitate articulation of the end effector relative to a portion of the elongate shaft.

  A powered surgical instrument is disclosed in US Patent Application Publication No. 2009/0090763 A1 (hereinafter "Zemlok '763") entitled "POWERED SURGICAL STAPLING DEVICE" by Zemlok et al., The entire disclosure of which is incorporated herein by reference. Are hereby incorporated by reference. A powered surgical instrument is disclosed in U.S. Patent Application Publication No. 2011/0278344 A1 (hereinafter "Zemlok'344", currently U.S. Patent No. 8,201,721) entitled "POWERED SURGICAL INSTRUMENT" by Zemlok et al. Is also disclosed and is incorporated herein by reference in its entirety.

  The above discussion is intended only to illustrate various aspects of the relevant art in the field of the present invention at the time, and should not be considered as a denial of the claims.

The features and advantages of the invention as well as the manner of realizing them will become more apparent and the invention itself will be better understood by referring to the following description of an embodiment of the invention in conjunction with the accompanying drawings .
FIG. 10 is a perspective view of a surgical instrument using one form of retraction device. FIG. 10 is a perspective view of an exemplary loading unit that can be used with the various surgical instruments disclosed herein. FIG. 3 is an exploded perspective view of a portion of the loading unit shown in FIG. 2; FIG. 2 is a plan view of a portion of the surgical instrument of FIG. 1; FIG. 5 is a partial side view of a portion of the surgical instrument shown in FIG. 4 with the clutch assembly in a released position. FIG. 5 is a plan view of an embodiment of a retraction assembly and a portion of the retraction lever device. FIG. 5 is a partially exploded view of one form of a drive unit, a portion of which is shown in cross section. FIG. 10 is another plan view of a portion of the surgical instrument with the drive unit lock system in a locked position. FIG. 7 is a plan view of one form of a locking pawl assembly. FIG. 10 is a side view of the locking pawl assembly of FIG. 9; FIG. 10 is a bottom view of the locking pawl assembly of FIGS. 9 and 10; FIG. 1 is a front view of an embodiment of a gear box housing. FIG. 17 is a partial side cross-sectional view of an embodiment of a surgical instrument, a portion of which is shown in cross-section, with the drive unit locking system in the locking direction. FIG. 14 is another partial cross-sectional side view of the surgical instrument of FIG. 13 with the drive unit lock system in the unlocked direction. FIG. 18 is a plan view of another surgical instrument embodiment with a portion of the housing removed and a portion of the drive unit lock system device of the instrument exposed. A partial side cross-section of the embodiment of the surgical instrument of FIG. 15, a portion of which is shown in cross section, the solid line representing the drive unit locking system in the locking direction and the dashed line representing the driving unit locking system in the unlocking direction. FIG. FIG. 16 is another partial plan view of the surgical instrument embodiment of FIGS. 15 and 16 with the solid line indicating the position of the retraction lever prior to actuation and the dashed line indicating the position of the retraction lever after initial actuation. FIG. 16 is another partial plan view of the surgical instrument embodiment of FIGS. 15-17, with the dashed line showing the retraction lever in a fully actuated position; Implementation of another surgical instrument wherein part of the housing is omitted, the drive unit locking system of the instrument is exposed, the solid line indicates the retraction lever in the inoperative position and the dashed line indicates the retraction lever after initial actuation FIG. 6 is a partial plan view of a portion of a form. FIG. 16 is a partial plan view of another surgical instrument embodiment in which a portion of the housing is omitted and the drive unit locking system in the locking direction is exposed. FIG. 21 is another partial plan view of the surgical instrument embodiment of FIG. 20 with the drive unit lock system in the unlocked direction. FIG. 10A is a partial cross-sectional side view of a portion of a surgical instrument and an end effector with its retraction assembly in an inoperative direction. FIG. 23 is another partial cross-sectional side view of the surgical instrument and end effector of FIG. 22 after the firing rod assembly has been fired. FIG. 24 is another partial cross-sectional side view of the surgical instrument and the end effector of FIG. 23 after the retraction assembly has been actuated to retract the drive beam back to the start position in the end effector. FIG. 16 is a partial cross-sectional side view of a portion of another surgical instrument and an end effector in a pre-launch state with its retraction assembly in an inoperative direction; FIG. 26 is another partial cross-sectional side view of the surgical instrument and end effector of FIG. 25 after firing; FIG. 27 is another partial cross-sectional side view of the surgical instrument and end effector of FIG. 26 with the latch of the retraction assembly in the unlatched direction. FIG. 28 is another partial cross-sectional side view of the surgical instrument and end effector of FIG. 27 with the distal firing rod portion in the retracted direction; FIG. 18 is a partial cross-sectional view of a portion of another surgical instrument embodiment, with the drive connector assembly in the articulation direction. FIG. 30 is a partial cross-sectional view of a portion of the surgical instrument embodiment of FIG. 29 with the drive connector assembly in the firing direction. FIG. 30 is an enlarged cross-sectional view of the drive connector assembly of the surgical instrument of FIGS. 29 and 30 with the connector selector member shown in solid lines in the articulation direction and the connector selector member shown in broken lines in the launch direction. FIG. 7 is a partial cross-sectional view of a portion of another surgical instrument embodiment. FIG. 34 is an enlarged partial cross-sectional view of a portion of the surgical instrument of FIG. 32. FIG. 34 is another enlarged partial cross-sectional view of the portion of the surgical instrument of FIGS. 32 and 33 with its travel restriction device in the most distal direction. FIG. 35 is another enlarged partial cross-sectional view of the portion of the surgical instrument of FIGS. 32-34, with its movement limiting device in the most proximal direction; FIG. 34 is a partial cross-sectional view of the surgical instrument of FIG. 33 taken along line 36-36 of FIG. 33; FIG. 35 is a partial perspective view of a portion of the surgical instrument of FIGS. 32-36. FIG. 16 is a partial perspective view of a shaft, a collar, and a disposable loading unit not attached to the shaft according to various embodiments of the present disclosure; FIG. 39 is a partial perspective view of the shaft, collar and disposable loading unit of FIG. 38 showing the disposable loading unit attached to the shaft. FIG. 39 is a partial exploded perspective view of the shaft, collar and disposable loading unit of FIG. 38; FIG. 39 is another partially exploded perspective view of the shaft, collar and disposable loading unit of FIG. 38; FIG. 39 is a perspective view of the distal attachment of the disposable loading unit of FIG. 38. FIG. 39 is another perspective view of the distal attachment of the disposable loading unit of FIG. 38. FIG. 39 is a perspective view of the proximal attachment of the shaft of FIG. 38. FIG. 39 is another perspective view of the proximal attachment of the shaft of FIG. 38; FIG. 39 is a perspective view of the collar and firing shaft of the surgical instrument of FIG. 38; FIG. 39 is a partial perspective cross-sectional view of the disposable loading unit, collar and shaft of FIG. 38 showing the disposable loading unit attached to the shaft; FIG. 39 is a partial elevational cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit not attached to the shaft. FIG. 39 is a partial elevational cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit attached to the shaft. FIG. 49 is an elevational view of the collar and shaft of FIG. 38 taken along the plane shown in FIG. 48. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit not attached to the shaft and further showing the collar in an initial direction relative to the shaft. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit not attached to the shaft and further showing the collar in an initial direction relative to the shaft. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit entering the shaft and further showing the collar in an initial direction relative to the shaft. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit entering the shaft and further showing the collar in a second rotated orientation with respect to the shaft. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit entering the shaft and further showing the collar in a second rotated orientation with respect to the shaft. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit fully inserted into the shaft and further showing the collar in a second rotated orientation with respect to the shaft. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit fully inserted into the shaft and further showing the collar in an initial direction relative to the shaft. FIG. 39 is a perspective partial cross-sectional view of the disposable loading unit of FIG. 38, the collar and the shaft showing the disposable loading unit fully inserted into the shaft and further showing the collar in an initial direction relative to the shaft. FIG. 16 is a partial perspective cross-sectional view of a shaft of a surgical instrument and a disposable loading unit not attached to a shaft according to various embodiments of the present disclosure. 60 is a partial perspective cross-sectional view of the shaft and disposable loading unit of FIG. 59, showing the disposable loading unit partially inserted into the shaft and further showing the latch in the unlatched position. FIG. 60 is a partial perspective cross-sectional view of the shaft and disposable loading unit of FIG. 59 showing the disposable loading unit fully inserted into the shaft and further showing the latch in the latched position; FIG. 60 is a partial elevational cross-sectional view of the shaft and disposable loading unit of FIG. 59 showing the disposable loading unit fully inserted into the shaft and further showing the latch in the latched position; FIG. 7 is a schematic view of a torque-voltage curve according to various embodiments of the present disclosure. FIG. 7 is a schematic diagram of high duty cycle pulses provided by a pulse width modulation circuit in accordance with various embodiments of the present disclosure. FIG. 7 is a schematic diagram of low duty cycle pulses provided by a pulse width modulation circuit in accordance with various embodiments of the present disclosure. FIG. 64B is a schematic view of the firing element driven by the high duty cycle pulse of the pulse width modulation circuit of FIG. 64 (a). FIG. 64B is a schematic view of the firing element driven by the low duty cycle pulse of the pulse width modulation circuit of FIG. 64 (b). FIG. 6 is a schematic diagram of a pulse width modulation circuit having a primary coil set and a secondary coil set according to various embodiments of the present disclosure. FIG. 6 is a schematic diagram of a pulse width modulation circuit having a primary coil set and a secondary coil set according to various embodiments of the present disclosure. FIG. 6 is a schematic diagram of a pulse width modulation circuit having a primary coil set and a secondary coil set according to various embodiments of the present disclosure. 7 is a graph illustrating speed and torque over the launch stroke in accordance with various embodiments of the present disclosure. 7 is a graph illustrating portions of a speed limit experiment during a launch stroke in accordance with various embodiments of the present disclosure. FIG. 7 is a schematic view of a simplified stepping motor according to various embodiments of the present disclosure. FIG. 7 is a schematic view of a simplified stepping motor according to various embodiments of the present disclosure. FIG. 5 is a schematic view of a hybrid stepping motor according to various embodiments of the present disclosure. FIG. 5 is a schematic view of a hybrid stepping motor according to various embodiments of the present disclosure. FIG. 5 is a schematic view of a hybrid stepping motor according to various embodiments of the present disclosure. FIG. 71 is a schematic view of the hybrid stepping motor of FIGS. 71-73 showing a change in polarity. FIG. 71 is a schematic view of the hybrid stepping motor of FIGS. 71-73 showing a change in polarity. FIG. 71 is a schematic view of the hybrid stepping motor of FIGS. 71-73 showing a change in polarity. FIG. 16 is a perspective view of a display with a touch screen for use with an endoscope according to various embodiments of the present disclosure. FIG. 76 is an elevation view of the first information layer for rendering on the display of FIG. 75, the first information layer being of a disposable loading unit (DLU) attached to a surgical instrument when viewed with an endoscope; Includes video feedback. FIG. 76 is an elevation view of a second information layer for rendering on the display of FIG. 75, the second information layer including a control panel defining input by the touch screen. FIG. 78 is an elevational view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76; FIG. 77 is an elevation view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer being of the knife when it is near the start of the firing stroke; It includes numerical data on the progress and a visual indication of the progress of the knife. FIG. 76 is an elevational view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer being of the knife when the knife is near the distal end of the firing stroke; It includes numerical data on the progress and a visual indication of the progress of the knife. FIG. 76 is an elevational view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer being at the knife detection position in the DLU shown in the first information layer; Includes overlapping, knife sign display. FIG. 77 is an elevation view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer being a graph of the velocity of the knife advancing distally during the firing stroke; Including the display. FIG. 77 is an elevational view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer being applied along the length of the DLU jaws by the DLU jaws on the tissue Includes graphical display of clamping force. FIG. 77 is an elevation view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, wherein the second information layer includes numerical data regarding the direction of the DLU and is shown in the first information layer; DLU is in the non-joint flexion direction. FIG. 76 is an elevation view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer including numerical data regarding the direction of the DLU and a visual indication of the direction of the DLU; The DLU shown in the first information layer is in the joint flexion direction. The elevation of the second information layer of FIG. 77 overlaying the first information layer of FIG. 76 showing the input content from the user via the touch screen of FIG. 75 to adjust the joint flexion of the DLU. FIG. FIG. 76 shows a schematic diagram for controlling DLU, further illustrating user input by manipulating the schematic via the touch screen of FIG. 75 to adjust the joint flexion of DLU. FIG. 80 is an elevational view of the second information layer of FIG. 77 overlapping 76 first information layers; 76 showing the DLU in the joint flexion direction in the first information layer responsive to the user's input content shown in FIGS. 86 and 87, the second in FIG. 77 overlapping the first information layer in FIG. Is an elevation view of the information layer of The elevation of the second information layer of FIG. 77 overlaying the first information layer of FIG. 76 showing the input content from the user via the touch screen of FIG. 75 to control the closing of the movable jaws. FIG. FIG. 77 shows the movable jaw of the DLU in the clamping direction in the first information layer responsive to the user's input content shown in FIG. 89, the second in FIG. 77 overlapping the first information layer in FIG. 76; Is an elevation view of the information layer of FIG. 78 is an elevation view of the controller interface of the second information layer of FIG. 77. FIG. 79 is an elevational view of the second information layer of FIG. 77 overlapping the first information layer of FIG. 76, the second information layer including the controller interface and progress bar of FIG. 91; FIG. 76 is a schematic diagram showing a communication system of a feedback controller and an endoscope, a surgical instrument and the display of FIG. 75. FIG. 1 is an exploded view of a surgical instrument system comprising a handle and an end effector including a plurality of indicators according to at least one embodiment. FIG. 16 is a partial elevation view of a handle of a surgical instrument system including a plurality of indicators in accordance with at least one embodiment. FIG. 10 is a partial cross-sectional view of the handle of the surgical instrument system including a trigger lock according to at least one embodiment, the trigger lock shown in an unlocked condition. FIG. 97 is a partial cross-sectional view of the handle of FIG. 96 with the trigger lock shown in a locked condition; FIG. 97 is a cross-sectional view of the trigger lock of FIG. 96 with the trigger lock shown in its unlocked condition; FIG. 97 is a cross-sectional view of the trigger lock of FIG. 96 with the trigger lock shown in its locked condition; Operating the surgical instrument controller to assess whether the surgical instrument is exposed to a temperature above its threshold temperature and to determine how to notify the user of the surgical instrument that the threshold temperature is exceeded It is a flowchart which outlines a program. FIG. 17 is a cross-sectional view of a handle of a surgical instrument system with a trigger lock in a locked state in accordance with at least one embodiment. FIG. 100 is a cross-sectional detail view of the handle of FIG. 100 with the trigger lock shown in its locked condition; FIG. 100 is another cross-sectional detail view of the handle of FIG. 100 with the trigger lock shown in an unlocked condition. FIG. 100 is a perspective view of the trigger lock of FIG. 100 shown in a locked condition; FIG. 16 is a partial cross-sectional perspective view of a handle of a surgical instrument with a trigger lock in a locked state in accordance with at least one embodiment; FIG. 105 is a partial cross-sectional perspective view of the handle of FIG. 104 shown in an unlocked condition; FIG. 105 is a partial cross-sectional left side elevation view of the handle of FIG. 104 shown in a locked condition; FIG. 105 is a partial cross-sectional right side view of the handle of FIG. 104 shown in a locked condition; FIG. 105 is a partial cross-sectional left side elevation view of the handle of FIG. 104 shown in an unlocked condition; FIG. 105 is a partial cross-sectional right side view of the handle of FIG. 104 shown in an unlocked condition; FIG. 6 is a process flow chart showing steps that can be used to process a signal received from an end effector attached to a surgical instrument using a controller of the surgical instrument. FIG. 5 is a schematic diagram showing a series of parameters that can be provided from the end effector to the surgical instrument. FIG. 110 is a process flow diagram showing steps of using the end effector and surgical instrument of FIG. 110; FIG. 5 is a schematic view illustrating an end effector to shaft interconnect of a surgical instrument in accordance with at least one embodiment; FIG. 113 is a plan view of a printed circuit board of the interconnect of FIG. 112; FIG. 16 is a partial perspective view of an end effector of a surgical instrument in accordance with at least one embodiment. FIG. 115 is a partial perspective view of the end effector and surgical instrument shaft of FIG. 114; FIG. 115 is a cross-sectional view of the end effector of FIG. 114 attached to the shaft of FIG. 115; FIG. 10 is a cross-sectional view of an end effector and shaft interconnect according to at least one embodiment. FIG. 10 is a cross-sectional view of an end effector and shaft interconnect according to at least one embodiment. FIG. 10 is a cross-sectional view of an end effector and shaft interconnect according to at least one embodiment. FIG. 120 is a detail view of the interconnect of FIG. 119. FIG. 10 is a side view of an end effector comprising an anvil according to at least one embodiment and an anvil position indicator, the anvil shown in an open position; FIG. 121 is a side view of the end effector of FIG. 121 with the anvil shown in a partially closed position; FIG. 122 is another side view of the end effector of FIG. 121 with the anvil shown in a partially closed position; FIG. 122 is another side view of the end effector of FIG. 121 with the anvil shown in a partially closed position; FIG. 121 is a detail view of the anvil position indicator of FIG. 121 showing the anvil in the position shown in FIG. 121; FIG. 122 is a detail view of the anvil position indicator of FIG. 121 showing the anvil in the position shown in FIG. 122; FIG. 126 is a detail view of the anvil position indicator of FIG. 121 showing the anvil in the position shown in FIG. 123; FIG. 124 is a detail view of the anvil position indicator of FIG. 121 showing the anvil in the position shown in FIG. 124; FIG. 10A shows a cross-sectional side view of a surgical instrument in accordance with certain embodiments described herein. FIG. 129 illustrates a power system for powering the surgical instrument of FIG. 129, which is in communication with the control system of the surgical instrument of FIG. 129; FIG. 130 shows a battery pack of the power system of FIG. 130 connected to a charger base. FIG. 130 shows a power management circuit of the power system of FIG. 130. FIG. 130 shows a schematic block diagram illustrating the operating parameters of the power system of FIG. 130. FIG. 10A shows a perspective view of a power supply of a surgical instrument in accordance with various embodiments described herein. FIG. 134 shows a perspective view of the power supply of FIG. 134 disassembled according to various embodiments described herein. FIG. 134 shows a circuit diagram of a circuit of the power supply of FIG. 134 including a complete destructible part according to various embodiments described herein. FIG. 136 depicts a circuit diagram of the circuit of FIG. 136 in which the destructible portion according to various embodiments described herein is destructed. FIG. 1 illustrates a block diagram of a system for protecting data stored in memory from unauthorized access according to various embodiments described herein. FIG. 1 shows a perspective view of a power supply of a surgical instrument with a covered data access portal. FIG. 139 illustrates the data access portal of FIG. 139 in an uncovered configuration. FIG. 1 shows a perspective view of a power supply of a surgical instrument comprising an internal data access portal. FIG. 1 illustrates a block diagram of a system for protecting data stored in memory from unauthorized access according to various embodiments described herein. FIG. 10A shows a perspective view of a power supply of a surgical instrument in accordance with various embodiments described herein. FIG. 152 shows a perspective view of the power supply of FIG. 143 coupled to a surgical instrument. FIG. 143 illustrates the LED of the power supply of FIG. 143 in various configurations according to various embodiments described herein. FIG. 16A shows a side view of a surgical instrument comprising a housing according to various embodiments described herein. FIG. 147 shows a side view of the housing of FIG. 146 with the shell removed and the removable element secured to the housing by the securing member exposed. FIG. 146 shows a side view of the housing of FIG. 147 with the removable element removed from the housing. FIG. 10 is a schematic diagram showing detectable indentations, notches or indentations of a barcode defined on the surface of the end effector. FIG. 1 is a schematic view of a representative barcode that can be used with a barcode reader. FIG. 16 is a partial side view of a shaft of an end effector including a barcode according to at least one embodiment. FIG. 10 is a partial elevation view of an end effector of a surgical instrument that includes a barcode according to at least one embodiment. FIG. 1 is a partial perspective view of a handle of a surgical instrument comprising a barcode reader according to at least one embodiment. FIG. 154 is a cross-sectional view of the barcode reader of FIG. 153 shown with the end effector disposed therein; FIG. 7 is an exploded perspective view of an end effector and shaft of a surgical instrument in accordance with at least one embodiment. FIG. 10 is an exploded perspective view of an end effector and shaft of a surgical instrument in accordance with at least one embodiment, the end effector including portions of the firing member that are removably locked together. FIG. 156 is a partial perspective view of the firing member portion of FIG. 156 locked together by a locking member; FIG. 156 is a partial perspective view of the firing member portion and locking member of FIG. 156 shown with a portion of the firing member removed and shown to illustrate the locking member releasably locking the firing member portions together; FIG. 156 is an exploded view of the firing member of FIG. 156 and a release actuator configured to move the locking member into the unlocked state to unlock the firing member portion; FIG. 160 is a partially exploded view of the interconnection of the release actuator of FIG. 159 with the corresponding shaft release actuator; FIG. 160 is a cross-sectional view of the interconnect of FIG. 160. FIG. 1 is an exploded perspective view of an assembly comprising a motor, a drive shaft, and a sliding clutch configured to selectively transmit rotation between the motor and the drive shaft. FIG. 162 is a cross-sectional view of the assembly of FIG. 162. FIG. 162 is a perspective view of the biasing element of the sliding clutch of FIG. 162; FIG. 162 is a cross-sectional view of the assembly of FIG. 162 showing the clutch elements of the sliding clutch in an intermediate position. FIG. 165 is a cross-sectional view of the assembly of FIG. 162 showing the clutch element of FIG. 165 in a forward position; FIG. 165 is a cross-sectional view of the assembly of FIG. 162 showing the clutch element of FIG. 165 in an opposite position; FIG. 10 is a perspective view of a motor and gear assembly according to various embodiments of the present disclosure. FIG. 10 is a perspective view of a motor, gear assembly, and voice feedback generator according to various embodiments of the present disclosure. The claw on the disc of the gear assembly of FIG. 169 showing the disc rotating clockwise and the claw engaged with the clicker of the audio feedback generator of FIG. 169 according to various embodiments of the present disclosure It is an elevation view. Tab on the gear assembly disc of FIG. 169 showing the disc rotating in a counterclockwise direction and the tab engaged with the clicker of the audio feedback generator of FIG. 169 according to various embodiments of the present disclosure Is an elevation view of FIG. 1 is a perspective view of a motor, a gear assembly having a plurality of disks, and an audio feedback generator according to various embodiments of the present disclosure. FIG. 172 is a graphical representation of feedback generated near the end of a launch stroke by the audio feedback generator of FIG. 172 in accordance with various embodiments of the present disclosure. FIG. 172 is a graphical representation of feedback generated near the joint flexion limit of the loading unit by the audio feedback generator of FIG. 172 in accordance with various embodiments of the present disclosure. FIG. 172 is a graphical representation of feedback generated near the joint flexion limit of the loading unit by the audio feedback generator of FIG. 172 in accordance with various embodiments of the present disclosure. FIG. 5 is a schematic diagram showing an algorithm of operation of a surgical instrument. FIG. 10 is another schematic diagram illustrating an algorithm of operation of a surgical instrument. FIG. 5 is a schematic diagram showing an algorithm of operation of a surgical instrument. It is a circuit configured to indicate the voltage of the battery. FIG. 5 is a schematic view of an automatic flasher configured to indicate that a battery has been charged. FIG. 7 is a schematic view of a diagnostic check for use in a surgical instrument in accordance with at least one embodiment. FIG. 6 is a schematic diagram showing battery discharge and power shutoff when the battery charge falls below a minimum charge level. 6 is a table of information that can maintain a record of battery operation and / or performance. It is a schematic diagram of a battery diagnostic circuit. FIG. 10 is a perspective view of a sealed motor and gear assembly for use with a surgical instrument in accordance with various embodiments of the present disclosure. FIG. 185 is an exploded elevational cross-sectional view of the enclosed motor and gear assembly of FIG. 185 in accordance with various embodiments of the present disclosure;

Applicants also own the following patent applications filed on the same day as the present application, the entire contents of which are incorporated herein by reference.
-U.S. Patent Application, Name "FIRING MEMBER RETRACTION DEVICES FOR POWERED SURGICAL INSTRUMENTS", Attorney Docket No. END7293USNP / 130016,
-U.S. Patent Application, Name: "SECONDARY BATTERY ARRANGEMENTS FOR POWERED SURGICAL INSTRUMENTS", Attorney Docket No. END7294USNP / 130017,
-U.S. Patent Application, entitled "ERROR DETECTION ARRANGEMENTS FOR SURGICAL INSTRUMENT ASSEMBLIES", Attorney Docket No. END7295USNP / 130018,
-U.S. Patent Application, Name "ATTACHMENT PORTIONS FOR SURGICAL INSTRUMENT ASSEMBLIES", Attorney Docket No. END7296USNP / 130019,
-U.S. Patent Application, Name: "TAMPER PROOF CIRCUIT FOR SURGICAL INSTRUMENT INSTRUMENT BATTERY PACK", Attorney Docket No. END 7297 USNP / 130020,
-U.S. Patent Application, Name "CLOSURE INDICATOR SYSTEMS FOR SURGICAL INSTRUMENTS", Attorney Docket No. END 7298 USNP / 130021,
-U.S. Patent Application, Name "TORQUE OPTIMIZATION FOR SURGICAL INSTRUMENTS", Attorney Docket No. END 7299 USNP / 13 0022,
-U.S. Patent Application, Name: "SHROUD RETENTION ARRANGEMENT FOR STERILIZABLE SURGICAL INSTRUMENTS", Attorney Docket No. END 73000 USNP / 130023,
-U.S. Patent Application, entitled "CONDUCTOR ARRANGEMENTS FOR ELECTRONICALLY POWERED SURGICAL INSTRUMENTS WITH ROTATABLE END EFFECTORS", Attorney Docket No. END 7301 USNP / 130024,
-U.S. Patent Application, Name "END EFFECTOR DETECTION SYSTEMS FOR SURGICAL INSTRUMENTS", Attorney Docket No. END 7302 USNP / 130025,
-U.S. Patent Application, entitled "FIRING TRIGGER LOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS", Attorney Docket No. END 7303 USNP / 130026,
U.S. Patent Application, title "MOTOR-POWERED ARTICULATABLE SURGICAL INSTRUMENTS", Attorney Docket No. END 7305 USNP / 130028.

  Specific exemplary embodiments will now be described to provide a comprehensive understanding of the principles of the 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. Those skilled in the art will appreciate that the apparatus and method specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of various embodiments of the present invention is patent It will be understood that it is defined only by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.

  The term "comprise" (as well as any word form of compise such as comprises and comprising), "have" (and any word form of have such as has and having), "include" (and includes) And including, any word form of include), "contain" (and any word form of contain such as contains and containing) are open connective verbs. As a result, a surgical system, device, or apparatus that "includes", "includes", "includes", or "contains" one or more elements has one or more of those elements. Are not limited to having only one or more of them. Similarly, an element of a system, device, or apparatus that "includes", "has", "includes", or "contains" one or more features has one or more features. However, it is not limited to having only one or more of the structural parts.

  The terms "proximal" and "distal" are used herein as a reference to the clinician operating the handle portion of the surgical instrument. The term "proximal" refers to the part closest to the clinician and the term "distal" refers to the part located away from the clinician. It is further understood that, for convenience and clarity, spatial terms such as "vertical", "horizontal", "upper", "lower" etc. may be used herein for the drawings. It will However, surgical instruments are used in many directions 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 skilled 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, in connection with open surgical procedures. Will be done. Upon reading this "Form for Carrying Out the Invention", those skilled in the art will appreciate that the various instruments disclosed herein may, for example, either through natural holes or through incisions or punctures formed in the tissue. It will be further understood that the method can be inserted into the body. The working part of these instruments, ie the end effector part, can be inserted directly into the patient's body or through an access device with a working channel through which the end effector of the surgical instrument and the elongate shaft can be passed. It can be inserted.

  FIG. 1 shows, for example, the surgical instruments (the various features, configurations thereof as disclosed in Zemlok '763 and / or Zemlok' 344, each of which is incorporated herein by reference in its entirety). 1 shows a powered surgical instrument 10 that may be similar in many respects to parts and subcomponents). The surgical instrument 10 shown in FIG. 1 comprises a housing 12 having a handle portion 14 for facilitating manual manipulation and operation of the instrument. Thus, as used herein, the term "housing" may encompass a handheld or otherwise manually operable device. However, the term "housing" is not intended to be hand-held, but may be automated, such as a robotic control system, operable and operable in other ways by the various components, parts and / or actuators of the system. Parts of the surgical instrument system may also be included.

  An elongate shaft assembly 16 in the form of an endoscopic portion is operably coupled to a surgical end effector that projects from the housing 12 and is configured to perform at least one surgical procedure in response to the firing motion applied thereto. It is configured to be attached. Such a surgical end effector may be, for example, an end cutter, a gripping tool, or a pair of jaws, wherein one jaw is selectively moveable relative to another jaw, or some configuration There may be other devices that may include jaws in which both jaws are movable relative to one another. As a further example, the surgical end effector may comprise a device configured to cut and staple tissue, such as a “loading unit” 20 as shown in FIGS. 2 and 3. A surgical end effector, such as loading unit 20, may be removably attached to, for example, the elongate shaft assembly 16 of the powered surgical instrument 10, as detailed herein.

  FIGS. 2 and 3 illustrate one representative form of loading unit 20 that may be used with surgical instrument 10. Such loading unit 20 may be any of the loading units disclosed in the above-mentioned US Patent Application Publications (each of which is incorporated herein by reference in its entirety), as well as, for example It may be similar to the loading unit disclosed in U.S. Patent Application Publication No. 2012-0298719 Al, entitled "ARRANGEMENts", the disclosure of which is incorporated herein by reference in its entirety.

  As shown in FIG. 2, the loading unit 20 includes an anvil assembly 22 that corresponds to pivotal movement relative to the carrier 24 that operably supports the staple cartridge 26 therein. The mounting assembly 28 is pivotally coupled to the cartridge carrier 24 to allow articulation of the carrier 24 about an articulation axis "AA-AA" orthogonal to the longitudinal axis "LA-LA" of the instrument. Form Referring to FIG. 3, the mounting assembly 28 may, for example, include upper and lower mounts 30 and 32. Each mounting portion 30, 32 may be provided with a threaded hole 34 sized to receive a threaded bolt (not shown) on each side thereof for securing the proximal end of its carrier 24. A pair of centrally located pivoting members 36 may extend between the upper and lower mounts via a pair of connecting members 38 that engage the distal end of the housing portion 40. . The interlocking members 38 are each received in a groove 42 formed in the proximal end of the housing portion 40 and are configured to hold the mounting assembly 30 and the housing portion 40 in a longitudinally fixed position. The unit 39 may be provided.

  As further shown in FIG. 3, the housing portion 40 of the loading unit 20 is configured to be housed in the outer casing 50, the upper housing half 44 and the lower housing half 46; May be provided. The proximal end of the housing half 44 may include an engagement protrusion 48 for releasably engaging the distal end of the elongate shaft assembly 16. The protrusions 48 may form, for example, a “bayonet-type” connection with the distal end of the elongate shaft assembly 16. Various coupling devices are detailed herein. The housing halves 44, 46 may define a groove 47 for slidably receiving the axially movable drive beam 60. Second articulation flexion connection 70 may be sized to be slidably disposed within a slot 72 formed between housing halves 44 and 46. A pair of "blow out" plates 74 are positioned adjacent to the distal end of the housing portion 40 adjacent the distal end of the axial drive beam 60 and to the outside of the drive beam 60 during articulation of the carrier 24. It is possible to prevent the overhang.

  Drive beam 60 may comprise a distal actuation head 62 and a proximal engagement portion 64. The drive beam 60 may be comprised of a single sheet material or, preferably, a plurality of laminated sheets. The engagement portion 64 is dimensioned to engage to attach a pair of corresponding retention slots formed in the drive member 66 and comprises a pair of engagement fingers so configured Good. The drive member 66 may include a proximal port hole 67 configured to receive the distal end of the firing rod when the proximal end of the loading unit 20 engages the elongated shaft assembly of the surgical instrument 10 . The distal working head 62 may have a tissue cutting portion 63 formed therein. Distal actuation head 62 engages anvil assembly 22 and clamps the tissue between anvil 22 and staple cartridge 26 as distal actuation head 62 is driven distally through staple cartridge 26 There may further be a pair of pins 65 configured to pivot to a closed position. The tissue cutting portion 63 on the distal working head 62 is driven such that a surgical staple (not shown) supported within the staple cartridge 26 forms a contact with the anvil 22 in a known manner When used to incise clamped tissue. For example, distal actuation head 62 is configured to axially engage and advance a sled (not shown) movably supported in staple cartridge 26. When the sled is driven in the distal direction by the drive member 66, the sled contacts a pusher (not shown) associated with the staples, which causes engagement with the anvil 22 on the loading unit 20. The staples are delivered from the cartridge 26 to form

  As shown in FIG. 1, the surgical instrument 10 is configured to generate a rotational actuation motion that may be used to provide the firing motion to the loading unit 20, eg, as described in further detail below. A motor 100 is provided. In at least one form, for example, motor 100 is configured to provide rotational actuation motion to the firing member assembly, generally designated 82. In one configuration, for example, the firing member assembly 82 comprises a drive tube 102 rotatably supported within the housing 12 and having an internally formed internal thread (not shown). The proximal threaded portion of the firing rod 104 is threadably supported with the drive tube 102 such that rotation of the drive tube 102 causes axial movement of the firing rod 104. The firing rod 104 can connect the inside of the drive beam 60 in the loading unit 20 by screwing. Rotation of the drive tube 102 in a first direction (eg, counterclockwise) causes the firing rod 104 to distally move the drive member 60, as described in further detail in the incorporated Zemlok '763 and Zemlok' 344 above. Advance in the direction. Initial advancement of the drive member 60 distally within the loading unit 20 causes the anvil 22 to pivot toward the staple cartridge 26. When drive member 60 is initially driven in the distal direction "DD", anvil 22 is actuated by a pin 65 on drive member 60 that causes anvil 22 to cam to the closed position. Movement of the drive member 60 further distally through the firing rod 104 and ultimately through the loading unit 20 drives the staples to form contact with the staple forming bottom surface on the anvil 22.

  As further shown in FIG. 1, the surgical instrument 10 may include an articulation system, generally designated 109. However, the surgical instrument 10 may include various other articulating system devices as disclosed in detail herein. In at least one form, the articulating system 109 may include an articulating mechanism 110 comprising an articulating motor 112 and a manual articulating knob 114. The articulation motor 112 can be actuated by a powered articulation switch 116 or by pivoting a manual articulation knob 114. The actuation of the articulation motor 112 leads to the rotation of the articulation gear 118 of the articulation mechanism 110. Actuation of articulation mechanism 110 causes the end effector (e.g., cartridge / anvil portion of loading unit 20) to be substantially aligned with the longitudinal axis "LA-LA" of the elongate shaft assembly 16 instrument. From the first position, the axis of the end effector is moved to a position arranged at an angle, for example, about the articulation axis "AA-AA", with respect to the longitudinal axis "LA-LA" of the elongate shaft assembly instrument It can be done. Further description of the various aspects of the articulation mechanism 110 can be found in Zemlok '763, previously incorporated herein by reference in its entirety. In addition, US Pat. No. 7,431,188 entitled “SURGICAL STAPLING APPARATUS WITH POWERED ARTICULATION”, the entire disclosure of which is incorporated herein by reference in its entirety, can be used with the surgical instrument 10 as a motor. SUMMARY A powered joint bendable end effector is disclosed.

  In various embodiments, the surgical instrument may include at least one motor, which may be a firing motion relative to the loading unit 20 and / or a joint relative to the articulation system 109 as described elsewhere. It can bring about bending. Motor 100 may be powered, for example, by a power supply 200 of the type described in further detail in Zemlok ‘763. For example, power supply 200 may include rechargeable batteries (eg, lead-based, nickel-based, lithium ion-based, etc.). It is also envisioned that the power supply 200 may include at least one disposable battery. The disposable battery may be, for example, about 9 volts to about 30 volts. However, other power supplies can also be used. FIG. 1 shows one example where the power supply 200 comprises a plurality of batteries 202. The number of batteries 202 used may depend on the current loading requirements of the instrument 10.

  In certain embodiments, the surgical instrument 10 may comprise a secondary power source to power at least one motor of the surgical instrument 10. For example, referring now to FIG. 129, the surgical instrument 10 may comprise a power system 2000 that may be configured to provide energy to operate the surgical instrument 10. As shown in FIG. 129, the power system 2000 can be installed, for example, in the handle portion 14 of the housing 12 and may include a primary power source 2002 and a secondary or backup power source 2004. The primary power source 2002 may be configured to supply energy for operating the surgical instrument 10 during normal operation, and the secondary power source 2004 may be configured to provide energy for operating the surgical instrument 10. When not usable, for example, when the primary power source 2002 is depleted and / or removed from the surgical instrument 10, it is configured to provide at least a limited volume of operating energy for the surgical instrument 10. You may For example, the secondary power source 2002 may have energy to restore the surgical instrument 10 to an initial condition when the primary power source 2002 is depleted during a surgical procedure and / or removed from the surgical instrument 10. It may be configured to supply.

  Referring to FIG. 1, as detailed elsewhere, a power source, such as, for example, a power source 200 can provide power for operation of the surgical instrument 10. For example, power supply 200 supplies power to a motor, such as motor 100, for example, to rotate drive tube 102 in a first direction and ultimately drive drive beam 60 distally through loading unit 20. Axial advancement of the rod 104 can occur. Alternatively, the power supply 200 supplies power to the motor 100 and rotation of the drive tube 102 in a second direction opposite to the first direction and finally the drive beam 60 to its first and / or Alternatively, axial retraction of the firing rod 104, which can move proximally to a predetermined position, can occur. Similarly, primary power source 2002 may be configured to provide power to motor 100 and to advance and / or retract firing rod 104 during normal operation of surgical instrument 10. In addition, the secondary power supply 2004 may not be able to supply the necessary power, for example when the primary power supply 2002 is depleted and / or removed from the surgical instrument 10, etc. The power required to retract the firing rod 104 to a predetermined position may be provided.

  In addition to the above, as described in detail elsewhere, the surgical instrument 10 may include, for example, the joint flexion angle of the end effector 20 (see FIG. 2), the operating state of the end effector 20, sensor measurements, the number of firings. Various information regarding operation of the surgical instrument 10 during a surgical procedure, such as tissue depth, and / or the position of the firing rod 104, may be configured to be recorded and stored. In certain instances, such information may be recorded and stored in volatile or temporary memory, such as, for example, a random access memory (RAM) unit, which may require power to maintain the stored information. During normal operation of the surgical instrument 10, the primary power source 2002, like the other power sources detailed elsewhere, maintains information stored in the volatile or temporary memory unit of the surgical instrument 10. Supply the power needed for In addition, the secondary power source 2004 is stored, for example, when the primary power source 2002 is depleted and / or when the primary power source 2002 can not supply the necessary power, such as when removed from the surgical instrument 10. Power needed to temporarily maintain the stored information.

  In particular aspects, the surgical instrument 10 may comprise a control system 2005 of the type and configuration disclosed in Zemlok '763, which is incorporated herein by reference in its entirety. Further details regarding the configuration and operation of such control system 2005 can be obtained from the published patent. For example, control system 2005 may be configured to generate or provide information such as alerts or instrument status to the user via a user interface such as visual or auditory display. The signal or input generated by control system 2005 may, for example, be responsive to the user, other signals or inputs provided by the instrument component, or as a function of one or more measurements associated with instrument 10 It may be. During normal operation of the surgical instrument 10, as detailed elsewhere, for example, a power source such as the primary power source 2002 (see FIG. 129) may cause the control system 2005 to interact with the user, etc. Supply the power needed to perform the functions of In addition, the secondary power supply 2004 may not be able to supply the necessary power, for example when the primary power supply 2002 is depleted and / or removed from the surgical instrument 10, etc. It can provide at least limited power for the temporary interaction with the user through the user interface.

  Referring now to FIG. 130, power system 2000 may include a power management circuit 2006 that may be coupled to primary power source 2002 and secondary power source 2004. Power management circuitry 2006 may include or be selectively associated with a semiconductor, computer chip, or memory. Power management circuit 2006 includes an analog or digital input to or from various components of surgical instrument 10 including, but not limited to, control system 2005, primary power source 2002, and / or secondary power source 2004. Or may be configured to transmit or receive a signal. In various aspects, power management circuit 2006 controls and monitors various components of surgical instrument 10, including primary power source 2002 and / or secondary power source 2004, using one or more algorithms. Software may be used that can further organize the input signal for Such organized input signals may be a function of criteria measured and / or calculated by the power management circuit 2006 or, in some cases, another instrument component, user or power management circuit 2006 and A separate system in operable communication may be provided to the power management circuit 2006.

  Referring again to FIG. 129, the primary power source 2002 may comprise one or more batteries depending on the current loading requirements of the instrument 10. In various aspects, as shown in FIG. 129, the primary power source 2002 may comprise a battery pack 2008, which may include, for example, a plurality of cells 2010 that can be connected in series with one another. The battery pack 2008 may be replaceable. In other words, the battery pack 2008 can be detached and removed from the surgical instrument 10 and replaced with another similar battery pack. In particular aspects, primary power source 2002 may include rechargeable batteries (eg, lead-based, nickel-based, lithium ion-based, etc.). Battery 2008 may be, for example, a 3 volt lithium battery, such as, for example, a CR 123A battery, but, for example, in another embodiment, different types of batteries, such as, for example, batteries having different voltage levels and / or different chemistry. Battery can be used. The user can disconnect the exhausted or used battery pack 2008 from the surgical instrument 10 and remove it, connect the charged battery pack 2008, and supply power to the surgical instrument 10. The exhausted battery pack 2008 is then charged and can be reused. It is also envisioned that the primary power source 2002 may include at least one disposable battery. In various aspects, the disposable battery may be, for example, about 9 volts to about 30 volts. The user can disconnect and remove the depleted disposable battery pack 2008 and connect a new disposable battery pack 2008 to power the surgical instrument 10.

  As noted above, the battery pack 2008 may comprise a rechargeable battery, which may, for example, be removably installed within the handle portion 14 of the housing 12. In such a situation, a battery charger may be used to charge the battery pack 2008. For example, as shown in FIG. 131, the charger stand 2012 can be connected to the battery pack 2008 by removing the battery pack 2008 from the location in the handle portion 14 and connecting it to the charger stand 2012. As shown in FIG. 131, the charger stand 2012 may include a power source 2014 for charging the battery pack 2008. The power source 2014 of the charger stand 2012 may be, for example, a battery (or some series connected batteries) or any other power source suitable for charging a direct current or battery pack 2008, such as from the mains of the power source It may be an AC / DC converter to convert. The charger stand 2012 may be provided with an indicator device such as an LED, an LCD display, etc., which indicates the charge status of the battery pack 2008.

  In addition, as shown in FIG. 131, the charger stand 2012 includes, for example, one or more processors 2016, one or more memory units 2018, and an i / o interface 2020, 2022. You may By means of the first i / o interface 2020, the charger stand 2012 communicates with the power pack 2008 (via the i / o interface of the power pack), for example, the memory of the power pack 2008 in the memory 2020 of the charger stand 2012 You can make the data saved in the file available for download. In various situations, the downloaded data may then be evaluated and analyzed, for example, by a hospital system in which the operation involving the instrument 10 is performed, a surgeon's office, a vendor of the instrument, a manufacturer of the instrument, etc. It can be downloaded to another computer device via two i / o interfaces 2022.

  The charger stand 2012 may include a charge meter 2024 that measures the charge amount of the entire battery of the battery pack 2008. The charge meter 2024 may be in communication with the processor 2016, so that the processor 2016 can determine the suitability of the battery pack 2008 for use in real time to ensure that the battery can function as expected.

  Referring again to FIG. 129, the secondary power source 2004 may comprise one or more batteries 2026, which may, for example, be disposed within the handle portion 14. Battery 2026 may be rechargeable (eg, lead-based, nickel-based, lithium ion-based, etc.). For example, battery 2026 may be a 3 volt lithium battery, such as a CR 123A battery. In addition, the battery 2026 may be configured to be recharged without removal from the device 10. For example, when the primary power source 2002 is coupled to the device 10, the primary power source 2002 may be used to charge the battery 2026.

  Referring to FIG. 132, an exemplary embodiment of power management circuit 2006 is shown. In particular, power management circuit 2006 may be configured to monitor electrical parameters associated with operation of primary power source 2002 and / or secondary power source 2004. For example, power management circuit 2006 may be configured to monitor the power level of primary power source 2002 and / or secondary power source 2004. As shown in FIG. 132, the power management circuit 2006 may comprise a charge meter 2028 that may be configured to measure the charge of the entire primary power source 2002 and / or the secondary power source 2004. The power management circuit 2006 may comprise non-volatile memory 2030, such as flash or ROM memory, and one or more processors 2032 for example. Processor 2032 may be connected to memory 2030 and controlled. In addition, the processor 2032 may be connected to the charge meter 2028 to read or otherwise control the readings of the charge meter 2028. Additionally, processor 2032 may control an output device of power management circuit 2006, such as, for example, an LED.

  The reader will understand that the charge meter 2024 and / or 2028 can be configured to measure voltage, charge, resistance and / or current. In particular examples, charge meters 2024 and / or 2028 may include battery capacity measurement circuitry that may be configured to measure the state of the voltage at a given load.

  In addition to the above, processor 2032 can store information regarding primary power supply 2002 and / or secondary power supply 2004 in memory 2030. The information may include, among other things, the total charge available, the number of uses, and / or the performance. In addition, the information stored in memory 2030 may include an ID value of primary power source 2002 that can be read and stored by power management circuit 2006. Such an ID may be, for example, an RFID read by the power management circuit 2006 via the RFID transponder 2034. The RFID transponder 2034 can read the RFID from a power supply that includes the RFID tag. For example, the read ID as compared to the list of acceptable ID values read and stored in the memory 2030 and stored by the processor 2032 in the memory 2030 or another storage location associated with the power management circuit 2006 It can be determined whether the removable / replaceable primary power source 2002 associated with the value is certified and / or appropriate. In such a situation, if the processor 2032 determines that it does not authenticate the removable / replaceable component associated with the read ID value, the power management circuit 2006 prevents the power from being sent to the appliance 10 (see FIG. It can be configured to prevent use of the device 10, such as by opening (not shown). Various parameters that processor 2032 may evaluate to determine whether a component is certified and / or appropriate, for example, date code, component type / type, manufacturer, regional information, and And / or a prior error code.

  In addition to the above, the power management circuit 2006 may, for example, be stored in the memory 2030 for evaluation and analysis by the hospital system in which the instrument 10 is involved, the doctor's office, the vendor of the instrument, the manufacturer of the instrument, etc. An i / o interface 2036 may be provided for communicating with another device, such as a computer, so that the stored data can be downloaded to another device. The i / o interface 2036 may be, for example, a wired or wireless interface.

  Referring to the block diagram shown in FIG. 133, power management circuit 2006 can selectively transmit power from primary power source 2002 and secondary power source 2004 to surgical instrument 10. For example, the processor 2032 may use the primary power source 2002 to power the instrument 10 from the primary power source 2002 when the primary power source 2002 is available, and may be secondary power when the primary power source 2002 can not be used to power the instrument 10. From 2004, it may be programmed to enable power to the instrument 10.

  During normal operation of the device 10, the processor 2032 may enable power to the device 10 by the primary power source 2002 upon detection and authentication of the primary power source 2002 as described above. The primary power source 2002 may continue to power the appliance 10 until, for example, the primary power source 2002 reaches or falls below a predefined minimum charge level, such as when the primary power source 2002 is disconnected and / or depleted. The power management circuit 2006 can be used to determine when the primary power source 2002 has reached or fell below a predetermined minimum charge level. For example, the processor 2032 monitors the charge level of the primary power source 2002 and detects when it has reached or fell below a predetermined minimum level that can be stored in the memory 2030 of the power management circuit 2006 A charge meter 2028 or another similar charge meter may be configured to be used. At such point, processor 2032 can alert the user to replace primary power source 2002. The power management circuit 2006 may comprise an indicator, such as, for example, one or more LEDs, an LCD display, etc., activated to alert the user of the appliance 10 to replace the primary power source 2002. Further, the processor 2032 switches the power supply of the appliance 10 from the primary power source 2002 to the secondary power source 2004 when it detects that the charge level of the primary power source 2002 has reached or falls below the predetermined minimum level. It may be configured. The reader will appreciate that additional indicators can be used to provide additional feedback to the user. For example, the indicator can be used to alert the user that the instrument 10 has switched from the primary power source 2002 to the secondary power source 2004 and vice versa.

  In addition to the above, processor 2032 may be programmed to enable secondary power source 2004 to be rechargeable by primary power source 2002 when primary power source 2002 is connected to surgical instrument 10. In a particular example, when the secondary power supply 2004 is fully charged by the primary power supply 2002 to a predetermined maximum power level, it remains unused as long as the primary power supply 2002 remains available to power the appliance 10. You may In addition, the power management circuit 2006 can be used to determine when the secondary power supply 2004 is fully charged. For example, the processor 2032 may charge the meter 2028 until it reaches a predetermined maximum level (the point at which the processor 2032 stops charging the primary power supply 2002 to the secondary power supply 2004) that the charge level may be stored in the memory 2030 of the power management circuit 2006. To monitor the charge level of the secondary power source 2004. Power management circuit 2006 may comprise an indicator, such as one or more LEDs, an LCD display, etc. that may be activated to alert the user of appliance 10 when secondary power supply 2004 is fully charged.

  Referring again to FIG. 129, the primary power source 2002 can be housed within the chamber 2038 of the handle portion 14 of the instrument 10. To replace the primary power supply 2002, the shell of the handle portion 14 may be removed to expose the chamber 2038. In a particular example, trying to associate a trigger or switch with the shell of the handle 14 and try to remove the shell of the handle 14 triggers the processor 2032 to switch from the primary power source 2002 to the secondary power source 2004 It may be understood as the following event.

  When the primary power source 2002 of the surgical instrument 10 is replaced with a new primary power source 2002, the power management circuit 2006 confirms the certification of the new primary power source 2002 as described above, and when the certification is confirmed, the power management circuit 2006 Power transmission to the instrument 10 by the new primary power source 2002 may be enabled. In addition, the primary power source 2002 can also charge the secondary power source 2004 as described above.

  A surgical end effector such as loading unit 20 (FIGS. 2 and 3) can be operably coupled to, for example, the elongate shaft assembly 16 of the powered surgical instrument 10 (FIG. 1). For example, with reference now to FIGS. 38-58, a surgical end effector such as, for example, a disposable loading unit (DLU) 5502 may be removably attached to a surgical instrument such as, for example, the powered surgical instrument 10 (FIG. 1) It can be attached. In various embodiments, the surgical instrument may comprise a shaft 5520 that can engage, for example, DLU 5502. In various embodiments, a collar, such as a rotatable collar 5580, can releasably lock the DLU 5502, for example, to the shaft 5520. Further, in various embodiments, rotation of the collar 5580 can facilitate attachment and / or alignment of the firing assembly and / or articulation assembly described herein.

  In various embodiments, DLU 5502 may comprise a distal attachment 5504 and shaft 5520 may comprise an outer tube 5554 and a proximal attachment 5522. The distal attachment 5504 of the DLU 5502 can accommodate the proximal attachment 5522 of the shaft 5520 when the DLU 5502 is secured to the shaft 5520 (FIG. 39). Further, the rotatable collar 5580 may be positioned around the proximal attachment 5522 of the shaft 5520 so that the distal attachment 5504 of the DLU 5502 may also be located within the rotatable collar 5580. A rotatable collar 5580 may be secured to the shaft 5502 and / or the proximal attachment 5504 and, in particular embodiments, may be rotatably secured to the proximal attachment 5504 of the shaft 5502, for example. In certain embodiments, when the DLU 5502 is secured to the shaft 5520, the proximal attachment of the shaft 5520 can accommodate the distal attachment of the DLU 5502. Further, in certain embodiments, collar 5580 may be rotatably secured to DLU 5502.

  With further reference to FIGS. 38-58, DLU 5502 is oriented along the longitudinal axis defined by shaft 5520 as DLU 5502 moves between the unattached and attached positions relative to shaft 5520 of the surgical instrument. Can move in parallel. The distal attachment 5504 of the DLU 5502 can be inserted into the proximal attachment 5522 of the shaft 5520 as the DLU 5502 moves from the unattached position to the attached position. As DLU 5502 moves between the unattached and attached positions, for example, DLU 5502 may be translated in direction A (FIG. 39). In certain embodiments, groove-slot engagement between the distal attachment 5504 and the proximal attachment 5522 can direct the DLU 5502 along the longitudinal axis defined by the shaft 5520. Referring primarily to FIG. 42, the distal attachment 5504 can comprise a guide rail 5514. In addition, referring primarily to FIG. 44, the proximal attachment 5522 can comprise a guide slot 5534. Guide slot 5534 may be sized and configured to receive and guide guide rail 5514 when proximal attachment 5504 of DLU 5502 is inserted into distal attachment 5522 of shaft 5520. For example, guide slot 5534 may comprise a longitudinal slot, and guide rail 5514 may comprise, for example, a longitudinal ridge. In certain embodiments, guide slots 5534 and guide rails 5514 can prevent DLU 5502 from twisting and / or rotating relative to the longitudinal axis defined by shaft 5520.

  Referring primarily to FIG. 38, the distal attachment 5504 may include a first alignment indicia 5510, eg, a first arrow, and the shaft 5520 and / or the collar 5580, eg, a second, eg, a second arrow. Alignment indicia 5590 may be included. Aligning the first and second alignment indicia 5510, 5590 may align the guide rail 5514 with the guide slot 5534 and facilitate attachment of the distal attachment 5504 to the proximal attachment 5522. As described herein, translating DLU 5502 along a longitudinal path towards shaft 5520 can releasably lock DLU 5502 relative to shaft 5520. In such an embodiment, rotation of DLU 5502 relative to shaft 5520 may not be necessary to attach DLU 5502 relative to shaft 5520. In fact, due to the groove-slot engagement between the proximal attachment 5522 and the distal attachment 5504 as described herein, rotation of the DLU 5502 relative to the shaft 5520 may be arrested and / or impeded. . In various embodiments, collar 5580 may be rotated relative to DLU 5502 and / or shaft 5520 to releasably lock DLU 5502 to shaft 5520. For example, as described herein, rotating the collar 5580 from the initial direction (FIG. 53) to a second direction (FIG. 54) and then back to the initial direction (FIG. 57), The DLU 5502 may be locked to the shaft 5520.

  Referring primarily to FIGS. 42 and 43, the proximal portion 5504 of the DLU 5502 can be provided with a rotary key or rib 5506. When DLU 5502 is moved in the direction A (FIG. 39) between the unattached position (FIG. 38) and the attached position (FIG. 39), rotary key 5506 can affect the rotation of collar 5580. For example, rotary key 5506 can rotate and / or bias collar 5580 from the initial direction to the second direction, in direction B (FIG. 39). The distal attachment 5504 can be inserted into the proximal attachment 5522 when the collar 5580 is biased in a second direction. Furthermore, when the distal attachment 5504 is fully inserted into the proximal attachment 5522, the rotary key 5506 causes the collar 5580 to rotate in the direction C (FIG. 39) from the second direction to the initial direction. Can. For example, direction C may be the opposite direction of direction B. As described herein, the collar 5580 can lock the distal attachment 5504 relative to the proximal attachment 5522 as the collar 5580 returns to the initial direction. With further reference to FIGS. 42 and 43, the rotary key 5506 can be provided with a rotary ramp 5508 at its proximal end. The rotating ramp 5508 can engage elements of the shaft 5520, for example, rotating the rotating collar 5580.

  In various embodiments, the rotating ramp 5508 can affect the rotation of the firing shaft 5540 located within the shaft 5520. For example, referring primarily to FIGS. 47-50, the firing shaft 5540 can include a firing shaft rotor 5544 that can extend radially outward from the firing shaft 5540. When the DLU 5502 is inserted into the shaft 5520, the rotary ramp 5508 of the rotary key 5506 can engage the firing shaft rotor 5544. In various embodiments, the rotating ramp 5508 can rotate the firing shaft rotor 5544 thereby rotating the firing shaft 5540. For example, firing shaft 5540 and firing shaft rotor 5544 can rotate in direction B (FIG. 54) between a first orientation (FIG. 53) and a second orientation (FIG. 54). Still referring to FIGS. 47-50, the firing shaft 5540 can be engaged with the rotatable collar 5580. For example, the rotatable collar 5580 can include a rotor groove 5584, which can be structured and dimensioned to accommodate and / or hold the firing shaft rotor 5544. The firing shaft rotor 5544 can be held by the rotor groove 5584 such that rotation of the firing shaft rotor 5544 causes the rotatable collar 5580 to rotate. In such an embodiment, inserting DLU 5502 into shaft 5520 may affect rotation of rotatable collar 5580 in direction B (FIG. 54) by rotating firing shaft rotor 5544, for example, in direction B.

  Referring primarily to FIGS. 44 and 45, the proximal attachment 5522 can include a rotational key slot 5524 that can be rotated about the rotational key 5506 when the distal attachment 5504 is inserted into the proximal attachment 5522. Can accommodate In various embodiments, the rotary key slot 5524 may include a gap notch 5526 for receiving the firing shaft rotor 5544. For example, a rotary ramp 5508 at the proximal end of the rotary key 5506 can rotate the firing shaft rotor 5544 in a second orientation into the clearance notch 5526 (FIG. 54). As DLU 5502 is inserted into shaft 5520, rotary key 5506 can continue to move along rotary key slot 5524. Furthermore, as the distal end 5509 of the rotary key 5506 moves past the firing shaft rotor 5544, the firing shaft rotor 5544 can reverse rotate towards the first orientation (FIG. 58), thereby , The rotatable collar 5580 can be counter rotated in response to its initial direction.

  In various embodiments, the rotatable collar 5580 may be biased in an initial direction relative to the shaft 5520 and / or the proximal attachment 5522. For example, spring 5592 can bias lock collar 5580 in an initial direction. The spring 5592 may comprise a proximal end 5594 that can be secured to the shaft 5520 and a distal end 5596 that can be secured to the collar 5580. For example, the proximal end 5594 of the spring 5592 can be retained within the proximal spring slot 5538 (FIG. 51) of the shaft 5520, for example, the distal end 5596 of the spring 5592 can be (Figure 46). In such embodiments, rotation of the collar 5580 may offset the distal end 5596 of the spring 5592 relative to the proximal end 5594 of the spring 5592 and may create a torsional force. Thus, the collar 5580 can resist rotation from the initial direction to the second direction, and when the collar rotates in the second direction, the spring 5592 can bias the collar 5580 back in the initial direction. Because the firing shaft rotor 5544 is engaged with the collar 5580, the spring 5592 can also bias the firing shaft 5540 in its first orientation.

  In various embodiments, the rotatable collar 5580 may include a locking detent 5582 to removably lock the DLU 5502 to the shaft 5520. Referring primarily to FIG. 46, the locking detents 5582 can extend radially inward from the inner perimeter of the rotatable collar 5580. In various embodiments, the locking detent 5582 can extend into the detent slot 5536 (FIG. 44) of the proximal mount 5522. Referring primarily to FIG. 44, the detent slot 5536 may form a notch in the guide slot 5534. In various embodiments, the detent slot 5536 can extend from the guide slot 5534 and can be, for example, perpendicular or substantially perpendicular to the guide slot 5534. Further, as the rotatable collar 5580 rotates relative to the shaft 5520 between the initial and second directions, the locking detent 5582 can move along the detent slot 5536.

  In various embodiments, the locking detent 5582 can engage the distal attachment 5504 of the DLU 5502 and lock the DLU 5502 relative to the shaft 5520. For example, referring again to FIG. 42, the distal attachment 5504 may comprise a guide rail 5514, which may have a locking notch 5516 defined therein. Locking notch 5516 may be structured and dimensioned to receive locking detent 5582 of rotatable collar 5580 when DLU 5502 is fully inserted into proximal mount 5522. For example, when the distal attachment 5504 is fully inserted into the proximal attachment 5522, the locking notch 5516 of the distal attachment 5504 may be aligned with the detent slot 5536 of the proximal attachment 5522. Thus, the locking detent 5582 can slide along the detent slot 5536 of the proximal attachment 5522 and into the locking notch 5516 of the distal attachment. Additionally, the locking detent 5582 may be biased by the torsion spring 5592 into engagement with the locking notch 5516. For example, after the firing shaft rotor 5544 has passed the distal end 5509 of the rotary key 5506, the firing shaft 5540 can be re-biased towards a first orientation, and the rotatable collar 5580 is initially loaded by the torsion spring 5592 It can be biased again in the direction. Further, as the collar 5580 is rotated back from the second direction to the initial direction, its locking detents 5582 may be engaged in alignment with the locking notches 5516 in the guide rails 5514.

  In various embodiments, rotation of the collar 5580 can facilitate attachment and / or alignment of the launch assembly. For example, the firing shaft 5540 can extend between the proximal end 5546 and the distal end 5542. The proximal end 5546 may have a rotary joint, which allows the firing shaft 5540 to rotate between the first and second configurations. Additionally, the distal end 5542 may have a connector for attaching the cutting element of the DLU 5502. Rotation of the firing shaft 5540 can facilitate attachment of the cutting element. For example, as the coupler at the distal end 5542 of the firing shaft 5540 rotates, the coupler can engage and couple the cutting elements in the DLU 5502. In certain embodiments, the coupler may comprise a bayonet mount, which may engage a corresponding bayonet receptacle of the cutting element in the DLU 5502. Referring primarily to FIGS. 40 and 41, the firing assembly may further comprise a sleeve 5550 positioned around the firing shaft 5540, eg, between the proximal end 5546 and the distal end 5542.

  In various embodiments, the firing shaft 5540 can rotate to align with the firing shaft slot 5518 in the DLU 5502 as the firing shaft 5540 rotates within the shaft 5520. For example, the firing shaft rotor 5544 may be aligned with the firing shaft slot 5518 when the DLU 5502 is fully inserted and attached to the shaft 5520. However, in various embodiments, when DLU 5502 is only partially inserted into shaft 5520, rotary key 5506 may cause firing shaft rotor 5544 to rotate out of alignment with firing shaft slot 5518. In other words, firing shaft rotor 5544 can be aligned with firing shaft slot 5514 when firing shaft 5540 is in a first orientation, and firing shaft slot when firing shaft 5540 is rotated in a second orientation. It can deviate from 5514. In such embodiments, when the DLU 5502 is only partially inserted into the shaft 5520 and / or before the DLU 5502 is releasably locked to the shaft 5520 by the rotatable collar 5580, the firing shaft rotor The 5544 launch path may be closed by the distal attachment 5504. The integration of the firing shaft 5540 and the collar 5580 may ensure that the DLU 5502 is securely attached to the shaft 5520 before the firing shaft 5540 is fired and / or advanced. For example, the surgical instrument can not fire, for example, until the cutting element in DLU 5502 is coupled to the firing shaft 5540 and / or until the firing shaft 5540 is properly aligned with the shaft 5520.

  In certain embodiments, rotation of the collar 5580 can facilitate attachment and / or alignment of the articulating assembly 5559. Referring primarily to FIGS. 40 and 41, the articulating assembly 5559 can include a proximal articulating bar 5560, a distal articulating bar 5562 and an articulating connector 5566. Further, for example, the shaft 5520 can comprise a proximal articulation flex bar slot 5528 and the DLU 5502 can comprise a distal articulation flex bar slot 5512. In certain embodiments, the proximal joint flexion bar 5560 can be aligned with the proximal joint flexion bar slot 5528 and the distal joint flexion bar 5562 can be aligned with the distal joint flexion bar slot 5512. Referring now to FIG. 46, the articulating connector 5566 can be housed within the rotatable collar 5580. For example, the rotatable collar 5580 can include an articulation flex connector slot 5586, and an articulation flex connector 5566 can be movably disposed therein.

  In various embodiments, referring again to FIGS. 40 and 41, the proximal joint flexing bar 5560 can have a proximal notch 5572 and the distal joint flexing bar 5562 can have a distal notch 5574. Additionally, the articulating connector 5566 can comprise a proximal articulating flexing lug 5568 and a distal articulating flexing lug 5572. The proximal joint flexing lug 5568 may be retained within the proximal notch 5572 of the proximal joint flexing bar 5560. In certain embodiments, the distal joint flexing lug 5570 can operably engage the distal notch 5574 of the distal joint flexing bar 5562. As described herein, the rotatable collar 5580 can rotate between an initial configuration and a secondary configuration. As collar 5580 rotates, articulating connector 5566 contained therein can also rotate relative to the longitudinal axis defined by shaft 5520. In various embodiments, as joint flexion connector 5566 is rotated, proximal joint flexion lug 5568 of joint flexion connector 5566 may remain positioned within proximal notch 5572 of proximal joint flexion bar 5560. Further, as articulation flex connector 5566 rotates with collar 5580 from the second direction towards the initial direction, distal articulation flex 5570 of articulation flex connector 5566 engages distal notch 5574 of distal articulation flex bar 5562 You can move as you want. For example, when the DLU 5502 is fully inserted into the shaft 5508, the distal notch 5574 of the distal joint flexing bar 5562 may be aligned with the distal joint flexing lug 5568 of the articulating connector 5566. In such embodiments, the distal joint flexing lug 5568 slides into the distal notch 5574 of the distal joint flexing bar 5562 as the rotatable collar 5580 is rotated back to the initial configuration. When the distal articulation flexure 5568 is positioned within the distal notch 5574, the articulation assembly 5559 can be fully assembled.

  Referring primarily to FIG. 45, in various embodiments, the proximal articulation flexion slot 5528 can comprise a first gap 5530 and a second gap 5532. The proximal and distal joint flexing lugs 5568, 5570 of the articulating flex connector 5566 can extend into the first and second gaps 5530, 5532, respectively. In certain embodiments, the first and second gaps 5530, 5532 may be proximal and distal joint flexing lugs 5568, for example, when the collar 5580 rotates and / or when the articulating assembly 5559 articulates. , 5570 can provide a moving space.

  Referring now to FIGS. 51-58, to couple the DLU 5502 to the shaft 5520 of the surgical instrument, the user may use the alignment indicia 5510 of the DLU 5502 to align the shaft 5520 and / or the collar 5580. It can be aligned with 5590 (FIG. 51). While maintaining the alignment indicia 5510, 5590, the user can move the DLU 5502 relative to the shaft 5520 along the longitudinal axis defined by the shaft 5520. The user can move the DLU 5502 along a straight or substantially straight path, and in various embodiments, there is no need to rotate the DLU relative to, for example, the shaft 5520. Referring primarily to FIG. 53, the DLU 5502 continues to translate relative to the shaft 5520, and the guide rails 5514 of the distal attachment 5504 are within the guide slots 5534 (FIG. 44) in the proximal attachment 5522 of the shaft 5520. Can be fitted. The guide slot 5534 can guide the guide rail 5514 as the distal attachment portion 5504 moves into the proximal attachment portion 5522, for example, maintaining alignment of the alignment indicia 5510, 5590. In other words, guide slots 5534 and guide rails 5514 can prevent DLU 5502 from rotating relative to the longitudinal axis of shaft 5520. Referring primarily to FIG. 52, for example, the proximal articulation flex 5568 of the articulation flex connector 5522 can extend into the first gap 5530 and can be positioned at the proximal notch 5572 of the proximal articulation flex bar 5562 to effect articulation. The distal joint flexing lug 5570 of the connector 5522 can extend through the second gap 5532.

  Referring mainly to FIG. 54, when the distal attachment 5504 is inserted into the proximal attachment 5522, the rotary key lamp 5508 of the rotary key 5506 may abut the firing shaft rotor 5544. The rotary key ramp 5508 can direct and / or direct the firing shaft rotor 5544 into a gap notch 5526 extending from the rotary key slot 5524. Further, the firing shaft 5540 can rotate in direction B as the firing shaft rotor 5544 moves into the gap notch 5526. The firing shaft 5540 can rotate from a first orientation to a second orientation. This rotation of the firing shaft 5540 can easily attach the distal end 5542 of the firing shaft 5540 to the cutting element in the DLU 5502. Further, rotation of the firing shaft rotor 5544 allows the collar 5580 to rotate in direction B due to the engagement between the firing shaft rotor 5544 and the firing shaft rotor groove 5584 (FIG. 46) in the collar 5580. The collar 5580 can rotate, for example, from an initial direction to a second direction. Additionally, as collar 5580 rotates, locking detent 5582 can move along shaft 5520 along detent slot 5536. In addition, as the distal end 5596 of the spring 5592 can be held in the distal spring slot 5588 (FIG. 46) in the collar 5580, rotation of the collar 5580 can rotate the distal end 5596 of the spring 5592. Moving the distal end 5596 relative to the proximal end 5594 may create a torsional recoil force which may, for example, bias the collar 5580 in an initial direction from the second direction, eg, the firing shaft 5540. Can be biased from the second direction to the first direction.

  Referring primarily to FIG. 55, proximal collar flexion lugs 5568 may remain engaged with proximal notches 5572 in proximal joint flexion bar 5560 when collar 5580 rotates in the second direction. . Additionally, the distal joint flexing lug 5570 can be rotated such that the distal joint flexing lug 5570 provides clearance for the distal joint flexing bar 5562 of the DLU 5502. Referring to FIG. 56, DLU 5502 can be fully inserted into shaft 5520 when collar 5580 and articulating flex connector 5566 positioned therein rotate in the second direction. In various embodiments, the distal flexing bar 5562 can pass through the distal flexing lug 5570 of the flexing connector 5566 when the flexing connector 5566 rotates in a second direction. Additionally, the distal joint flexing lug 5570 can be rotatably aligned with the distal notch 5574 in the joint flexing connector 5566. Still referring to FIG. 56, when the DLU 5502 is fully inserted into the shaft 5520, the firing rod rotor 5544 can pass through the distal end 5509 of the rotary key 5506.

  Referring now to FIG. 57, the firing shaft rotor 5544 can rotate in direction C once the distal end 5509 of the rotary key 5506 passes the firing shaft rotor 5544. For example, launch shaft rotor 5544 can rotate in direction C from a second orientation towards a first orientation. Additionally, rotation of the firing shaft rotor 5544 can affect rotation of the collar 5580 in direction C from the second direction towards the initial direction. In various embodiments, the spring 5592 can bias the firing rod 5540 in its first orientation and bias the collar 5580 in its initial orientation. For example, the firing shaft rotor 5544 can be disposed in the firing shaft rotor groove 5584 (FIG. 46) in the collar 5580 such that rotation of the firing shaft rotor 5544 causes the collar 5580 to rotate. Because the distal joint flexing lug 5570 of the joint flexing connector 5566 and the distal notch 5574 of the distal joint flexing bar 5562 are aligned, the joint flexing connector 5566 can rotate when the collar 5580 rotates, and the distal joint flexing lug 5570 is It can be rotated into engagement with the distal notch 5574. Once the distal articulation tab 5570 engages the distal notch 5574, the articulation assembly 5559 can be assembled. Further, as the firing shaft rotor 5544 rotates in direction C, the distal end 5542 of the firing shaft 5540 can rotate in direction C, thereby attaching the cutting element in the DLU 5502 to the distal end 5542 of the firing shaft 5540 You can easily.

  Referring now to FIG. 58, rotation of the collar 5580 can also rotate the locking detent 5582 of the collar 5580, which is within the locking notch 5516 in the guide rail 5514 of the distal attachment 5504. For example, the locking notch 5516 aligns with the detent slot 5536 so that when the DLU 5502 is fully inserted into the shaft 5520, the locking detent 5582 can rotate past the detent slot 5536 and into the locking notch 5516. May be As described herein, after the firing shaft rotor 5544 passes the distal end 5509 of the rotary key 5506, the spring 5592 biases the collar 5580 to rotate in direction C (FIG. 57). obtain. Still referring to FIG. 58, as the firing shaft rotor 5544 rotates in direction C, the firing shaft rotor 5544 can rotate to align with the firing shaft slot 5518 in the DLU 5502. Once the firing shaft rotor 5544 is aligned with the firing shaft slot 5518, for example, the firing shaft 5540 can be advanced distally to fire the DLU 5502.

  As described herein, the rotatable collar 5580 can removably lock the DLU 5502 to the shaft 5520. In addition, rotation of the collar 5580 can facilitate attachment and / or alignment of the articulation assembly 5559 and attachment and / or alignment of the firing shaft 5540 with, for example, a cutting element in the DLU 5502. Additionally, rotation of the collar can also unlock the DLU 5502 from the shaft, detach the articulation assembly 5559, and / or detach the firing shaft 5540 from the cutting element in the DLU 5502. For example, locking detent 5582 can disengage locking notch 5516 in distal attachment portion 5504 when collar 5580 is rotated again from an initial direction towards a second direction. Thus, the distal attachment 5504 can be withdrawn from the proximal attachment 5522, for example, along the longitudinal axis defined by the shaft 5520. In various embodiments, DLU 5502 can be removed from shaft 5520 without rotating DLU 5502 relative to shaft 5520. However, the collar 5580 can be rotated relative to the shaft 5520, thereby, for example, disengaging the distal articulation bar 5562 from the articulation connector 5566 in the collar 5580 and decoupling the firing shaft 5540 from the cutting element in the DLU 5502. it can.

  Referring now to FIGS. 59-62, a disposable loading unit (DLU) or end effector 5602 can be removably attached to the shaft 5620 of a surgical instrument. In various embodiments, for example, the spring or springs can bias the DLU 5602 in a locked position relative to the shaft 5620. For example, the DLU 5602 can be removably attached to the shaft 5620 by a bayonet mount, and the spring can rotate the DLU 5602 and couple the DLU 5602 to the shaft 5620 at the bayonet connection. For example, DLU 5602 may comprise a distal attachment 5604 and shaft 5620 may comprise a proximal attachment 5622. The distal attachment 5604 of the DLU 5602 can accommodate the proximal attachment 5622 of the shaft 5620 when the DLU 5602 is secured to the shaft 5620. In another embodiment, when the DLU 5602 is secured to the shaft 5620, the proximal attachment of the shaft 5620 can accommodate the distal attachment of the DLU 5602.

  In various embodiments, the distal attachment 5604 of the DLU 5602 may include a detent 5606, which may extend radially outward from a portion of the distal attachment 5604. Additionally, the detent 5606 may comprise a beveled surface 5608. As described herein, the angled surface 5608 of the detent 5606 can engage a spring such as a spring 5636b, eg, when the distal attachment 5604 is inserted into the proximal attachment 5622 It can be deformed 5636b. Additionally, the detent 5606 can be retained by the proximal attachment 5622 to releasably lock the DLU 5602 to the shaft 5622. Referring primarily to FIG. 59, the proximal attachment 5622 of the shaft 5620 can define a cavity 5624. In various embodiments, the cavity 5624 may be structured and dimensioned to receive the distal attachment 5604 of the DLU 5602. Additionally, springs 5636a, 5636b can be disposed within the cavity 5624. For example, a first spring 5636a can be disposed on a first side of the cavity 5624 and a second spring 5636b can be disposed on a second side of the cavity 5624. The springs 5636a, 5636b may be symmetrical or asymmetrical relative to the cavity 5624. In various embodiments, at least a portion of the springs 5636a, 5636b can extend into the cavity 5624. For example, the legs 5637 of the second spring 5636b can extend into the cavity 5624, for example, another leg 5637 of the second spring 5636 can be retained within the proximal mount 5622.

  Still referring to FIG. 59, the proximal attachment portion 5622 may also include a lock slot 5638, which may, for example, be defined within the cavity 5624 and / or accessible via the cavity 5624. The lock slot 5638 may, for example, be structured and dimensioned to receive the detent 5606. In various embodiments, lock slot 5638 can hold detent 5606 and releasably lock DLU 5602 relative to shaft 5620. Further, in various embodiments, the proximal attachment 5622 may comprise a latch 5630. The latch 5630 may be movable between unlatched positions (FIGS. 59 and 60) and latched positions (FIGS. 61 and 62). In various embodiments, the latch 5630 can be spring loaded and the spring 5634 can bias the latch 5630 into the latched position. For example, the latch 5630 may comprise a latch spring 5634, which can bias the latch 5630 towards and / or into the latched position. The latched position may, for example, be distal to the unlatched position. In certain embodiments, the latch 5630 may include a thumb grip and / or a ridge 5632 to facilitate movement of the latch 5630 from the latched position to the unlatched position. For example, a user can hook thumb grip 5632 and pull latch 5630 proximally to unlatch latch 5630.

  In various embodiments, the latch 5630 can operably close or at least partially close the locking slot 5638. For example, when the latch 5630 is in the latched position (FIGS. 61 and 62), the arm 5635 of the latch 5630 can extend beyond at least a portion of the locking slot 5638. The latch 5630 can cover or partially cover the lock slot 5638 and can prevent and / or limit the reach of the lock slot 5638. In certain embodiments, the arms 5635 of the latch 5630 can prevent the detent 5606 from moving and / or sliding into the locking slot 5638. Moreover, when the latch 5630 is in the latched position, the latch 5630 can engage the springs 5636a, 5636b. For example, referring to FIGS. 61 and 62, the latch 5630 can support the spring 5636b such that deformation of the spring 5636b is limited and / or prevented. Additionally, the latch 5630 can support the spring 5636b such that the cavity 5624 can not accommodate the distal attachment 5604 of the DLU 5602. For example, at least a portion of the spring 5636b can close the cavity 5624, thereby preventing the distal attachment 5604 from being fully inserted into the proximal attachment 5622. In certain embodiments, the proximal attachment portion 5622 may comprise a plurality of springs, which exert a rotational force on the distal attachment portion 5604 and can rotate the distal attachment portion 5604 relative to the proximal attachment portion 5622 . For example, the proximal attachment 5622 may comprise a pair of springs or four or more springs. In another embodiment, one spring in the proximal attachment 5622 may attempt to rotate the distal attachment 5604 relative to the proximal attachment 5622. Additionally or alternatively, in various embodiments, the distal attachment 5602 of the DLU 5602 may comprise at least one spring, which may, for example, distal attachment 5602 to proximal attachment 5622. Can rotate.

  In various embodiments, the lock slot 5638 may be closed off and / or slightly closed by the arm 5635 of the latch 5630 when the latch 5630 is in the unlatched position (FIGS. 59 and 60). For example, the detent 5606 can be snapped into the lock slot 5638 beyond the unlatched latch 5630. Additionally, as described herein, the detent 5606 can be biased into the lock slot 5638 beyond the unlatched latch 5630. Moreover, in various embodiments, the latch 5630 can disengage the springs 5636a, 5636b when the latch 5630 is in the unlatched position. For example, if the latch 5630 is unlatched, the latch 5630 can not prevent and / or limit the deformation of the springs 5636a, 5636b.

  Referring primarily to FIG. 59, for example, spring 5636 b may not be supported by latch 5630 when latch 5630 is moved and held in the proximal and / or unlatched position. In such an embodiment, DLU 5602 can be moved in direction A to move distal attachment 5604 relative to proximal attachment 5622. Referring primarily to FIG. 60, the detent 5606 of the distal attachment 5604 can engage the spring 5636b, for example, can compress and / or deform the spring 5636b. In certain embodiments, the ramped surface 5608 of the detent 5606 can slide along the spring 5636b and move the free leg 5637 of the spring 5636b. The deformation of the spring 5636b can create a bouncing force that the spring 5636b can exert on the detent 5606. Referring now to FIG. 61, the bouncing force can affect the rotation of the detent 5606. For example, detent 5606 can rotate in direction B into locking slot 5638 defined in cavity 5624. In various embodiments, when the user releases the latch 5630, the latch spring 5634 can return the latch 5630 to the unlatched position. Furthermore, when the latch 5630 returns to the unlatched position, the arms 5635 of the latch 5630 can close or partially close the locking slot 5638. In such embodiments, the detent 5606 of the distal attachment 5604 can be releasably locked relative to the proximal attachment 5622 when the detent 5606 is retained within the lock slot 5638. Further, in certain embodiments, the latch 5630 can hold and / or support the spring 5636b relative to the detent 5606 until the latch is again moved to the unlatched position. In various embodiments, to release DLU 5602 from shaft 5620, the user can again move latch 5630 from the latched position to the unlatched position to rotate detent 5606 and exit lock slot 5638. In such an embodiment, rotation of the detent 5606 recompresses and / or deforms the spring 5636b until the distal attachment 5604 is withdrawn from the proximal attachment 5622.

  In addition to the above, the surgical instrument may be configured to identify, or at least attempt to identify, an end effector that has been assembled to the surgical instrument. In certain embodiments, as described in further detail below, the end effector comprises electrical contacts that can engage corresponding electrical contacts on the shaft of the surgical instrument when the end effector is assembled to the shaft You may In such embodiments, the controller of the surgical instrument can establish a wired connection with the end effector and can make signal communication between the controller and the end effector through electrical contacts. As detailed below, the end effector may include at least one data stored therein, which may be accessed by the controller to identify the end effector. The at least one data may include, for example, one bit, more than one bit, one byte, or more than one byte of information. In certain alternative embodiments, the end effector may comprise a transmitter capable of wireless signal communication with a controller of the surgical instrument. As above, the end effector may include at least one data stored thereon, which may be sent to the controller to identify the end effector. In such embodiments, the controller of the surgical instrument may comprise or may utilize a receiver capable of receiving transmissions from the end effector. Such receivers may be located, for example, in the shaft and / or handle of the surgical instrument.

  As will be appreciated by the reader, the end effector in wireless communication with the controller may, for example, be configured to emit a wireless signal. In various situations, the end effector may be configured to emit this signal once or more than once. In certain situations, the end effector may be instructed to emit a signal at a desired point in time and / or to emit a signal continuously and continuously. In some situations, the end effector may comprise a switch that can be manipulated by the user of the surgical instrument before, during and / or after the end effector of the surgical instrument is assembled to the surgical instrument. In various embodiments, the switch of the end effector may include an on / off or power switch that can close or manipulate the end effector. In at least one such embodiment, the end effector may comprise at least one power source, eg, a battery, which can be used by the transmitter to emit a signal when turning on / off switch . Upon actuation of the end effector, in various situations, the controller of the end effector may be configured to generate a signal and emit that signal via the transmitter. In some situations, the end effector can not emit a signal until the end effector is actuated. Such a configuration can save battery power, for example. In certain embodiments, the surgical instrument may be in an operating mode, which may wait for signals from the end effector before the end effector switch is actuated. In various situations, the surgical instrument may be in a standby or low power operating mode, where the controller may place the surgical instrument in a full power operating mode when a signal is received by the controller. In some embodiments, the switch of the end effector can direct the controller of the end effector to emit a signal to the controller of the surgical instrument. Such a switch may or may not include a power switch, but such a switch may instruct the end effector to emit a signal at a desired point in time and / or continuously from a desired point in time. Can be selectively operated by

  Turning now to FIG. 114, an end effector such as end effector 9560 may comprise one or more electrical contacts such as, for example, contacts 9561, which may be utilized for actuation of end effector 9560, for example. For example, referring now to FIG. 112, the shaft 9040 of the surgical instrument is configured to short or electrically connect two or more contacts 9561 when the end effector 9560 is assembled to the shaft 9040. A contact bridge 9562 may be provided. The bridge 9562 can close a circuit comprising two contacts 9561, a battery 9564 and at least one integrated circuit 9566 formed on the printed circuit board 9565. In addition to the above, when the circuit is closed, the battery 9564 can provide power to the integrated circuit or circuit 9566 and can activate the end effector 9560. In various situations, the integrated circuit formed on printed circuit board 9565, ie, circuit 9566 and antenna 9567, can include the controller and transmitter described above. In certain embodiments, the shaft 9040 may include a biasing member, such as, for example, a spring 9563, which can be configured to bias the bridge 9562 into contact with the electrical contact 9561. Prior to connecting the bridge 9562 to the electrical contacts 9561 and / or after the end effector 9560 has been removed from the shaft 9040, the circuit can be opened and power from the battery 9564 can not be supplied to the integrated circuit 9566 and / or The power supplied to integrated circuit 9566 can be reduced, and the end effector 9560 can be deactivated. As a result of the above, in such an embodiment, the assembly of the end effector can be actuated as a result of assembling the end effector to a surgical instrument. In various cases, in addition to the above, the end effector and the surgical instrument can be configured and arranged such that the end effector is actuated only when the end effector is fully and correctly assembled to the surgical instrument.

  As noted above, referring now to FIG. 111, the end effector is attached to a surgical instrument (shown at step 9600), activated (shown at step 9602) and then evaluated by the surgical instrument (at step 9604) Can be shown). In addition to the above, when the surgical instrument attempts to evaluate the wireless signal from the actuated end effector, the surgical instrument can be configured to assess whether the signal is complete. In various embodiments, asynchronous serial communication between the end effector and the surgical instrument can be used to assess whether the signal received by the surgical instrument is complete. For example, the end effector may emit a signal including a start bit preceding a data frame, e.g. a byte of information, for example and / or a stop bit following the data frame. In such a case, the start bit, the data of that byte, and the stop bit may include, for example, a 10-bit character box, or bit pattern. When the controller of the surgical instrument can identify the start bit and the stop bit of the bit pattern, in such a case, the controller receives the data of the byte received between the start bit and the stop bit, that is, the data of the bit It can be assumed that it is correct and / or otherwise complete. In various situations, the start bit and / or the stop bit may include a stop period before the next byte of information is sent and / or before the previous byte of information is communicated again.

  In addition to the above, referring now to FIG. 110, the controller of the surgical instrument compares bit patterns, that is, data of particular bits, whether the received data is correct and / or otherwise complete. It can be determined. In various situations, the data can be sent in a manner that the controller evaluates the data and compares that data to the bit pattern template that the data was intended to receive, ie, the template. For example, such a template may be configured and arranged such that the most significant bit data, such as the leftmost bit data, contains, for example, ones. If the controller can identify that the most significant bit of data is equal to 1 (see step 9700 of FIG. 110), then, as shown in step 9702, the controller performs an XOR operation on the data, and the controller It can be compared to the available bit pattern templates, ie templates. The XOR operation is known and its details are not provided herein for the sake of brevity. If the bit pattern received by the surgical instrument matches the bit pattern template available to the controller, the controller identifies the end effector. Once the end effector is identified, the controller can, for example, access stored information about the end effector in a memory chip accessible to the controller. If the controller determines that the data of the most significant bit in the received bit pattern is not equal to 1, referring back to step 9700, the controller can perform a bit shift operation. Many bit shift operations, such as arithmetic shifts, logical shifts, and / or cyclic shifts, are known, and can be used to filter out bad data bits received prior to the desired bit pattern. Referring now to step 9704 of FIG. 110, in various situations, the leading or leftmost zero data bit can be excluded, eg, the bit pattern can be shifted to the left until the leading bit is equal to one. At such time, in addition to the above, the shifted bit pattern can be compared to the bit pattern template to identify the end effector. If the shifted bit pattern does not match the bit pattern template, the controller can shift the bit pattern again until the next 1 in the bit pattern is the first bit, and compare the newly shifted bit pattern with the bit pattern template it can. Such shifting and comparing operations may be performed any suitable number of times until the end effector is identified and / or the surgical instrument considers that the end effector is not identified.

  As will be appreciated by the reader, the surgical instrument may include information regarding any suitable number of end effectors. In addition to the above, once the end effector is identified by the surgical instrument, the surgical instrument can access stored information about the end effector. For example, such stored information may, for example, (1) the distance the firing member in the end effector has to be advanced to complete the firing stroke and / or (2) the motor of the surgical instrument The surgical instrument can be instructed as to the maximum amount of power, or torque, that needs to be applied. Such information or sets of information may be specific to each end effector, so identifying the end effector in some way is that the surgical instrument can be manipulated in the desired manner. Without such information, the surgical instrument can not identify the length of travel required to fully utilize the end effector and / or appropriately limit the power applied to the launch member. In various situations, the surgical instrument may rely on a sensor configured to detect when the firing stroke is complete and / or whether the power being applied to the firing member is excessive. Such sensors can prevent the motor of the surgical instrument, for example, from overpowering and damaging the firing members of the end effector.

  In addition to the above, certain end effectors may be more robust than other end effectors, and as a result, certain end effectors can withstand greater forces from the motor of the surgical instrument. Correspondingly, other end effectors have low toughness and as a result can only withstand smaller forces from the motor. In addition to the above, the surgical instrument must identify the end effector attached to the surgical instrument in order to determine the appropriate force that the surgical instrument exerts on any particular end effector. If the end effector can not identify the end effector, the surgical instrument can use a predefined operating program or mode of operation. In the default mode of operation, the controller of the surgical instrument can limit the power that the motor can apply to the launcher of the end effector to, for example, a minimum or predetermined power. The minimum power can be chosen so that the motor does not damage the end effector, regardless of the end effector being used. In some situations, regardless of the end effector being used, the weakest, or most robust, that can be used with the surgical instrument by default operating modes, so that the surgical instrument does not overpower the end effector Can use parameters used by end effectors. In various cases, motorized surgical instruments have emerged that can cause the end effector to be overpowered. Stated differently, end effectors used so far by hand-operated surgical instruments that can not be essentially broken with such hand-operated surgical instruments can be easily destroyed by motorized surgical instruments. Moreover, such conventional end effectors can not be equipped with the technology identified by motorized surgical instruments, and as a result of the predefined operating program described herein, such conventional end effectors Can still be used with motorized surgical instruments. However, the default operating program can use other default parameters. For example, the default operating program can utilize the shortest or default launch stroke length. In various cases, predefined operating programs can utilize the shortest stroke length of the end effector that can be used with the surgical instrument. In such cases, the firing member does not collide with the distal end of the end effector, regardless of the end effector being used.

  As will be appreciated by the reader, with surgical instruments that contain information stored about the end effector that can be used with the surgical instrument, it may be necessary to update the information available to the surgical instrument. For example, if the preferred operating parameters for a particular end effector change over time, it may be necessary to update the information stored within each surgical instrument. In addition, as new end effectors are developed for use with, for example, surgical instruments, it may be necessary to update the surgical instruments. As long as the surgical instrument is not updated in time, the surgical instrument can not identify the end effector and, as a result, it can use the default operating program described herein. In various embodiments, the surgical instrument may not include an end effector that can be used with the surgical instrument, or at least stored information regarding the particular end effector. In such embodiments, the end effector may include stored information, or parameters, regarding the end effector. Such parameters may be accessed by the surgical instrument and / or transmitted to the surgical instrument. In various situations, in addition to the above, assembly of the end effector to a surgical instrument can cause the end effector to emit a signal that can be received by the surgical instrument. Again, as above, the end effector may be instructed to emit a signal. This signal may be transmitted to the surgical instrument by a wired and / or wireless connection in various situations. In certain embodiments, the surgical instrument can instruct the end effector to transmit a signal.

  In addition to the above, the end effector may include one or more parameters related to the end effector stored therein. Such parameters may be stored, for example, in one or more storage devices. In various cases, such parameters may include the desired firing rate of the firing member, the desired retraction rate of the firing member, the distance or travel the firing member travels, the maximum torque applied to the firing member by the motor of the surgical instrument, and / or Or, if the end effector is actually, for example, a articulated bending end effector, it may include the maximum angle at which the end effector articulates. Certain joint flexing end effectors are disclosed in US Patent Application No. 13 / 803,097 entitled "ARTICULATABLE SURGICAL INSTRUMENT INSTRUMENT COMPRISING A FIRING DRIVE", which is incorporated herein by reference in its entirety. . The controller can use this parameter to limit the degree of articulation of the articulatable portion of the end effector with respect to the parameter regarding the maximum bending angle. In some cases, as measured from the longitudinal axis of the shaft of the surgical instrument, the maximum bending angle may be, for example, 45 degrees. For parameters relating to the firing rate and / or retraction rate of the firing member, for example, the parameter can convey the desired velocity for the firing member and / or, for example, a percentage or rate of the maximum velocity of the motor. For example, a value of 3 for the firing rate may, for example, indicate that when advancing the firing member, the controller must operate the motor at 30% of its maximum velocity. Also, for example, a value of 5 for retraction speed may signal that the controller must operate the motor at 50% of its maximum speed, for example when retracting the firing member. For parameters relating to the maximum torque of the motor, for example, the parameter may convey the maximum value of the torque and / or, for example, the percentage of the maximum torque of the motor, ie the proportion. In addition, with respect to parameters relating to the stroke length of the launch member, for example, the parameters convey the desired distance that the launch member advances and / or retracts and / or the percentage of the maximum stroke length of the surgical instrument be able to. For example, a value of 60 can indicate, for example, that the launch stroke is 60 mm. In various cases, parameter values may be communicated in any suitable form, such as, for example, binary form including bit and / or byte data. A representative embodiment of a parameter array is shown in FIG. 110A.

  In various embodiments, further to the above, the surgical instrument may be configured to obtain parameters from the end effector in a particular order. For example, the signal emitted from the end effector may be, for example, a start bit, a first bit pattern for a first parameter such as a maximum bending angle, a second bit pattern for a second parameter such as a firing speed, a third A third bit pattern may be included, a fourth bit pattern for a fourth parameter such as maximum motor torque, a fifth bit pattern for a fifth parameter such as stroke length, and a stop bit. This is just an example. Any suitable number of parameters may be communicated as part of the signal. Furthermore, any suitable number of start and / or stop bits may be utilized. For example, the start bit may precede the bit pattern of each parameter and / or the stop bit may follow the bit pattern of each parameter. As noted above, the use of at least one start bit and / or at least one stop bit can facilitate analysis by the controller of the surgical instrument whether the signal from the end effector is complete. In certain embodiments, start and / or stop bits may not be utilized. Moreover, multiple signals may be emitted from the end effector to convey end effector parameters to the surgical instrument.

  In various situations, in addition to the above, the controller of the surgical instrument determines whether the signal being received from the end effector is complete and / or the signal being received is authenticated, ie, the recognized end A checksum may be used to assess whether it is from an effector. The checksum may include values used to ensure that the data has been saved, transmitted and / or received without errors. This can be created, for example, by calculating binary values of the data and combining the binary values with one another using an algorithm. For example, although binary values of data can be summed, various other algorithms may be utilized. In embodiments where parameters for particular end effectors are stored on the surgical instrument, as noted above, checksum values may also be stored for each such end effector. During use, the controller of the surgical instrument has access to the parameter data and the checksum value, and after calculating the checksum value from the parameter data, ie after calculating the calculated checksum value, the controller calculates The checksum value can be compared to the stored checksum value. If the calculated checksum value is equal to the stored checksum value, the controller can assume that all of the data obtained from the memory of the surgical instrument is correct. At such point, the controller can then operate the surgical instrument in accordance with the data uploaded from the memory. If the calculated checksum value is not equal to the stored checksum value, the controller can assume that at least one of the acquired data is incorrect. In various cases, the controller subsequently operates the surgical instrument under a predetermined operating program, in addition to the above, closing the firing trigger of the surgical instrument and / or otherwise, for example, surgical It can communicate events to the user of the device. In certain cases, the controller may again attempt to upload data from the memory of the surgical instrument and perform the checksum operation and the above comparison again. If the recalculated checksum value and the stored checksum value match, then the controller can operate the surgical instrument in accordance with the data uploaded from memory. If the recalculated checksum value and the stored checksum value are not equal, then the controller operates the surgical instrument under a predetermined operating program, and in addition to the above, closes the surgical instrument's firing trigger And / or otherwise communicate events to, for example, a user of the surgical instrument.

  In embodiments where parameters for the end effector are stored in the memory of the end effector, as mentioned above, the checksum value may also be stored, for example, in the memory of the end effector. In use, the controller of the surgical instrument has access to parameter data and stored checksum values. In various cases, in addition to the above, the end effector can emit one or more signals that convey parameters and checksum values to the surgical instrument. As a result of the above, both stored checksum values and parameters can be communicated, and in the description herein, the checksum value received by the surgical instrument can be referred to as the received checksum value. When parameter data is received, the controller calculates a checksum value from the parameter data, ie, calculates the calculated checksum value, and the calculated checksum value and the received checksum as described above. It can be compared with the value. If the calculated checksum value is equal to the received checksum value, the controller can assume that all of the parameter data obtained from the end effector is correct. At such point, the controller can then operate the surgical instrument in accordance with the data uploaded from the end effector. If the calculated checksum value is not equal to the received checksum value, the controller can assume that at least one of the acquired data is incorrect. In various cases, the controller subsequently operates the surgical instrument under a predetermined operating program, in addition to the above, closing the firing trigger of the surgical instrument and / or otherwise, for example, surgical It can communicate events to the user of the device. Such events may be more frequent when parameter data is communicated from the end effector to the surgical instrument, eg, via one or more wireless transmissions. In any case, in certain cases, the controller may again attempt to upload data from the end effector and perform the checksum operation and the above comparison again. If the recomputed checksum value and the received checksum value match, then the controller can operate the surgical instrument in accordance with the data uploaded from the end effector. If the recalculated checksum value and the received checksum value are not equal, the controller subsequently operates the surgical instrument under the predetermined operating program and closes the surgical instrument's firing trigger, in addition to the above. And / or otherwise communicate events to, for example, a user of the surgical instrument. In various cases, as a result of the above, when using the end effector, the surgical instrument need not store any information regarding the end effector used to operate the surgical instrument. In such a case, the data regarding the parameters of the end effector and the checksum value used to confirm the data integrity may be stored entirely in the end effector. The surgical instrument may comprise an operating program that only requires sufficient input from the end effector to use the end effector. It may not require a specific operating program for each end effector that can be used with the surgical instrument. A single manipulation program can be used with all end effectors. Thus, the surgical instrument may not need to be updated, for example, to include additional end effector manipulation programs and / or existing end effector modification programs.

  In addition to, or instead of, a wireless communication system utilized to identify an end effector attached to a surgical instrument described herein, a surgical according to at least one embodiment, looking now at FIGS. 149-154. The instrument may comprise means for scanning and identifying the end effector. Fig. 153 shows a handle 11020 comprising a bar code reader 11022 that can be configured to scan the bar code shown in Figs. 149 and 150 on the end effector 11060 shown in Figs. As with the other embodiments disclosed herein, the end effector 11060 may comprise a shaft portion, an anvil 11062, and / or a staple cartridge 11064, eg, one or more of the end effector 11060. The part may be provided with a barcode on the top surface. In some embodiments, the end effector 11060 may include a removable component 11063 positioned intermediate the anvil 11062 and the staple cartridge 11064 before or after the end effector 11060 is assembled to a surgical instrument Can be removed. In FIG. 151, the barcode 11065 is shown as being disposed on the shaft portion of the end effector 11060. In FIG. 152, barcode 11065 is shown as being disposed on removable component 11063. In various embodiments, the handle 11020 of the surgical instrument may comprise a barcode reader such as, for example, a barcode reader 11024 configured to read the barcode on the end effector. For example, referring primarily to FIG. 154, the handle 11020 may comprise an internal barcode reader portion 11022 configured to read a barcode 11065 defined on the shaft of the end effector 11060. In at least one such case, the barcode reader portion 11022 may comprise a trough 11026 sized and configured to receive the shaft of the end effector 11060, wherein the barcode reader 11024 It can be mounted within and / or with respect to the opening 11027 defined in the trough 11026 such that the code reader 11024 can read the barcode 11065. As will be appreciated by the reader, many barcode readers and barcode protocols are known, and any suitable one may be utilized. In some cases, the barcode may include bi-directional information, for example, enabling the barcode to be read in two different directions. In some cases, barcodes may utilize multiple layers of information. In some cases, the barcode protocol may include preamble information that precedes the information identifying the end effector and / or otherwise manipulate the surgical instrument, ie, for a particular manipulation program. Information may be provided to the surgical instrument that allows for the operation of the device. In some cases, the barcode reader can emit one or more light beams that can contact a plurality of peaks and valleys including the barcode. In some cases, the valleys of the bar code may extend into and / or be defined within the shaft housing of the end effector. The emitted light beams may be reflected to a bar code reader capable of reading them. Nevertheless, the barcode reader 11024 of the handle 11020 is positioned and arranged within the trough 11026 such that the emitted and reflected light beam is confined or at least substantially confined within the barcode reader portion 11022 Ru. In this way, the barcode reader 11024 accidentally, or unintentionally, scans different end effectors, that is, end effectors that may be present in the operating room, other than those that are about to be assembled into a surgical instrument. Can not.

  In various cases, further to the above, the end effector may be passed through the bar code reader of the surgical instrument before the end effector is assembled to the surgical instrument. In various alternative embodiments, the surgical instrument may comprise a movable barcode reader that can be used to scan the end effector's barcode after the end effector is assembled to the surgical instrument. In any event, once the end effector is identified, in at least some circumstances, the controller can access an operating program that is configured to use the identified end effector. In a sense, the barcode may comprise a boot loader. In another situation, as outlined elsewhere herein, the barcode can provide the controller with the information, or parameters, necessary to use a common operating system. In some situations, each end effector may be identified by a serialization number such that any two end effectors may have two different barcodes on the top surface even with the same type of end effector . In such a situation, the controller may be configured to reject the use of the end effector previously scanned by the surgical instrument. Such a system can, for example, prevent reuse of at least partially used end effectors.

  As mentioned above, the end effector may be configured to communicate with the surgical instrument via a wired connection and / or a wireless connection. For wired connections, looking now at FIG. 115, the proximal end of the end effector, such as the proximal end 9969 of the end effector 9960, eg, on the distal end 9942 of the shaft 9940 of the surgical instrument and / or thereof A plurality of electrical contacts 9968 may be provided that can be in electrical communication with the plurality of electrical contacts 9948 disposed therein. Referring primarily to FIG. 116, each electrical contact 9968 may comprise a contact element 9967 disposed at least partially within the element cavity 9965. Each electrical contact 9968 may further comprise a biasing member, such as, for example, a spring 9966, disposed intermediate the contact element 9967 and the inner sidewall of the element cavity 9965. The spring 9966 may be configured to bias the contact element radially outward. The contact element 9967 can be movably biased by the spring 9966 into engagement with another internal sidewall of the element cavity 9965 at least before the end effector 9960 is assembled on the shaft 9940, a stop projecting therefrom A 9964 may be provided. The interaction between the stop 9964 and the side wall of the element cavity 9965 can prevent outward movement of the contact element 9967. When the end effector 9960 is assembled to the shaft 9940, the contact element 9967 of the electrical contact 9968 is pushed inwardly by the electrical contact 9948 of the shaft against the biasing force applied by the spring 9966, as shown in FIG. obtain. In various situations, each pair of contacts 9948 and 9968 can close the circuit or communication channel 9950. Although three pairs of contacts are shown, any suitable number of contacts and / or communication channels may be utilized. In various embodiments, referring to FIG. 117, shaft contact 10048 may each include movable element 10047 and biasing spring 10046 configured to press movable element 10047 against corresponding end effector contact 10068. . In particular embodiments, and looking now at FIG. 118, one or both of the end effector contact and the shaft contact may comprise a flexible portion. For example, the end effector may include flexible contacts 10168 that can resiliently engage corresponding shaft contacts 9948.

  With respect to the above embodiments, in various situations, the end effector may be assembled to the shaft along the longitudinal axis. In such a situation, referring primarily to FIG. 115, the most proximal end effector contact 9968 is first electrically connected to the most distal shaft contact 9948. As will be appreciated by the reader, the end effector 9960 is not fully attached to the shaft 9940 when such contacts are engaged. While such engagement between these contacts may be temporary, i.e. until the end effector 9960 is mounted more deeply into the shaft 9940, the controller of the surgical instrument is either one or two from the end effector 9960 One or more signals may be confused and misinterpreted. Similar confusion can occur when the longitudinal array of end effector contacts 9968 are in continuous contact with the longitudinal array of shaft contacts 9948 until the end effector 9940 is fully attached. In various embodiments, the controller of the surgical instrument may be configured to ignore the signal transmitted from the contacts until the most recent end effector contact 9968 is engaged with the most recent shaft contact 9948. Turning now to FIGS. 119 and 120, one of the contact pairs is a separate contact so that the controller can identify when the contact pair is engaged so that the end effector is fully attached. It may be different from the pair. For example, the end effector and shaft of the surgical instrument may comprise a first pair of contacts 10248a, 10268a, a second pair of contacts 10248b, 10268b, and a third pair of contacts 10248c, 10268c, when the third contacts The pair may be different from the first contact pair and the second contact pair. When the first contact pair 10248a, 10268a is engaged, the contact element 10267a causes the first connection portion 10263a of the contact element 10267a to contact the first path portion 9951a of the communication path 9950a, and the contact element 10267a The second connection portion 10264a may be pushed inward so as to contact the second path portion 9952a of the communication path 9950a. In such positions of the contact element 10267a, the first path portion 9951a and the second path portion 9952a can both transmit signals through the contact element 10267a. When the second contact pair 10248b, 10268b is engaged, the contact element 10267b causes the first connection portion 10263b of the contact element 10267b to contact the first path portion 9951b of the communication path 9950b, and the contact element 10267b The second connection portion 10264 b can be pushed inward so as to contact the second path portion 9952 b of the communication path 9950 b. In such a position of the contact element 10267b, the first path portion 9951b and the second path portion 9952b can both transmit signals through the contact element 10267b. When the third contact pair 10248c, 10268c is engaged, the contact element 10267c does not contact the first connection portion 10263c of the contact element 10467c with the first path portion 9951c of the communication path 9950c, and the contact element 10267c The second connection portion 10264c may not be in contact with the second path portion 9952c of the communication path 9950c, and may be pushed inward so as to contact the first path portion 9951c. In such a position of the contact element 10267a, the first path portion 9951c may transmit a signal through the contact element 10267c. As a result of the above, when the end effector is fully attached, the first, second and third sets may have a specific arrangement for connectivity with their respective channel paths, and the controller may It may be configured to assess whether a fully engaged configuration is in place. For example, when the end effector is first inserted into the shaft, the third contact 10264c may initially contact the first shaft contact 10248a. In such a position, only two path parts, namely 9951a and 9952a, can communicate signals from the end effector to the controller, and in this way, the controller, when the end effector is fully attached, the five path parts, That is, they may be configured to detect different voltage drops across the interconnect as compared to the voltage drops that occur when 9951a, 9952a, 9951b, 9952b, and 9951c can communicate signals. Similarly, the end effector may be further inserted into the shaft until the third contact element 10267c contacts the second shaft contact 10248b and the second contact element 10267b contacts the first shaft contact 10248a. In such a position, only four path parts, namely 9951a, 9952a, 9951b, and 9952b, can communicate signals from the end effector to the controller, and thus, when the end effector is fully attached, It may be configured to detect different voltage drops across the interconnect as compared to the voltage drops that occur when the five path parts, namely 9951a, 9952a, 9951b, 9952b, and 9951c, can communicate signals.

  In certain cases, when the end effector is assembled to the elongated shaft of the surgical instrument, the operator engages the drive system and / or articulation system of the end effector, eg, closing, firing, and / or the end effector. Or joint flexion can be initiated. The end effector may comprise a first jaw, a second jaw, and one or more sensors configured to detect the position of the first jaw relative to the second jaw. Referring now to FIGS. 121-124, the end effector 10360 may comprise a first jaw or anvil 10362 and a second jaw or staple cartridge 10364 where the anvil 10362 is directed towards the staple cartridge 10364 And can be moved away from it. In many cases, the end effector 10360 is inserted through the trocar into the patient's body where the end effector 10360 is not readily visible by the endoscope. As a result, the user of the surgical instrument can not easily assess the position of the anvil 10362 relative to the position of the second jaw 10364. To facilitate the use of the end effector, as described above, the end effector 10360 may be equipped with a sensor that detects the position of the anvil 10362. In various situations, such sensors may be configured to detect the gap between the anvil 10362 and the staple cartridge 10364. The particular sensor may be configured to detect the rotational position of the anvil 10362 relative to the staple cartridge 10364. The sensors are disclosed in U.S. patent application Ser. No. 13 / 800,025 entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM", filed Mar. 13, 2013, and "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed Mar. 13, 2013 No. 13 / 800,067 in the name of U.S. Pat. U.S. patent application Ser. No. 13 / 800,025 entitled "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed Mar. 13, 2013 and "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" filed Mar. 13, 2013 The entire disclosure of US Patent Application No. 13 / 800,067 is incorporated herein by reference. Regardless of the sensor (s) used, the position of the anvil 10362 can be communicated to the user of the surgical instrument through the display. Such a display may be located on the shaft of a surgical instrument such as, for example, end effector 10360 and / or shaft 10340. When the display is located on the end effector, the display can be viewed using, for example, an endoscope. In such cases, the display can be placed on the end effector so as not to be obscured by the trocar which can insert the end effector into the surgical site. Alternatively stated, in use, the display may be arranged to be distal to the distal end of the trocar. When the display is located on the shaft, the display may be arranged on the shaft so as not to be obscured by the trocar. Alternatively stated, in use, the display may be arranged to be proximal to the proximal end of the trocar. Referring to the embodiment shown in FIGS. 121-124, display 10390 is located on shaft 10340.

  With continued reference to FIG. 121, the anvil 10362 of the end effector 10360 is shown in a fully open position. In this anvil 10362 position, the firing member 10330 of the end effector 10360 is in the proximal position and has not yet advanced distally. As detailed below, the firing member 10330 travels distally to move the anvil 10362 towards the staple cartridge 10364. The position of the firing member 10330 shown in FIG. 121 may indicate the unfired closest position of the firing member 10300. When the anvil 10362 is in the fully open position, referring primarily to FIG. 125, the anvil display 10390 may not be illuminated. As understood by the reader, anvil display 10390 can indicate the position of anvil 10362 in one of several different positions. The anvil display 10390 can, by chance, show the five possible positions of the anvil 10362, but other embodiments are envisioned that can comprise an anvil display utilizing more than five indicators, or less than five indicators. Ru. As the anvil 10362 moves from the open position to the closed position, the display 10390 can sequentially indicate the position of the anvil 10362 using the indicators 10391-10395. Indicator 10391 indicates that anvil 10362 is in a slightly closed position. Indicators 10392, 10393 and 10394 indicate that anvil 10362 is in a partially closed position. Indicator 10395 indicates that anvil 10362 is in a fully closed, parallel position. Comparing FIG. 121 to FIG. 122, the reader will understand that the firing member 10330 is advanced distally and at least partially closes the anvil 10362. When the anvil 10362 is in the position shown in FIG. 122, the anvil position sensor can detect the new position of the anvil 10362 and the indicator 10391 of the anvil display 10390 can glow as shown in FIG. Comparing FIG. 122 with FIG. 123, the firing member 10330 travels distally, closing the anvil 10362 more completely but not completely. When the anvil 10362 is in the position shown in FIG. 123, the anvil position sensor can detect the new position of the anvil 10362, and the indicator 10393 can glow as shown in FIG. Further comparing FIGS. 122 and 123, the reader indicates that the anvil 10362 is rotating about 10 degrees, for example, when the anvil 10362 is only rotating about 5 degrees, for example, the indicator 10392 of the anvil display 10390 glows You will understand what you are doing. Comparing FIG. 123 with FIG. 124, the firing member 10330 is advanced distally, completely closing the anvil 10362. When the anvil 10362 is in the position shown in FIG. 124, the anvil position sensor can detect the new position of the anvil 10362 and the indicator 10395 can glow as shown in FIG. Further comparing FIGS. 123 and 124, the reader indicates that the anvil 10362 is rotating about 10 degrees, eg, when the anvil 10362 is only rotating about 5 degrees, for example, the indicator 10394 of the anvil display 10390 glows You will understand what you are doing.

  In addition to the above, the end effector and / or surgical instrument may comprise a controller that may be configured to control anvil display 10390. For example, when the end effector comprises anvil display 10390, the controller may be disposed within the end effector. When the shaft of the surgical instrument comprises anvil display 10390 and / or any other part of the surgical instrument comprises anvil display 10390, the surgical instrument may comprise a controller. In other cases, one of the end effector and the surgical instrument may comprise an anvil display 10390 and the other of the end effector and the surgical instrument may comprise a controller. In any event, the anvil position sensor (s) can be in signal communication with the controller. The controller may be configured to interpret one or more signals from the sensor (s) to determine the position of the anvil 10362. The controller can be in communication with anvil display 10390 to illuminate indicators 10391-10395 as described above. In various situations, each indicator 10391-10395 may include, for example, a light emitting diode. In such circumstances, each light emitting diode may be arranged to be in electrical communication with an output channel of a controller microprocessor so that the controller selectively illuminates certain light emitting diodes independent of the other light emitting diodes. In various cases, the controller can continuously evaluate the position of the anvil 10362 based on data from the anvil sensor and use this data to continually update which indicator to light. For example, when anvil 10362 is closed or open, the controller can track the position of anvil 10362 and indicators 10391-10395 can display this information immediately to the user of the surgical instrument. In such a case, real-time or near real-time feedback regarding the position of anvil 10362 can be provided to the user. In other cases, the controller may wait for an indication of the position of the anvil 10362, eg, for a period of time, after the anvil 10362 has stopped moving or at least substantially stops moving. As will be appreciated by the reader, the indicators 10391 to 10395 may represent different positions of the anvil 10362, but for example when closed the anvil 10362 only passes momentarily at each of these separate positions there is a possibility. In various situations, the controller may utilize an algorithm to determine which indicator to light. For example, the controller may apply an algorithm that determines which indicator more accurately represents the position of the anvil 10362, even though the anvil 10362 does not correspond to any discrete position that may be represented by the indicator display 10390. . In various situations, when anvil 10362 is positioned intermediate two separate positions represented by two adjacent indicators, the controller can illuminate two adjacent indicators in indicator display 10390.

  In various cases, in addition to the above, the indicators 10391 to 10395 may each include light emitting diodes that emit light of the same color, or light of at least substantially the same color. In other cases, one or more of the indicators 10391-10395 can emit light in a different color than the other indicators 10391-10395. For example, indicator 10391 can be configured to emit yellow, while indicators 10392-10395 can be configured to emit, for example, green. As understood by the reader, referring to FIG. 122, the tissue T located between the anvil 10362 and the cartridge 10364 is sufficiently by the anvil 10362 when the anvil 10362 is in the partially closed position shown in FIG. When the indicator 10391 associated with this position of the anvil 10362 can not be clamped and glows yellow, the user of the surgical instrument reminds the user to move the end effector 10360 and / or be careful before continuing the firing process. It can be done. In some cases, one or more of the indicators 10361-10365 can be configured to emit two or more colors each. For example, each indicator 10361-10365 may comprise a light emitting diode configured to emit green and red light. In such cases, the indicators 10361-10365 can emit green when indicating the position of the anvil 10362 as described above, or red when the end effector 10360 and / or the surgical instrument is in error.

  As mentioned above, the anvil of the end effector may be movable relative to the staple cartridge between an open position and a closed position, and the surgical instrument system detects the position of the anvil and moves the anvil to the user It may be configured to communicate. Nevertheless, embodiments are envisaged in which the staple cartridge is movable relative to the anvil. In at least one such embodiment, the anvil may be fixed or not pivotable. While fixed, i.e. not pivotable, the anvil may fixedly extend from a portion of the end effector frame, but that portion of the end effector frame, the anvil extending therefrom and the staple cartridge are end effectors It may be articulated with respect to another part of the or the shaft of the surgical instrument. Whether the end effector is articulated or not, in such embodiments, the staple cartridge may be pivotable relative to the anvil. The systems and methods described herein for detecting anvil movement may be adapted to detection of staple cartridge movement. Moreover, the systems and methods described herein for indicating anvil movement may be adapted to indicate staple cartridge movement.

  In various cases, the operator may wish to retract the drive member during the firing stroke. The surgical instrument disclosed in Zemlok ‘763 uses a retraction assembly with a manually driven mechanical interface, with a drive tube actuated by ratcheting movement of a retraction lever attached to the handle. Such a configuration means to allow the clinician to retract the firing rod and eventually the drive member of the loading unit shuts off the power or destroys the motor or control system during firing right. However, such a retraction assembly may be difficult to operate effectively as the motor and motor gear box remain engaged during the ratcheting movement process. Thus, the retraction assembly of the device must be able to rotate the gears and motor shaft in the gear box to generate sufficient torque to allow manual rotation of the drive tube. The generation of such forces can cause excessive stress on the retracting assembly parts, which can cause catastrophic failure of the retracting assembly. The surgical instrument 10 shown in FIGS. 1-28 can be configured with a unique and novel retraction assembly device that can avoid this problem and the like.

  For example, surgical instrument 10 may include a retraction assembly 120 that includes a retraction chassis 124 having a top 126 and a bottom 128. In various forms, retraction assembly 120 mechanically interlocks with drive tube 102 via drive gear 130 and retraction gear 132. See FIG. Drive gear 130 is non-rotatably attached to drive tube 102 to impart rotation to drive tube 102 upon rotation of drive gear 130. The drive gear 130 and the reverse gear 132 may include bevel gears or the like to enable meshing engagement therebetween, as shown in FIG. The reverse gear 132 may be coupled to a first spindle 134 (FIGS. 4 and 5) that is substantially perpendicular to and extends between the top and bottom portions 126 and 128 of the reverse chassis 124. The spindle 134 may be supported for rotational movement about a spindle axis “SA-SA” that is substantially perpendicular to the longitudinal axis “LA-LA” of the surgical instrument 10. See FIG. In various forms, the reverse gear 132 may have a first spur gear 136 attached thereto. The first spur gear 136 is also disposed substantially vertically between the top 126 and the bottom 128 of the retracting chassis 124 and rotates about a second shaft axis "SA'-SA '" defined thereby In conjunction with a second spur gear 138 which is operatively supported on a possible second spindle 137. The second spur gear 138 is supported in meshing engagement with the third spur gear 140 disposed on the first spindle 134. The third spur gear 140 is attached to the first clutch portion 144 of the one-way clutch assembly 142. The clutch assembly 142 further includes a second clutch portion 146 rotatably disposed on the first spindle 134 at the top of the first clutch portion 144. The spring (s) (not shown) are disposed between the first clutch portion 144 and the second clutch portion 146, whereby, as shown in FIG. 5, the first and second clutch portions 144 and 146 can be maintained in the lifted "non-engaging" direction.

  As the drive tube 102 rotates, the drive gear 130 imparts rotation to the first, second and third spur gears 136, 138, 140 and to the first clutch portion 144 and the corresponding spindles 134, 137. It is understood. Since the second clutch portion 146 can rotate around the spindle 134 and is biased from engaging with the first clutch portion 144 by a spring device (not shown) disposed therebetween, the first clutch portion 144 Is not transmitted to the second clutch portion 146. As shown in FIG. 5, the first and second clutch portions 144 and 146 include a plurality of meshing teeth 148 each having a flat meshing surface and an inclined sliding surface. The second clutch portion 146 may be biased into meshing engagement with the first clutch portion 144 by the reverse lever 150, as described in further detail below. The sliding surfaces on the teeth 148 allow the meshing surfaces to contact one another so that rotation of the second clutch portion 146 causes the first clutch portion 144 to rotate. The rotation of the first clutch portion 144 causes all interlocking gears to rotate as well, and ultimately imparts rotational motion to the drive tube 102 around the longitudinal axis LA-LA of the instrument.

  Referring now to FIG. 6, the retraction lever 150 may include an elongated handle portion 152 that includes a cam portion 154. The cam portion 154 is a unidirectional needle that is supported in mechanical interlock by a fixture (not shown) that can be attached to the first spindle 134 so that the retraction lever 150 can rotate about the first spindle 134. An opening may be provided that can receive a clutch (not shown). Zemlok ‘763 further describes the operation of such a unidirectional needle clutch and fixture device, and is incorporated herein by reference in its entirety. In various forms, the retraction lever 150 comprises one or more cam members 156 each having a cam surface 158 on the top surface. In the first orientation, the retraction lever 150 is disposed along the lever pocket 14 of the housing 12 as shown in FIG. A spring disposed between the first clutch portion 144 and the second clutch portion 146 acts to bias the retraction lever 150 against the upper portion 126 of the retraction chassis 124. As shown in FIG. 6, the cam members 156 are disposed in corresponding cam slots or pockets 160 in the upper portion 126 of the retractable chassis 124. The retraction lever 150 is maintained in a first orientation by a return spring 162 located between the upper portion 126 of the retraction chassis 124 and the cam portion 154 of the retraction lever 150. The cam member 156 and the cam slot 160 prevent the reverse lever 150 from further rotation.

  During use, as the retraction lever 150 exits the lever pocket 14 (FIG. 1) in the housing 12, the cam member 156 is interlocked with the corresponding cam slot 160 and between the first and second clutch portions 144 and 146 The cam portion 154 of the retraction lever 150 is biased in the downward direction against the biasing force of the spring (s) disposed in the Such downward movement causes the spring (s) to be compressed and push the first and second clutch portions 144, 146 into meshing engagement. When the cam portion 154 is rotated counterclockwise, a needle clutch interlocked with the fixture and the first spindle 134 is actuated. Continuous actuation of the retraction lever 150 causes the clutch assembly 142 to rotate, which in turn rotates the spur gears 136, 138, 140 and the retraction and drive gears 132 and 130 one after the other. This in turn causes the drive tube 102 to rotate about the longitudinal axis "LA-LA" of the instrument. Because the firing rod 104 is threadedly engaged with the drive tube 102, rotation of the drive tube 102 as described above results in the firing rod 104 retracting (ie, axially moving proximally) into the drive tube 102.

  In operation, drive tube 102 may be configured to be rotated by motor 100 about the longitudinal axis "LA-LA" of the instrument in a direction opposite to the retraction direction (e.g., clockwise, etc.). Rotation of such drive tube 102 causes the firing rod 104 to move axially in the distal direction "DD". The advancement of the firing rod 104 and drive member 60 of the loading unit 20 may be referred to herein as a "launch" operation. As shown in FIG. 5, for example, utilizing gear assembly 170 to establish the necessary amount of drive torque to drive firing rod 104 in the distal direction "DD" to actuate loading unit 20. . Gear assembly 170 may include a gear box housing 172 coupled to motor 100. For example, gear box housing 172 may be coupled to motor housing 101 by screws 103 or other mechanical fasteners and / or fastener devices. Gear assembly 170 and motor 100 may be collectively referred to as a "drive unit", generally designated 186.

  The gear box housing 172 may be rotatably supported on a motor holding portion 190 which is integrally molded or otherwise non-rotatably supported by the housing 12. Such an arrangement allows the drive unit 186 to rotate within the housing 12 about the longitudinal axis “LA-LA” of the instrument, but prevents axial movement within the housing 12. The motor 100 may be powered by, for example, a power supply 200 and / or a power system 2000 (FIG. 129) of the type described in further detail in Zemlok '763.

  A unique contact device 210 may be utilized to facilitate the supply of current to the drive unit 180, and more specifically to the motor 100. For example, as shown in FIG. 4, the contact device 210 may include an annular negative motor contact 212 and an annular positive motor contact 114 supported on the motor housing 101. The fixed negative contact 216 may be supported within the housing 12 for sliding contact with the negative motor contact 112. Similarly, a fixed positive contact 218 may be supported for sliding contact with the positive motor contact 214 when the drive unit 180 rotates within the housing 12. The fixed negative and positive contacts 216, 218 may comprise flexible spring-like contacts to facilitate assembly and adjustment of the drive unit 186 within the housing 12. The fixed negative contact 216 may be electrically connected to the power supply 200 by the negative electrode lead 220, and the fixed positive contact 218 may be electrically connected to the power supply 200 by the positive electrode lead 222. Such contact device enables power to be supplied to the motor 100 from the power supply 200 while facilitating rotation of the drive unit 186 around the longitudinal axis "LA-LA" of the instrument within the handle housing.

  Referring to FIG. 5, the gear assembly 170 may comprise a planetary gear set operatively coupled to the motor shaft 107. In one configuration, for example, ring gear 173 may be formed on the inner surface of gear box housing 172. The main sun gear 171 may be coupled to the motor shaft 107. The main sun gear 171 may be supported in meshing engagement with the ring gear 173 such that the plurality of first planetary gears 175 supported on the first planetary gear carrier 174 also mesh with the ring gear 173. The first sun gear 176 may be formed or otherwise mounted on the first planet gear carrier 174 and is in meshing engagement with and supported by the plurality of second planet gears 178 supported on the second planet gear carrier 177 May be done. The second planetary gear 178 may also be supported in meshing engagement with the ring gear 173. The second sun gear 179 may be configured or otherwise mounted on the second planet gear carrier 177 and may be supported in meshing engagement with the plurality of third planet gears 181. The third planet gear 181 may be supported by the third planet gear carrier 180 in meshing engagement with the ring gear 173. The third sun gear 183 may be formed or otherwise mounted on the third planetary gear carrier 180 and may be attached to the output shaft unit 184 rotatably supported within the gearbox housing 172 by bearings 185. In meshing engagement with the plurality of fourth planetary gears 187. The fourth planetary gear 187 may also be supported in meshing engagement with the ring gear 173.

  FIG. 7 shows one configuration for rotatably supporting the drive unit 186 in the housing 12. As shown in this figure, the motor mounting boss 192 of the motor holder 190 may comprise a gear box housing split 196 rotatably supported therein. In one configuration, for example, the gear assembly 170 is rotatably supported in the gear box housing segment 196 by bearings 185. Similarly, motor 100 is rotatably supported within motor mounting housing portion 13 by bearings 198. Other methods of rotatably supporting drive unit 186 within housing 12 may also be used.

  The output shaft unit 184 may be operatively coupled to a clutch 230 (FIG. 5) of the type and configuration disclosed in Zemlok '763, which is incorporated herein by reference in its entirety. Further details regarding the construction and operation of such clutch 230 can be obtained from the published patent. However, in alternative embodiments, the clutch 230 may be replaced with a shaft-shaft coupler or sleeve configuration that serves to facilitate direct coupling of the output shaft unit 184 to the drive tube 102.

  When the axially moveable drive beam of the surgical instrument disclosed in Zemlok '763 becomes immobile or when power to the instrument is lost, the user may retract to facilitate removal of the loading unit. It was necessary to retract the drive beam back to the starting position using the assembly. However, efficient retraction was difficult because the retraction system had to generate a sufficient amount of torque necessary to reverse the gearing in the gear assembly. Therefore, it may have been very difficult to operate such a retraction system effectively.

  At least one surgical instrument embodiment disclosed herein uses a unique and novel releasable drive unit lock system, generally designated 240, to address such issues. The drive unit 186 can not rotate within the handle housing 12, for example, when the releasable drive unit lock system 240 is in the “locked” position, as described in further detail below. The drive unit 186 is held in the locked position when the surgical instrument is "fired" to facilitate torque transfer of the motor from the motor 100 through the gear assembly 170 and ultimately to the drive tube 102. When actuation of the retraction assembly 120 is desired, the drive unit lock system 240 is moved to the “unlocked” position to allow the drive unit 186 to freely rotate within the housing 12, thereby causing the gears in the gear assembly 170 to There is no need to generate sufficient reverse torque to reverse the device. During operation of retraction assembly 120, gear assembly 170 may remain operably coupled between motor 100 and drive tube 102. In such an embodiment, the gear assembly 170 remains operatively connected to the motor 100 and the drive tube 102, but with the drive unit 186 free rotation, the gear train reverses to retract the drive tube 102. The torque required to drive the gear assembly 170 can be reduced. Such a reduction in required torque can improve the efficiency of the reverse system.

  As shown in FIG. 8, for example, the third spur gear 140 of the retraction assembly 120 may include an unlocking cam 141 configured to actuate the locking pawl assembly 250 of the drive unit locking system 240. One form of the locking pawl assembly 250 is shown in FIGS. As shown in FIG. 10, for example, the locking pawl assembly 250 may include a pawl member 252 having a locking notch 254 formed therein. The locking notches 254 are sized so that a series of spaced apart first locking wedges 256 formed around the outside of the gear box housing 172 are free to pass therebetween. See, for example, FIGS. 12 and 13. As described in further detail below, the pawl lock wedge 258 is formed on the lock pawl 252 for locking engagement with the optional first lock wedge 256. As also shown in FIGS. 8-11, the locking pawl assembly 250 may further include a pawl guide rod 260 configured to be slidably received within the passage 194 in the motor mounting boss 192. . The pawl spring 262 is pivotally supported by the pawl guide rod 260 and disposed between the pawl member 252 and the motor mounting boss 192 so as to engage the cam engaging portion 264 of the pawl member 252 with the third spur gear 140. Energize.

  One method of operation of the retraction assembly 120 and drive unit locking system 240 will now be described with reference to FIGS. FIG. 13 shows the drive unit lock system 240 in the locked position. As shown in this figure, the pawl member 252 is biased by the pawl spring 262 into the distal locked position. When in this locked position, the pawl lock wedge 258 on the pawl member 252 locks into engagement with a corresponding one of the first lock wedges 256 on the gearbox housing 172. When in this position, the retraction assembly 120 is not actuated and the gear assembly 170 can not rotate within the housing 12. Actuation of the motor 100 by depressing the main power switch 80 (FIG. 1) results in rotation of the drive tube 102 and ultimately, axial advancement of the firing rod 104 to drive beam through the loading unit 20 Drive 60 distally.

  For example, if the drive beam 60 becomes stuck in the tissue clamped to the loading unit 20, or if power to the motor 100 is lost, or for any other reason, the motor 100 reverses the rotation of the drive tube 102. Finally, if the firing rod 104 can not be retracted, the clinician can utilize the retraction assembly 120 to manually retract the firing rod 104 and the drive beam 60. FIG. 8 shows the retraction assembly 120 in an inoperative position (eg, when the drive unit lock system 240 is in the locked position). To initiate the manual retraction process, the clinician pulls the retraction lever 150 out of the lever pocket 14 in the handle housing 12 (in the “R” direction, see FIG. 6). As a result of the movement of the reverse lever 150 in the “R” direction, the cam portion 154 of the reverse lever 150 in the reverse chassis 124 rotates. Such rotation of the retracting lever 150 in the “R” direction causes the unlocking cam 141 to engage with the cam engaging portion 264 of the pawl member 252 to bias the pawl member 252 to the unlocked position, thereby , Allow the drive unit 186 to rotate freely within the handle housing 12. The cam slot 160 in the retraction chassis is positioned to facilitate such rotational movement of the cam portion 154 of the retraction lever 150 without disengaging the clutch assembly 142 first, and sufficient for that Have a length. Thus, the cam slot 160 is longer than the cam slot disposed in the previous retracted chassis configuration to facilitate unlocking of the drive unit assembly 186 prior to applying actuation motion as a result of rotation of the drive tube 102. May be there. For example, in at least one configuration, the cam slot 160 may be extended to facilitate rotation of the retraction lever 150 by approximately 15 degrees. As the clinician continues to rotate the retraction lever 150 in the “R” direction, the cam engagement portion 264 rides on the outer periphery of the unlocking cam 141 on the third spur gear 140. Continued rotation of the retraction lever 150 in the "R" direction causes the cam members 156 on the cam portions 154 to engage the ends of their corresponding cam slots 160 and bias the cam portions 154 in a downward direction. This downward movement compresses the spring (s) located between the first clutch portion 144 and the second clutch portion 146, causing the upper teeth 148 to mesh with one another. Continued counterclockwise rotation of the cam portion 154 can operate the needle clutch that is interlocked with the fixture and the first spindle. Continuous actuation of the retraction lever 150 causes the clutch assembly 142 to rotate, which in turn rotates the spur gears 136, 138, 140 and the retraction and drive gears 132 and 130 one after the other. This in turn causes the drive tube 102 to rotate and the firing rod 104 to retract.

  The retraction lever 150 can operate a predetermined amount of movement until a portion of the retraction lever 150 abuts against a portion of the housing 12. Thereafter, the retraction lever 150 is returned to the first position by the return spring 162. By this operation, the cam portion 152 rises, and the upward movement of the second clutch portion 146 and the engagement release of the first clutch portion 144 become possible. The needle clutch can release the mount, thereby enabling the retraction lever 150 to return to the first position without affecting the movement of the drive tube 102. When the retraction lever 150 returns to the first position, the drive unit 186 is again held in the lock position. The ratcheting motion or rotation of the retraction lever 150 may be repeated many times until the firing rod 104 returns to the desired position.

  Because the gear box housing 172 is free to rotate while applying this rotational movement, the amount of torque required to rotate the gears in the drive tube 102 and gear assembly 170 is the torque required to operate the previous retraction assembly. It drops significantly compared to. Such an arrangement also advantageously helps to prevent the transmission of torque forces generated by the reverse assembly to the motor shaft 107 while retaining the driving connection of the gear assembly 170 to the motor shaft 107. In other words, during operation of the retraction assembly 120, the gear assembly 170 may remain drivingly connected between the motor shaft 107 and the drive tube 102. Such a configuration is for example incorporated herein by reference in its entirety and as a result of the transmission part being physically split or physically blocked during operation of the retraction system. It differs from the reverse configuration disclosed in US Pat. No. 7,959,050.

  15-18 show another surgical instrument 310 that is substantially similar to the above-described surgical instrument 10, except for the differences described below. As shown in FIG. 16, the instrument 310 comprises a gear assembly 470 comprising, for example, a gear box housing 472 which can be coupled to the motor 100 in the manner described above. Gear box assembly 470 and motor 100 may be collectively referred to as a "drive unit", generally designated 486. The gear assembly 470 may be identical to the gear assembly 170 except for the differences described below.

  In at least one configuration, the gear box housing 472 may rotate within the motor retainer 190 integrally molded or otherwise non-rotatably mounted within the housing 12 in the various manners described herein. It may be disabled or integrally formed with it. In this configuration, the drive unit 486 does not rotate, so it may be connected directly to the power supply. For example, motor 100 may be powered in the manner described in Zemlok ‘763 or in any other suitable manner. As shown in FIG. 16, the gear assembly 470 may comprise a planetary gear set operatively coupled to the motor shaft 107. In one configuration, for example, a fixed ring gear 473 may be formed on the inner surface of the gear box housing 472. The main sun gear 471 may be attached to the motor shaft 107. The main sun gear 471 may be supported in meshing engagement with a plurality of first planet gears 475 supported on a first planet gear carrier 474. The first planetary gear 475 may also be supported in meshing engagement with the fixed ring gear 473. The first sun gear 476 may be formed on the first planet gear carrier 474 and may be in meshing engagement with a plurality of second planet gears 478 supported on the second planet gear carrier 477. The second planetary gear 478 may also be supported in meshing engagement with the fixed ring gear 473. The second sun gear 479 may be formed on or attached to the second planet gear carrier 477 and in meshing engagement with the plurality of third planet gears 481 supported on the third planet gear carrier 480 It may be supported. The third planetary gear 481 is meshed with the fixed ring gear 473. The third sun gear 483 may be formed on the third planet gear carrier 480 or otherwise attached thereto. The third sun gear 483 may be supported in meshing engagement with a plurality of fourth planet gears 487 mounted on an output shaft unit 484 rotatably supported in the gearbox housing 472 by bearings 185. The plurality of fourth planet gears 487 may be in meshing engagement with a lockable ring gear 485 rotatably mounted to the gearbox housing 472. Gears 471, 473, 475, 476, 478, 479, 481 and 483 may be collectively referred to herein as gear train assembly 460.

  The lockable ring gear 485 may be rotatably mounted within the annular cavity 490 in the motor holder 190 (FIG. 16). The cavity 490 is dimensioned to allow the internal lockable ring gear 485 to rotate freely about the longitudinal axis "LA-LA" of the instrument. The lockable ring gear 485 is mounted in the annular passage 490 and then held in place by means of the plug-in 492 which is press-fit or otherwise held in the annular passage 490.

  The surgical instrument 310 may further comprise a drive unit lock system 540 comprising a moveable shift ring assembly 542. In at least one form, the shift ring assembly 542 may comprise, for example, a shift ring 543 having locking members in the form of at least one, preferably a plurality, for example, pins 544. The pin 544 protrudes from the shift ring 543 and is configured to selectively lock engagement with the lockable ring gear 485. Each lock pin 544 may be slidably received within a corresponding passage 546 in the insert member 492. The shift ring 542 is supported for axial movement by a reversing link 550 attached to the clutch clamp 560. As shown in FIG. 15, the clutch clamp 560 may include a spring clamp that is fixed around a portion of the outer periphery of the third spur gear 140. The clutch clamp 560 has a protrusion 562 attached to the shifter rod 564 on its top surface. Shifter rod 564 may be somewhat flexible and may be pivotally coupled to shift ring 542. During normal use (i.e., when the motor 100 is driving the firing rod 104), the lock pin 544 locks into engagement with the lockable ring gear 475 to prevent the lockable ring gear 475 from rotating. The rotational torque is transmitted to the output shaft unit 484 and finally to the drive tube 102.

  When the clinician desires retraction of the firing rod 104 using the retraction assembly 120, the retraction lever 150 is rotated in the "R" direction from the start position shown in FIG. As the retraction lever 150 rotates, the clutch clamp 560 rotates with the third spur gear 140, thereby causing the shift rod 542 to move the shift ring 542 in the distal direction "DD". As shift ring 542 is moved in the distal direction "DD", lock pin 544 is out of locking engagement with lockable ring gear 485 to allow rotation of lockable ring gear 485 relative to gear box housing 472. Do. The clinician continues the ratcheting motion of the retraction lever 150 to the end position shown in FIG. In at least one configuration, for example, all that is necessary to disengage the lock pin 544 from the lockable ring gear 485 is to rotate the retraction lever 150 about 15 degrees. After the clinician releases the retraction lever 150, the return spring 162 returns the retraction lever 150 to the start position, and the clinician can repeat this procedure until the firing rod 104 is retracted to the desired position. Because lockable ring gear 485 is free to rotate within bearing housing 472, the rotation of drive tube 102 and output shaft unit 484 is not resisted by another gear train in gear assembly 470. As such, the amount of ratcheting torque required to retract the firing rod 104 is reduced as compared to a retraction device that remains operably engaged with the gearing in the gear assembly during the retraction process. Furthermore, although the required torque is reduced, the firing rod 104 can remain in operative engagement with the gear assembly 470. In other words, the firing rod 104 may remain operably coupled to the motor 100. When the shift ring 542 contacts the bearing 185 in the motor mounting boss 192, the locking pin 544 locks into the lockable ring gear 485. The clutch clamp 560 may be configured to slide relative to the third spur gear 140 after the shift ring contacts the bearing 185 or another portion of the motor mounting boss 192. Thus, the drive unit lock system 540 helps to easily rotate at least a portion of the drive unit in the handle housing while applying a retraction motion to the drive tube 102 and the retraction torque required to retract the firing rod 104 Reduce the amount.

  The surgical instrument 610 of FIG. 19 is substantially identical to the surgical instrument 310 except that the clutch clamp 560 is attached to the third spur gear 140 so as to eliminate the reversing link 550 employed in the surgical instrument 310. It is. As shown in FIG. 18, for example, the shifter rod 564 is directly coupled to the shift ring 542. As a result of ratcheting the retracting lever 150 in the above manner, the shift ring 542 moves and the lock pin 544 engages and disengages with the lockable ring gear 485.

  Figures 20 and 21 show another surgical instrument 610 'that is substantially identical to the surgical instrument 610 except for the following differences. In this configuration, for example, at least two "leaf" locking springs 620 and ring gear locking members 622 are supported on the gear box housing 472 'of the gear assembly 470'. As shown in FIG. 20, each locking spring 620 and the corresponding locking member 622 are supported in a slot 624 in the gear box housing 472 '. In this configuration, the lock pin 544 'attached to the shift ring 542 contacts the corresponding lock spring 620 to push the corresponding ring gear lock member 622 into locking engagement with the lockable ring gear 485, and inward. It is configured to be inserted into the When in this position (shown in FIG. 20), rotation of the lockable ring gear 485 relative to the gearbox housing 472 'is prevented. When the shifter rod 564 pulls the shift ring 542 in the distal direction "DD", the lock pin 544 'disengages the corresponding lock spring 620 but allows the spring 620 to flex to the start position Locking member 622 disengages lockable ring gear 485 to allow rotation relative to gear box housing 472 '. Thus, as retractable assembly 120 is actuated, lockable ring gear 485 is required to retract firing rod 104 in the proximal direction "PD" by freely rotating relative to gearbox housing 472 '. Reduce the amount of reverse torque.

  22-24 illustrate that the distal portion of the firing rod or other component operably attached to the surgical instrument has become stuck in operation or the operating power to advance the firing rod assembly has ceased FIGS. 17A and 17B illustrate another retraction assembly configuration for selectively manually retracting the distal portion of the firing rod of the surgical instrument 710. FIGS. Except for the differences described below, the surgical instrument 710 may be designed with the surgical instrument disclosed in Zemlok '763 described above and / or incorporated herein by reference in its entirety. And may be similar in operation.

  As shown in FIGS. 22-24, the surgical instrument 710 includes a housing 712 that operably supports the firing rod assembly 720. The housing 712 may, for example, provide motor and gear assembly (not shown) to provide rotational movement to the drive tube, which may result in axial movement of the firing rod assembly 720 in various ways described herein. ) May be operatively supported. In at least one configuration, the firing rod assembly 720 may include a proximal firing member or rod portion 722 operatively associated with the drive tube in the various manners disclosed herein. In yet another surgical instrument configuration, the proximal firing rod portion 722 may be operatively associated with other drive configurations and systems configured to apply axial motion to the proximal firing rod portion 722.

  As further seen in FIGS. 22-24, the firing rod assembly 720 is mounted on the proximal end of the axially moveable drive beam 60 of the loading unit 20 connected in various manners described herein. There may further be a distal firing member or rod portion 724 operably connected. A retraction assembly 730 in the form of a retraction coupling assembly 732 may be pivotally coupled between the proximal firing rod portion 722 and the distal firing rod portion 724. In the configuration shown, the retraction connection assembly 732 comprises an actuator link 734 having a link handle portion 736 pinned to the proximal firing rod portion 722. The retraction coupling assembly 732 further comprises a distal retraction link 738 that is pinned to the actuator link 734 and the distal firing rod portion 724 as shown. In the illustrated embodiment, the housing 712 includes a distally extending articulating housing portion 714 that may also include a distally extending shaft housing segment 716. The shaft housing segment 716 may serve to axially support the retraction coupling assembly 732 when moving axially in the distal and proximal directions in response to axial movement of the firing rod assembly 720. To facilitate axial movement of the reverse coupling assembly 732 relative to the shaft housing segment 716, an actuator link 734 extends through a slot 718 formed in the shaft housing segment 716 as shown.

  FIG. 22 shows the position of the firing rod assembly 720 and the retraction assembly 730 prior to firing. FIG. 23 shows the position of the firing rod assembly 720 and the retraction assembly 730 after being fired in the distal direction "DD". If, during the firing process, the clinician wishes to retract the drive beam 60 back to the starting position, the clinician simply grasps the link handle portion 736 of the actuator link 734, as shown in FIG. The distal firing rod portion 724 and the drive beam 60 may be pulled in the proximal "PD" direction. As shown in FIGS. 22 and 23, during firing, the proximal end 725 of the distal firing rod portion 724 is shown as generally “RD” axially from the distal end 735 of the proximal firing rod portion 734 It may be separated by a distance. The distance “RD” may remain, eg, unchanged, during firing and normal retraction of the firing rod assembly 720 by the drive unit. However, when the clinician actuates the retraction assembly, the distance (distance “RD ′”) between the proximal end 725 of the distal firing rod portion 724 and the distal end 735 of the proximal firing rod portion 734 Smaller than In addition, as shown in FIG. 22, the distance between the start position of the distal actuation head 62 of the drive beam 60 and the end position of the distal actuation head 62 (ie after completion of the firing stroke) It is expressed as "FD". If desired, the distance "RD" is sufficient for the distal firing rod portion 724 to be fully retracted (i.e., to the distal end 735 of the proximal firing rod portion 722) to return the working head 62 from the end position to the start position It may be a sufficient distance to be able to move close). In other words, the distal firing rod portion 724 may retract a retraction distance that is at least equal to or greater than the firing distance "FD". In such a configuration, for example, if the actuating head 65 becomes immobile or otherwise stopped at its end position, actuation of the retraction assembly causes the drive beam 60 to fully retract and the distal actuating head 62 to It can be moved to the start position, at which time the distal actuation head 62 may allow the anvil 22 to pivot open and release tissue.

  Figures 25-28 illustrate an alternative firing rod assembly 720 'that may be selectively manually retractable. As shown, the firing rod assembly 720 'includes a proximal firing rod portion 722' that can be operatively associated with the drive tube in the various ways disclosed herein. In yet another surgical instrument configuration, the proximal firing rod portion 722 'can be operatively associated with other drive configurations and systems configured to apply control motion to the proximal firing rod portion 722'. . The firing rod assembly 720 'is at least partially recessed and operatively at least partially the distal end of the axially moveable drive beam 60 of the loading unit 20 connected in various manners described herein. It may further comprise a distal firing rod portion 724 'connected. For example, the distal firing rod portion 724 'may be sized to allow the distal firing rod portion 724' to slide axially over the proximal firing rod portion 722 'by a retraction distance "RDD". You may have Since the retraction distance moves its actuating head 62 from the end position "EP" to the start position "SP", the firing distance "so that the retraction assembly 730 'allows retraction of the drive beam 60 a sufficient distance It may be the same as or larger than FD. See FIG. Retraction assembly 730 'may include a retraction latch 732'. The retraction latch 732 'may include a latch handle 735 movable between a latched position (FIGS. 25 and 26) and an unlatched position (FIGS. 27 and 28). When in the latched position, the retraction latch 732 'attaches the distal firing rod portion 724' such that axial sliding over the proximal firing rod portion 722 'and the distal firing rod portion 724' is not possible. When in this orientation, the proximal firing rod portion 722 'moves essentially together. Thus, when in the latching direction, as shown in FIG. 26, the firing rod assembly 720 'can be fired in its distal direction "DD" to its end position "EP". If, during the firing stroke, the drive beam 60 becomes stuck or the power to the instrument is stopped or lost (or otherwise), the clinician unlatches the retraction latch handle 735 (FIG. 27). The retraction latch 732 'can be manually pulled in the proximal direction "PD", as shown in FIG. 28, by simply moving it up.

  The various retraction systems and configurations disclosed herein address the shortcomings commonly encountered with previous retraction configurations used to retract motorized drive members utilized by surgical end effectors. Can. For example, the various retraction configurations disclosed herein allow the gear / motor arrangement with the motor to be maintained while the gear / motor arrangement can maintain a "driven" or physical connection with the motor. The manual application of a retraction operation to the drive member and / or the associated drive arrangement can be facilitated without encountering the resistance normally provided.

  Thus, at least one example includes a surgical instrument that may include a firing member assembly that may include a portion that is supported for selective axial movement in the distal and proximal directions. The apparatus may further comprise a drive unit, including a motor comprising a motor shaft. The gear assembly may be drivingly connected to the motor shaft, wherein rotation of the motor shaft in the first rotational direction axially drives a portion of the firing member assembly in the distal direction and the motor shaft in the second rotational direction. An output shaft assembly configured to interlock with the firing member assembly may be provided such that upon rotation, a portion of the firing member is axially driven in a proximal direction. The surgical instrument may further comprise a retraction assembly in conjunction with the firing member assembly to manually apply another rotational movement in the second rotational direction to the firing member assembly when the motor is deactuated. The surgical instrument may further comprise locking means associated with the retracting assembly and the drive unit to block transmission of another rotational movement to the motor shaft while the gear assembly remains drivingly connected to the motor shaft. .

  According to yet another example, the surgical instrument may include a drive unit that causes a firing operation and a retraction operation. The instrument may further comprise a surgical end effector configured to perform at least one surgical function for at least one application of a firing operation and a retracting operation. The surgical instrument may further comprise a firing member assembly that may include a proximal firing member portion operatively associated with the drive unit and configured to operably receive rotational actuation motion therefrom. The firing member assembly may further comprise a distal firing member portion supported distally of the proximal firing member portion and configured to transmit firing and retraction motions to the surgical end effector. The retraction assembly may be operably coupled to the proximal and distal firing member portions. The retraction assembly is configured such that the retraction assembly is configured to transmit firing and retraction motions from the proximal firing member portion to the distal firing member portion, and the distal firing member portion is in the proximal firing member portion It may be selectively moveable between an axially moved actuation position.

  An example of another surgical instrument may comprise a handle housing that includes an elongate shaft assembly operatively coupled. The elongate shaft assembly may support an axially movable firing rod therein. The loading unit may be operably coupled to the elongate shaft and may be configured to interlock with the firing rod. The drive tube is rotatably supported within the handle housing and may be operatively associated with the firing rod. The surgical instrument may further comprise a motor having a motor shaft. The motor may be operably supported within the handle housing and may be operably coupled to the power supply. The gear assembly may be drivingly connected to the motor shaft, and when the motor shaft rotates in a first rotational direction, the drive tube drives the firing rod distally and the motor shaft rotates in a second rotational direction. An output shaft assembly configured to interlock with the drive tube may be provided such that the drive tube drives the firing rod in a proximal direction. The retraction assembly may be in conjunction with a drive tube for manually applying another rotational motion in a second rotational direction when the motor is deactuated. The locking means may be in conjunction with the retraction assembly and the gear assembly to block transmission of another rotational movement to the motor shaft while the gear assembly remains drivingly connected to the motor shaft.

Referring again to FIGS. 1-3, in various embodiments, the motor 100 of the surgical instrument 10 can be operably coupled to a firing element, such as the firing element 60, to fire through the end effector or DLU 20 during the firing stroke. The element 60 can be driven. For example, firing element 60 is capable of cutting tissue and / or firing staples into tissue during the firing stroke. The battery can supply current to the motor 100, for example, the current supplied to the motor 100 can be related to the torque generated by the motor 100. Additionally, the torque generated by motor 100 can be related to the launch force exerted by launch element 60. The voltage across the motor can be related to the angular velocity of the motor 100, for example, it can be related to the velocity of the firing element 60. Referring now to FIG. 63, the motor can define a torque-voltage curve 5802. In various embodiments, the torque-voltage curve 5802 may have a maximum torque T ₁ at the optimized voltage V. In larger and / or smaller voltage than optimizing voltage V, for example, torque generated by the motor may also be less than the maximum torque T _1. For example, at a voltage of 1/2 V, the torque-voltage curve 5802 may have, for example, a torque T ₂ (which may be smaller than T ₁ ).

In various embodiments, a control system in signal communication with the motor can provide current from the battery to the motor. In some embodiments, the control system may include, for example, a speed management control that can control the speed of the launch element. The control system may include, for example, variable resistance circuits and / or voltage control circuits that can control the current supplied to the motor and / or the voltage across the motor. In such embodiments, the control system can control the torque and / or angular velocity of the motor, and thus the launch force and / or velocity of the launch element coupled to the motor. For example, a voltage control circuit can control the voltage across the motor and affect the speed of the firing element. Referring to FIG. 63, when the voltage control circuit reduces the voltage from the ideal voltage V to, for example, 1/2 V, the torque can be reduced to T ₂ (which may be smaller than the maximum torque T ₁ ), and the speed can be reduced, for example, speed S _It can be adjusted to ₂ .

In various embodiments, the control system may include a pulse width modulation circuit, which can supply current pulses to the motor. Referring primarily to FIGS. 64 (a) -65 (b), the current may be pulsed at a constant voltage. In various embodiments, the duty cycle of the pulse, ie, the duration of the pulse per interval or time, may affect the velocity of the firing element 5804. When the duty cycle is high (FIG. 64 (a)), the interval of each pulse can become longer, so that the motor can drive the firing element 5804 at a faster, for example, the speed S _1. When the duty cycle is low (FIG. 64 (b)), the interval of each pulse can become shorter, so that the motor can drive the firing element 5804 at a slower, e.g. speed S _3. In various embodiments, the pulse width modulation circuit can supply current pulses to the motor at the motor's optimized voltage V (FIG. 63). In such an embodiment, the speed of the firing element 5804 can be controlled without reducing the torque generated by the motor. For example, by operating the motor in the optimization voltage V, for example, it can generate the maximum torque T _1, for example at a speed reduced such speed S _3, and / or any suitable by changing the width of the voltage pulse The firing element 5804 can be driven through the end effector at any speed.

  In various embodiments, the battery may have a volt-ampere limit, or power threshold. In other words, the battery can supply a limited amount of energy per unit time. The battery power threshold can be related to the battery and / or circuit design. For example, thermal limitations on the battery and / or circuitry, such as, for example, thermal capacity and / or wire insulation, can affect the power threshold. Additionally, the battery power threshold may limit the amount of current supplied to the motor. In various embodiments, for example, a motor utilizing speed management control, such as pulse width modulation, may not require the battery's maximum volt-ampere. For example, when the battery supplies current pulses at maximum or optimization voltage to drive the firing element at the desired speed and maximum or optimization torque, no excess current may be used to drive the firing element. In such embodiments, the excess current can be used to produce additional torque. Referring to FIGS. 66 (a) -66 (c), the motor may comprise, for example, an additional or secondary coil set, and selectively generate excess current to the additional coil set to generate an additional torque. You may turn it on. In such embodiments, the motor can produce more torque, for example at a slower speed. In various embodiments, the control system can maximize the excess current supplied to the secondary coil set based, for example, on the battery's volt-ampere limit. Further, in certain embodiments, the control system can optimize the torque generated by the motor during at least a portion of the firing stroke.

  Still referring to FIGS. 66 (a) -66 (c), the battery 6002 can selectively supply current to the motor 6004. The motor 6004 may comprise, for example, a primary coil set 6006 and a secondary coil set 6008. In various embodiments, control system 6020 in signal communication with motor 6004 can selectively direct current to primary coil set 6006 and / or secondary coil set 6008. For example, the control system 6020 can, for example, supply current to the primary coil set 6006 during the first operating state and can supply current for the primary coil set 6006 and the secondary coil set 6008 during the second operating state. In various embodiments, a switch such as, for example, switch 6010 can move between an open position and a closed position, for example, to selectively supply current to secondary coil set 6008. In various embodiments, coil sets 6006, 6008 may be separately actuatable. Further, control system 6020 may include pulse width modulation circuit 6022 and battery 6002 may provide current pulses to at least one of coil sets 6006, 6008, for example. In various embodiments, a second circuit 6032 (FIG. 662) that can couple the primary coil set 6006 to the first circuit 6030 (FIG. 66 (a)) and the secondary coil set is independent of the first circuit 6030. 66 (a) can be linked. In another embodiment, the primary and secondary coil sets 6006, 6008 can be arranged, for example, in parallel (FIG. 66 (b)) or in series (FIG. 66 (c)). In particular embodiments, motor 6004 may comprise, for example, at least one additional primary coil set and / or at least one additional secondary coil set.

  In various embodiments, the motor can generate a first amount of torque during a first operating state and a second amount of torque during a second operating state. For example, the second amount of torque may be greater than the first amount of torque. In addition, the additional torque generated by the secondary coil set 6006 during the second operating state can prevent and / or limit lockout of the firing element during the firing stroke. For example, referring to FIG. 67, the motor can drive the firing element distally during the first operating state and can drive the firing element proximally during the second operating state. In various embodiments, the motor can generate more torque when the firing element is retracted than when the firing element is advanced. In such embodiments, the retraction of the launch element can be improved. For example, if the firing element becomes immobile due to tissue being too thick and / or too stiff and the firing element can not be cut and / or stapled, for example, additional torque may be used to process the firing element . Still referring to FIG. 66, the torque generated by the motor can be gradually increased during the “soft” start phase 5902 of the launch stroke and / or gradually decreased during the “soft” stop phases 5904, 5906 of the launch stroke. it can. For example, when advancing the firing element, the motor can gradually or slowly increase the firing rate at the beginning of the firing stroke, and when the firing element completes the first half of the firing stroke, the firing rate is gradually That is, you can lower it slowly. Furthermore, in various embodiments, the motor can generate maximum torque and / or speed immediately or substantially immediately when the firing element is being retracted. The motor can use an additional coil set 6008 (FIGS. 65 (a)-(c)) to maximize the generated torque, for example at the beginning of the reverse.

  Referring to FIG. 68, the control system can control the firing element to move at a slower rate during the trial portion 5912 of the firing stroke. For example, as the firing element is advanced, the firing element may move initially at a slower speed to ensure that the selection and / or placement of the end effector relative to the target tissue is appropriate. . In addition, as detailed herein, the surgeon engages an actuation device, such as a switch or button, and actuates a motor, for example, opening and closing the end effector jaws, movement of the firing element, And / or joint flexion of the loading unit can be initiated. Once the actuator is engaged and at the start of motorized actuation, for example, initiating a trial portion such as trial portion 5912 shown in FIG. 68, the surgeon “trys” the surgical task, and / or intended Or it can be ensured that appropriate surgical work has been started. For example, in certain embodiments, a first button can initiate motorized articulation in a first direction and a second button can initiate motorized articulation in a second direction. When the surgical instrument is turned and / or turned "upside down", the positions of the first and second buttons may rotate and / or be reversed from the standard position when viewed from the operator's point of view. If the first direction is the desired joint flexion direction, it is desirable during the trial part to ensure that the loading unit is articulated in the first direction, ie the first button has indeed been activated There is a case. Similarly, if the second direction is the desired joint flexion direction, during the trial part, ensure that the loading unit is articulated in the second direction, ie the second button is actually activated. May be desirable. In a particular embodiment, the trial portion during the initial part of the surgical operation gives the surgeon time to change and / or correct the surgical operation if the non-purpose surgical operation has been initiated. it can. As detailed herein, a pulse width modulation circuit such as, for example, pulse width modulation circuit 6022 can accomplish the trial portion during the initial part of the surgical task.

  As mentioned above, the motor controller may be configured to operate the motor 6004 using pulse width modulation. In various cases, the motor controller can utilize, for example, the same pulse width modulation in primary coil set 6006 and secondary coil set 6008. In other cases, the motor controller may utilize a first pulse width modulated signal in primary coil set 6006 and a second or different pulse width modulated signal in secondary coil set 6008. In some cases, the motor controller can utilize a pulse width modulated signal on one of the coil sets 6006, 6008 but not on the other. Moreover, the teachings described herein can also be applied to motors having more than two coil sets. For example, a motor controller can utilize multiple pulse width modulated signals to operate multiple coil sets.

  In various embodiments, the motor may be, for example, a brushed DC motor or a brushless DC motor. In certain embodiments, the motor may be a stepping motor, such as, for example, a hybrid stepping motor. The stepper motor can provide rotational control such that an encoder is not required. Eliminating the encoder can, for example, reduce the cost and / or complexity of the motor. Referring to FIGS. 69 and 70, the motor may be a simple stepping motor. For example, the motor may include four electromagnetic poles spaced around the periphery. Referring now to FIGS. 71-74 (c), the motor may be a hybrid stepping motor. The hybrid stepping motor may include, for example, a permanent magnet and an electromagnet.

  For example, the previous surgical instrument configurations disclosed in Zemlok ‘763 and Zemlok‘ 344 utilize two separate motors. Utilizing one motor, for example, advancing the drive member distally through the loading unit results in closure of the anvil, cutting of tissue, and firing of staples from the staple cartridge supported by the loading unit . Another motor is used to articulate the loading unit around the articulating joint. Further details regarding the motors used in the articulating loading unit configuration are also disclosed in US Pat. No. 7,431,188, the disclosure of which is incorporated herein by reference in its entirety. The use of two motors in such devices adds complexity and may add to the overall expense of the surgical instrument. For example, such an arrangement may double the number of retraction systems and other features that may fail during use. The surgical instrument 810 shown in FIGS. 29-31 selects for firing and articulating a surgical end effector configured to perform at least one surgical procedure in response to an applied firing motion. Use a single available motor.

  In at least one form, for example, surgical instrument 810 can use many of the same components as used in the various surgical instruments detailed herein. For example, surgical instrument 810 includes a housing 12 that operatively supports a motor 100 configured to produce a rotational actuation motion. The motor 100 is operatively coupled to a gear assembly 820 having an associated selectively positionable drive coupling assembly 840, which will be described in further detail below. The surgical instrument 810 may further comprise an articulation system, generally designated 859, operatively associated with the elongate shaft assembly for articulating the surgical end effector. In one form, for example, the joint flexion system 859 is a joint as disclosed in Zemlok '763 and / or Zemlok' 344 and / or US Pat. No. 7,431,188, except for the differences described below. A joint flexion actuation mechanism, generally designated 860, may be provided that may be substantially similar to the flexion actuation mechanism. For example, the housing 12 may include a barrel portion 90 having a rotatable member 92 mounted thereon. A rotatable member 92 interlocks with the proximal end of the elongate shaft assembly to facilitate rotation of the elongate shaft assembly relative to the housing 12. The rotatable member 92 can operably support an articulation knob and sliding clutch arrangement as disclosed in US Pat. No. 7,431,188. The main articulation bending gear 94 of this configuration is shown in dashed lines in FIGS. The main joint bending gear 94 is connected to the main shaft 95 by a sliding clutch as described in the above-mentioned US Pat. No. 7,431,188, and the rotation of the main joint bending gear 94 corresponds to the rotation of the main shaft 95 You can make it wake up. As further described therein, the articulation knob can serve as an articulation position indicator. Main shaft 95 is operatively associated with a J-groove member 96 operatively associated with the proximal end of articulation joint assembly 97. In one form, the articulating joint assembly 97 may include a proximal articulating joint 98 interlocked with the articulating joint 70 (FIG. 3) in the loading unit 20.

  The articulation mechanism 860 may further comprise an articulation power transmission arrangement 870 operatively associated with the main articulation gear 94 and the drive connector assembly 840. As shown in FIGS. 29 and 30, the articulating power transmission system configuration 870 may comprise an articulating drive shaft 872 attached to the output of the drive connector assembly 840, as described in further detail below. The first articulation drive gear 873 is attached to the articulation drive shaft and is in meshing engagement with the central gear train 875 on the second articulation transmission 874 rotatably supported in the rotatable member 92. Therefore, the rotation of the first joint bending drive gear 873 results in the rotation of the second central joint bending transmission gear 874. As further shown in FIGS. 29 and 30, the “third” articulated bending shaft gear 877 is mounted on a second articulated bending shaft 876 having a “fourth” articulated bending worm gear 878 at the top. The third joint bending shaft gear 877 bends the second central joint so that the third joint bending shaft gear 877 and the second joint bending shaft 876 are finally rotated as a result of the rotation of the first joint bending drive gear 873. Engagingly engages with the transmission gear 875. The fourth joint bending worm gear 878 rotates the main joint bending drive gear 94 as a result of the rotation of the fourth joint bending worm gear 878, and finally, the main joint articulates the joint bending coupling assembly 97. Engaging with the bending gear 94. The articulation drive shaft 872 is rotated by the motor 100 when the drive connector assembly 840 is in the articulation control direction, as described in further detail below.

  As shown in FIG. 31, motor 100 is operably coupled to gear assembly 820. Gear assembly 820 may include a gear box housing 822 coupled to motor 100. For example, the gear box housing 822 may be coupled to the motor housing 101 by screws 103 or other mechanical fasteners and / or fastener devices. Gear assembly 820 may include a planetary gear set 821 operatively coupled to motor shaft 107. In one configuration, for example, the ring gear 823 may be formed on the inner surface of the gear box housing 822. The main sun gear 821 is connected to the motor shaft 107. The main sun gear 821 is in meshing engagement with the ring gear 823 so that the plurality of first planet gears 825 supported on the first planetary gear carrier 824 are also in meshing engagement with the ring gear 823. The first sun gear 826 is formed or otherwise mounted on the first planet gear carrier 824 and is in meshing engagement with a plurality of second planet gears 828 supported on the second planet gear carrier 827. The second planetary gear 828 is also supported in meshing engagement with the ring gear 823. A second sun gear 829 is formed or otherwise mounted on the second planet gear carrier 827 and is in meshing engagement with the plurality of third planet gears 831. The third planetary gear 831 is supported by a third planetary gear carrier 830 supported in meshing engagement with the ring gear 823. The third sun gear 833 is formed or otherwise attached to the shaft extension 832 on the third planetary gear carrier 830 and comprises a fourth planetary gear carrier 834 rotatably supported on the shaft extension 832 In meshing engagement with the plurality of fourth planetary gears 835 attached to the coupling gear. In addition, thrust bearings 836 may be journalled on shaft extensions 832 between the fourth planetary gear carriers 834. The fourth planetary gear 835 is in meshing engagement with the output shaft unit 850 rotatably supported by the gearbox housing 822. As shown in FIG. 30, the second thrust bearing 836 may be supported between the fourth planetary gear and the output shaft unit 850. The fourth planetary gear 835 is supported in meshing engagement with the internal gear train 854.

  In the illustrated embodiment, the output shaft unit 850 is operatively coupled to a clutch 230 of the type and configuration disclosed in Zemlok '763, which is incorporated herein by reference in its entirety. . Further details regarding the construction and operation of such clutch 230 can be obtained from the published patent. However, in alternative embodiments, the clutch 230 may be replaced with a shaft-shaft coupling or sleeve arrangement that serves to facilitate direct coupling of the output shaft unit 850 to the drive tube 102.

  Referring again to FIG. 31, the main articulation bending drive gear 837 may be attached to the articulation bending drive shaft 872 and is in meshing engagement with the external gear ring 838 on the fourth planetary gear carrier 834. In various forms, drive coupler assembly 840 is movably coupled to, or otherwise movably supported by gear box housing 822 or another portion of housing 812. May be further provided. In at least one configuration, the coupler selector member 842 may be formed with a first drive shaft holder 844 and a first articulating shaft holder 846. The first drive shaft holder 844 includes a grooved, roughened or the like region configured to immovably engage the second drive shaft holder 845 on the output shaft unit 850. Similarly, the first articulated bending shaft holder 846 is configured to immovably engage the second articulated bending shaft holder 847 on the fourth planetary gear carrier 834, grooved, roughened etc. Including the area where

  The operation of the connector assembly 840 can be understood by reference to FIGS. As shown in FIG. 29, the coupler selector member 842 is pivoted to the articulated position, and the first articulated bending shaft holder 846 can not move with the second articulated bending shaft holder 847 on the output shaft unit 850. Engage in When in this position, the output shaft unit 850 can not rotate about the longitudinal axis LA-LA. Thus, when in this position, actuation of the motor 100 results in rotation of the third sun gear 833 in meshing engagement with the fourth planetary gear 835. As a result of the rotation of the fourth planetary gear 835, the freely rotatable fourth planetary gear carrier 834 is rotated. Such rotation of the fourth planetary gear carrier 834 also causes the main articulation gear 837 coupled to the articulation drive shaft 872 to rotate. The rotation of the joint bending drive shaft 872 leads to the rotation and driving of the second joint bending transmission gear 874 by the first joint bending drive gear 873. As a result of the rotation of the second joint bending transmission gear 874, the third joint bending transmission gear and the fourth joint bending worm gear 878 rotate. As a result of the main joint bending gear 94 being driven by the rotation of the fourth joint bending worm gear 878, the joint bending coupling portions 97, 70 are articulated in the axial direction, and finally, the loading unit 20 is rotated around the joint bending joint. Joint flexion. When the motor drive shaft 107 is rotated in the first rotation direction, the loading unit is articulated in the first joint bending direction, and when the motor drive shaft 107 is rotated in the reverse direction, the loading unit is reverse to the first joint bending direction. Joint flexion in the second joint flexion direction.

  Next, as shown in FIG. 30, the coupler selector member 842 is pivoted to the drive or firing position, and the first drive shaft holder 844 is the second drive shaft holder 845 on the fourth planetary gear carrier 834. And can not move. When in this position, the fourth planetary gear carrier 834 can not rotate about the longitudinal axis "LA-LA". Thus, when in this position, actuation of the motor 100 results in the rotation of the third sun gear 833. The third sun gear 833 is in meshing engagement with a fourth planet gear 835 supported on a fourth planet gear carrier 834. The fourth planetary gear carrier 834 can not rotate due to immovable engagement between the first joint flexure shaft holder 846 and the second joint flexure shaft holder 847 on the fourth planetary gear carrier 834, so that the fourth When the planetary gear 835 rotates, the output shaft unit 850 rotates. The output shaft unit 850 may be coupled to the drive tube 102 by a clutch assembly 230 or direct connection. Thus, rotation of the output shaft unit 850 results in rotation of the drive tube 102. As described above, rotation of the drive tube 102 results in axial movement of the firing rod (not shown in FIG. 31). Rotation of the motor drive shaft 107 in the first rotational direction results in advancement of the firing rod distally and rotation of the motor drive shaft 107 in the opposite direction results in proximal movement of the firing rod. In various embodiments, closing the jaws of the loading unit 20 pivots the anvil assembly 22 relative to, for example, the carrier 24 to couple and / or connect the motor 100 to the articulating and / or firing system of the surgical instrument 10. It can be released. For example, closing anvil assembly 22 relative to carrier 24 can decouple motor 100 from the articulating system, eg, articulating drive shaft 872, and connect motor 100 to the firing system, eg, output shaft unit 850. Further, opening the anvil assembly 22 to the carrier 24 can decouple the motor 100 from the firing system and couple the motor 100 to the articulation system. In such embodiments, the motor 100 can affect articulation of the loading unit 20 when the loading unit 20 is opened, and the motor 100 affects the firing of the firing rod when the loading unit 20 is closed. Can exert. The surgical instrument 10 may comprise, for example, a sensor and / or selector device. In certain embodiments, the sensor can detect the closure of the jaws of the loading unit 20. Further, the sensor can be in signal communication with a selector device, such as connector selector member 842. The selector device can, for example, couple and / or uncouple the motor 100 to the articulation and / or firing system when the anvil assembly 22 is opened and / or closed relative to the carrier 24. Various powered surgical instruments using the various drive connector arrangements disclosed herein are for prior powered surgical applications using multiple motors for articulation of the end effector and firing of the end effector drive member. It can represent a significant advance over instruments.

  For example, the at least one surgical instrument comprises an elongate shaft assembly that defines a longitudinal axis of the instrument. The surgical end effector may be operatively coupled thereto to selectively articulate relative to the elongate shaft assembly. The surgical end effector may be configured to perform at least one surgical procedure in response to the firing motion applied thereto. An articulation system can be operatively associated with the elongate shaft assembly to articulate the surgical end effector. The firing member assembly can be operatively associated with the elongate shaft assembly to apply a firing motion to the surgical end effector. The surgical instrument may further comprise a motor configured to produce a rotational actuation movement. The drive connector assembly operates the motor to apply an actuating motion to the articulation system to articulate the surgical end effector relative to the longitudinal axis of the instrument when the drive connector assembly is in the first configuration; When the drive connector assembly is in the second configuration, actuation of the motor applies an actuation motion to the firing member assembly to cause the firing member assembly to apply at least one of the firing motions to the surgical end effector, Can work with motor and joint flexion system.

  Another example surgical instrument may include a handle having an elongated shaft assembly that defines the longitudinal axis of the instrument and is operably coupled. The loading unit is operatively coupled to the elongate shaft assembly and configured to cut and staple tissue in response to an applied firing motion. The loading unit may be configured to selectively articulate around the articulation joint relative to the longitudinal axis of the instrument. The surgical instrument further comprises an articulating system comprising an articulating flexion assembly supported by the elongated shaft assembly and configured to operably interlock with the articulating shaft portion of the elongated shaft assembly and the loading unit. May be included. The articulation flexing mechanism may be supported by the handle, and may interlock with the articulation flexion assembly to apply the articulation flexion movement thereto. The surgical instrument may further comprise a firing member assembly operatively associated with the loading unit to apply a firing motion thereto. The motor may be operably supported by the handle and configured to produce rotational actuation motion. The drive connector assembly, when the drive connector assembly is in the first configuration, applies an actuation motion to the articulation system by operation of the motor to articulate the loading unit relative to the longitudinal axis of the instrument and drive connection When the tool assembly is in the second configuration, the motor and joint flexing so that actuation of the motor applies an actuation motion to the firing member assembly to cause the firing member assembly to apply at least one of the firing motions to the loading unit It can be interlocked with the operating mechanism.

  Yet another example surgical instrument may include an elongate shaft assembly that defines a longitudinal axis of the instrument. The surgical end effector may be operatively coupled thereto to selectively articulate relative to the elongate shaft assembly. The surgical end effector may be configured to perform at least one surgical procedure in response to the firing motion applied thereto. An articulation system can be operatively associated with the elongate shaft assembly to articulate the surgical end effector. The firing member assembly can be operatively associated with the elongate shaft assembly to apply a firing motion to the surgical end effector. The motor may be configured to produce a rotational actuation motion. The surgical instrument may further comprise means for selectively applying the output motion from the motor to each of the articulation system and the firing member assembly.

  In certain motorized surgical instruments, the motor may provide tactile feedback to the operator of the surgical instrument. For example, rotation of the motor may generate vibrations or noise that may be determined, for example, by the rotational direction and / or speed of the motor. However, because the noise that various motors can generate is minimal, tactile feedback to the surgeon may be limited and / or may not be perceived by the surgeon. For example, various modifications and / or improvements in the design of the motor and / or transmission can reduce haptic noise generated by the motor and / or transmission. In such embodiments, it may be advantageous to modify the motor and / or the gear assembly operatively coupled to the motor to generate artificial or intentional tactile feedback and / or other sensory feedback. is there. In certain embodiments, the surgical instrument can convey feedback to the surgeon without the surgeon having to look away from the surgical site. For example, the motor and / or gear can generate tactile and / or auditory feedback to convey to the surgeon. In such embodiments, the operator need not, for example, view the display screen to confirm the operating condition or status of the surgical instrument. As detailed herein, the surgical instrument may, for example, communicate the rotational direction of the motor, which may correspond, for example, to the firing direction of the firing member and / or the articulation of the loading unit. Additionally or alternatively, the surgical instrument may, for example, convey the velocity and / or position of the firing member during the firing stroke and / or, for example, the velocity and / or degree of articulation of the loading unit. it can.

  In various embodiments, as detailed herein, the motor can be operably coupled to the launch assembly and / or the articulation assembly. Referring to FIG. 168, motor 7010 can drive motor shaft 7014, which can engage, for example, gear assembly 7020. In various embodiments, a key such as key 7016 on motor shaft 7014 can engage a portion of gear assembly 7020. In certain embodiments, the gear assembly 7020 may include, for example, disks 7022, 7024, which may be structured to rotate or rotate rapidly with the motor shaft when engaged with the motor shaft 7014 by a key. . For example, the first disc 7022 is provided with a groove (not shown). Furthermore, a first key (not shown) extending from the motor shaft 7014 rotates in a clockwise direction (CW) when the motor shaft 7014 rotates clockwise (CW), and the motor shaft 7014 rotates counterclockwise (in FIG. The groove in the first disc 7022 can be engaged to rotate in CCW) and rotate in CCW. In at least one embodiment, the first key may remain engaged with the groove in the first disc 7022 throughout operation of the surgical instrument and / or its motor.

  In particular embodiments, the first disc 7022 may be balanced relative to its axis of rotation along the motor shaft 7014. Still referring to FIG. 168, a mass, such as mass 7026, may extend from the first disc 7022 and may shift the center of the mass of the first disc 7022 from the rotational axis of the first disc 7022. For example, the mass 7026 can extend away from the motor shaft 7014 and / or away from the outer circumference of the first disc 7022. In other words, the mass 7026 results in an unbalanced rotation of the first disc 7022 as a result of breaking the balance of the first disc 7022, thereby causing a centrifugal force when the first disc 7022 rotates with the motor shaft 7014. Can be generated. Thus, rotation of the first disc 7022 and the mass 7026 can generate haptic feedback such as, for example, vibration or rattling of the surgical instrument housing and / or handle. Haptic feedback may correspond to the operating state or condition of the surgical instrument. Furthermore, the tactile feedback caused by the rotation of the first disc 7022 and the mass 7026 may depend on the rotational speed of the motor shaft 7014. In such embodiments, the firing rate and / or the joint flexion rate can also be communicated, for example, to the surgeon. For example, the first disc 7022 may cause haptic feedback more frequently as the motor shaft 7014 rotates faster and less frequently as the motor shaft 7014 slowly rotates.

  Similar to the first disc 7022, in certain embodiments, the second disc 7024 may be balanced relative to its axis of rotation along the motor shaft 7014. Still referring to FIG. 168, however, a mass, such as mass 7028, may extend from the second disc 7024 and may offset the central portion of the mass. For example, the mass 7028 can extend away from the motor shaft 7014 and / or away from the outer periphery of the second disc 7024. In other words, the mass 7028 results in an unbalanced rotation of the second disc 7024 as a result of the imbalance of the second disc 7024, thereby causing a centrifugal force when the second disc 7024 rotates with the motor shaft 7014. Can be generated. Thus, rotation of the second disc 7024 and the mass 7028 can generate haptic feedback such as, for example, vibration or rattling of the surgical instrument housing and / or handle. Haptic feedback may correspond to the operating state or condition of the surgical instrument. Furthermore, the tactile feedback caused by the rotation of the second disc 7024 and the mass 7028 may depend on the rotational speed of the motor shaft 7014. In such embodiments, the firing rate and / or the joint flexion rate can also be communicated, for example, to the surgeon. In various embodiments, the first and / or second disc 7022, 7024 may comprise an additional mass, for example similar to the mass 7026 and / or 7028, for example the tactile of the surgical instrument housing and / or the handle It can further contribute to the reaction. Further, in some embodiments, the motor shaft 7014 can operatively engage additional and / or different disks of the gear assembly 7120 to selectively cause additional and / or different haptic feedback. .

  Continuing to refer to FIG. 168, the second disc 7024 may include an inner perimeter 7026. In various embodiments, the second key 7016 can extend from the motor shaft 7014 and can operatively engage the second disc 7024 via the inner perimeter 7030. The inner perimeter 7030 may include a plurality of planes 7032 and, for example, a plurality of arcuate surfaces 7034 between adjacent planes 7032. Each pair of planar and arcuate surfaces 7032, 7034 can define a groove, which can be structured to receive a second key 7016. In certain embodiments, when the key 7016 is rotated in a first direction, the key 7016 can abut the flat surface 7032 and be held and / or maintained in the groove of the second disc 7024. In such a configuration, the second disc 7024 can rotate in the first direction simultaneously with the motor shaft 7014. Further, in certain embodiments, when the key 7016 is rotated in a second direction opposite to the first direction, the key 7016 can be rotated past the arcuate surface 7034 to retain and / or maintain a groove in the inner perimeter 7030 You can do it. In other words, the key 7016 can rotate relative to the second disc 7024. In such a configuration, the motor shaft 7014 can rotate in the second direction with respect to the second disc 7024. Thus, the key 7016 may only engage with the second disc 7024, causing the second disc 7024 to rotate when the motor shaft 7014 rotates in a first direction. In certain embodiments, the first direction may correspond to CW rotation, and in another embodiment, the first direction may correspond to CCW rotation.

  As described herein, the engagement of the second disc 7024 may depend on the direction of rotation of the motor shaft 7014, such that when the motor shaft 7014 rotates in one direction, for example, the motor 7010 The second disc 7024 can only rotate when driving in a direction and / or rotating the loading unit in one direction. For example, the second disc 7024 can only rotate, for example, when the motor 7010 retracts the firing member or rotates the loading unit to CW. Such selective engagement of the second disc 7024 can affect tactile feedback generated by the surgical instrument. In other words, different and / or greater haptic feedback may occur based on the selective engagement of the second disc 7024. For example, in embodiments where the second disc 7024 only rotates when the motor 7010 is rotated to retract the firing member, greater haptic feedback may occur during retraction than during advancement of the firing member. During retraction, the second disc 7024 may also contribute to the generation of haptic feedback, which may result in a stronger or more cumulative feedback force. In such embodiments, the greater haptic feedback provided by the first and second disks 7022, 7024 can convey to the surgeon that the firing member is being retracted by the motor 7010. In various embodiments, from the above, only the first disc 7022 can rotate when the motor shaft 7014 rotates in one direction, and both disks 7022, 7024 can rotate when the motor shaft 7014 rotates in the opposite direction. . Thus, when motor shaft 7014 rotates in different directions, disks 7022, 7024 can produce different feedback.

  Referring now to FIG. 169, in certain embodiments, motor 7010 can drive motor shaft 7014, which may engage gear assembly 7120. In various embodiments, a key such as key 7016 on motor shaft 7014 can engage, for example, gear assembly 7120. Similar to gear assembly 7020, gear assembly 7120 may include a plurality of disks, such as a first disk 7122 and a second disk 7124. The first and second disks 7122, 7124 may be configured to rotate or rapidly rotate with the motor shaft when selectively engaged with the motor shaft 7014 by a key. For example, the first disc 7122 may be provided with a groove (not shown). Further, a first key (not shown) extending from the motor shaft 7014 can engage the groove of the first disk 7122 such that the first disk 7122 rotates with the motor shaft 7014. In certain embodiments, the first key can not disengage from the groove of the first disc 7122 during use. The second disc 7124 may include an inner perimeter 7130 similar to the inner perimeter 7030 of the second disc 7024, for example. The inner perimeter 7130 may include a plurality of planar surfaces 7132 and a plurality of arcuate surfaces 7134. As described herein with respect to FIG. 168, the key 7016 can selectively engage and disengage the inner perimeter 7130 of the second disk 7124 depending on the direction of rotation of the motor shaft 7014. For example, when the motor shaft 7014 rotates in a first direction, the key 7016 can engage the second disc 7124, thereby causing the second disc 7124 to rotate with the motor shaft 7014. Furthermore, when the motor shaft 7014 rotates in the second direction, the key 7016 remains disengaged from the second disc so that the key 7016 can rotate relative to the second disc 7024 in its inner periphery 7130. May be there.

  In various embodiments, the first disc 7122 may comprise at least one tab 7126 and the second disc 7124 may also comprise at least one tab 7128. As the disks 7122, 7124 rotate, the claws 7216, 7128 may encounter elements of the audio feedback generator 7140. For example, the claws 7216, 7128 can hit the clickers 7142, 7144 of the audio feedback generator 7140. In various embodiments, the claws, ie, the claws 7126 of the first disc 7122 may bend against the first clicker 7142 as the first disc 7122 rotates, and the claws, ie, the claws 7128 of the second disc 7124 As the disc 7124 rotates, it may bend and hit the second clicker 7144. Upon collision with the clickers 7142 7144 and turning, the clickers 7142 7144 can resonate to produce an auditory signal. In other words, the rotation of the first and second disks 7122 may cause audio feedback. In addition, the rotational speed of the spinning disks 7122 7124 and / or the number and placement of the tabs extending from the first and second disks 7122 7124 may affect the frequency of the auditory signal. In such embodiments, the speed of the motor and the firing rate of the corresponding firing element, and / or the articulation rate of the loading unit can be communicated, for example, to the surgeon.

  Referring primarily to FIGS. 170 and 171, in various embodiments, the shape of the claws 7126, 7128 may affect the auditory signal generated by the audio feedback generator 7140. For example, the tabs 7126, 7128 may each include a non-attenuation surface 7150 and an attenuation surface 7152. For example, the non-damping surface 7152 may comprise a plane, for example the damping surface 7152 may comprise an arcuate surface. In various embodiments, if the unattenuated surface 7150 of the claw 7126 rotationally precedes the attenuating surface 7152 of the claw 7126 (FIG. 170), then by tracing the attenuating surface 7152 of the claw 7126, the resonance of the clicker 7142 is attenuated and And / or can be stopped. For example, the arc shape of the damping surface 7152 may contact a curved clicker 7126 to block and / or suppress vibration or resonance of the clicker 7126. Conversely, if the attenuating surface 7152 of the claw 7126 rotationally precedes the unattenuated surface 7150 of the claw 7126 (FIG. 171), the unattenuated surface 7150 of the claw 7126 can not attenuate the clicker 7142 resonance. For example, the planar shape of the non-damping surface 7150 can prevent and / or limit contact with the bent clicker 7126 such that the clicker 7126 can resonate and / or be less restrained. In other words, the direction of rotation of the disks 7122, 1724 and associated claws 7126, 7128 may affect auditory feedback generated by the surgical instrument. Thus, the surgeon need not look away from the surgical site and can communicate the operating status of the surgical instrument in use to the operator of the surgical instrument. For example, the audio signal can be attenuated when the firing member is retracted, and can not be attenuated when the firing member is advanced. In another embodiment, for example, the sound signal can be attenuated as the firing member advances and can not be attenuated as the firing member retracts. Furthermore, in some embodiments, for example, the attenuated auditory signal may correspond to joint flexion in one direction of the loading unit, and the unattenuated auditory signal in joint flexion in the other direction of the loading unit. It can correspond. In various embodiments, at least one audio feedback generator can be used alone and / or in combination with at least one haptic feedback system. Furthermore, in some embodiments, at least one haptic feedback system can be used alone and / or in combination with at least one audio feedback generator. Voice feedback and haptic feedback can, for example, convey different operating conditions to the surgeon and / or provide dual feedback to the surgeon regarding the same operating condition.

  In various embodiments, the surgical instrument may provide feedback when the firing element approaches and / or reaches the end of the firing stroke and / or when the loading unit approaches and / or reaches the joint flexion limit. it can. In various embodiments, such feedback may be different and / or additional to the feedback that occurs during the firing stroke and / or when the loading unit flexes. Thus, the surgical instrument may, for example, inform the operator that the firing stroke is approaching and / or completed, and / or the loading unit has approached the joint flexion limit, and / or the joint. The operator can be notified that the flex limit has been reached.

  Referring now to FIG. 172, the motor 7010 and motor shaft 7014 can be operatively engaged with the gear assembly 7120, as described in detail above. Further, the disks 7122, 7124 of the gear assembly 7120 can contact an audio feedback generator 7240, which may be similar to, for example, the audio feedback generator 7140. For example, claws 7126, 7128 on disks 7122, 7124 can cause clickers 7242, 7244 to resonate and produce auditory feedback by bending the clickers 7242, 7244 of the audio feedback generator 7240. Further, the audio feedback generator 7240 can be moved or translated relative to the gear assembly 7120. As detailed below, the audio feedback generator 7240 selectively moves into and / or out of engagement with the clickers 7242, 7244 on the disks 7122, 7124, selectively aural signals Can be generated. In another embodiment, the motor, gear assembly, and the like move the claws of the disc to selectively engage and / or disengage with the clicker of the audio feedback generator to selectively generate an audible signal. And / or the disk can be moved.

  In various embodiments, the audio feedback generator 7240 can translate in the surgical instrument as the firing member moves during the firing stroke. For example, at the beginning of the firing stroke, the audio feedback generator 7240 may not be aligned with the claws 7264, 7128 of the disks 7122, 7124. Further, as the firing member approaches the end of the distal movement and / or firing stroke, the audio feedback generator 7240 moves in and / or out of alignment with the pawls 712 and 7128 of the disks 7122 and 7124. it can. In such embodiments, the audio feedback generator 7240 can generate auditory feedback as the firing member approaches the end of the firing stroke and / or at that point. Referring to FIG. 173, for example, the feedback generator generates feedback, for example, when the firing member is in and / or in the range of positions approaching the end of the firing stroke, and causes the surgeon to position the firing member. Can be informed. In such embodiments, the surgical instrument can signal the operator the end of the firing stroke. For example, referring again to FIG. 172, the at least one pawl 7126, 7128 can be aligned with the at least one clicker 7242, 7244 as the firing member approaches the distal end of the firing stroke. The surgical instrument can then generate feedback and communicate the position of the firing member to the surgeon. Greater and / or different feedback can be conveyed to the surgeon as each tab 7126, 7128 aligns with one of the clickers 7242, 7242. Furthermore, as the firing member retracts, the at least one pawl 7126, 7128 may become out of alignment with the clickers 7242, 7244 to deliver reduced and / or different feedback to the surgeon. Thus, as the feedback generator moves during the firing stroke, the feedback generator can provide the operator with various feedback based on the position of the launch member. Additionally, the gear assembly 7120 may include additional discs and / or claws that can be moved to engage and / or disengage the audio feedback generator 7240 and / or the audio feedback generator 7240 can There may be an additional clicker that can be moved into and / or out of engagement with the In various embodiments, the audio feedback generator can communicate to the surgeon another and / or additional position of the firing member. For example, the audio feedback generator can deliver auditory feedback at mid points and / or points along the length of the firing and / or retraction stroke.

  Referring now to FIGS. 174 and 175, a moveable feedback generator can also be utilized to communicate the articulation limits of the loading unit to the surgeon. For example, the audio feedback generator 7240 shown in FIG. 172 can, for example, translate as the loading unit flexes. For example, when the loading unit is in an unarticulated configuration, the audio feedback generator 7240 may not be aligned with the claws 7126, 7128 of the disks 7122, 7124. Further, as the loading unit articulates, the audio feedback generator 7240 can be moved in and / or out of alignment with the claws 7126, 7128 of the disks 7122, 7124. In such embodiments, the audio feedback generator 7240 can generate auditory feedback as the loading unit approaches and / or at the joint flex limit. For example, referring again to FIGS. 174 and 175, the feedback generator generates feedback when the firing member is in and / or in the range of positions approaching the end of the firing stroke, causing the surgeon to We can tell position. In such embodiments, the surgical instrument can communicate an articulation limit to the operator. For example, referring again to FIG. 172, the at least one tab 7126, 7128 can be aligned with the at least one clicker 7242, 7244 as the loading unit approaches its articulation limit, eg, 45 degrees. The surgical instrument can then generate feedback and communicate the position of the firing member to the surgeon. When the loading unit approaches and / or is at the limit of joint flexion, each pawl 7126, 7128 can be aligned with one of the clickers 7242, 7242 to deliver greater and / or different feedback to the surgeon. Furthermore, when the loading unit returns joint flexion to an unarticulated intermediate position, the at least one pawl 7162, 6128 may become out of alignment with the clickers 7242, 7244, which is reduced and / or different. Give feedback to the surgeon. Thus, as the feedback generator moves during the firing stroke, the feedback generator can convey various feedback to the operator based on the configuration of the loading unit.

  In various embodiments, it may be advantageous to prevent certain components of the surgical instrument from fluid contact. For example, unintentional contact with bodily fluids during use may destroy the surgical instrument and may limit and / or shorten the useful life of the surgical instrument. In addition, it may be advantageous to prevent certain components of the surgical instrument from liquid contact during disinfection. For example, unintentional contact with disinfecting and / or cleaning fluid may destroy the surgical instrument and may prevent and / or limit the possibility of reuse of the surgical instrument. In various embodiments, certain components of the surgical instrument can be sealed and / or protected from fluid contact. For example, the electronics in the surgical instrument may be sealed in epoxy to protect from liquids. For example, moving components of the surgical instrument, such as part of the motor and / or gear assembly, can also be protected from sealing and / or liquid contact. Such a seal can, for example, accommodate the rotation of various moving components. Further, in various embodiments, such a seal may facilitate heat transfer such that the heat generated during operation of the surgical instrument is dissipated more efficiently.

  Referring now to FIGS. 185 and 186, in certain embodiments, motor 7510 and / or gear assembly 7520 may be sealed and / or protected from liquid during use and / or during a sterilization process. For example, motor 7510 may be similar to motor 100, for example, gear assembly 7520 may be similar to gear assembly 170. To seal and protect the motor 7510, a motor housing, such as a rubber sleeve, may be disposed around the motor 7510 in the housing 12 (FIG. 1) of the surgical instrument 10 (FIG. 1). Such rubber sleeves can limit heat transfer from the motor 7510, which may tend to overheat. In another embodiment, referring again to FIGS. 185 and 186, the motor housing may include a clamshell type cover 7516, which may be disposed, for example, around the motor 7510. In various embodiments, the clamshell cover 7516 may comprise at least two portions, which may, for example, be hinged and / or gripped together. The clamshell cover 7516 can allow rotation of the motor 7510 and / or the motor shaft. Additionally, in certain embodiments, the clamshell cover 7516 can facilitate heat transfer from the motor 7510 held therein. For example, contact device 7512 (FIG. 186), similar to contact device 210, can be used to supply current to motor 7510. For example, contact device 7512 may be, for example, positive and negative annular contacts 7514a, 7514b (which may be operatively connected to fixed positive and negative contacts 7518a, 7518b (FIG. 186) held by clamshell type cover 7516). Figure 186) may be provided. In addition, the clamshell cover 7516 comprises, for example, an annular seal or gasket 7519 which can abut the periphery of the motor 7510 and seal the motor 7510 and the contact device 7512 in the clamshell cover 7516. Good. In certain embodiments, the clamshell cover 7516 can include a metallic material that can facilitate heat transfer from the motor 7510 and, for example, prevent overheating and / or destruction of the motor 7410.

  With continued reference to FIGS. 185 and 186, the gear assembly 7520 can also be sealed and / or protected from liquid during use and / or during the sterilization process. For example, the gasket 7522 may be disposed between the motor 7510 and the housing of the gear assembly 7520 such that the motor 7510 and the gear assembly 7520 form a fluid tight seal. Additionally, a sealing sleeve 7530 may be disposed around the housing of the gear assembly 7520. The sealing sleeve 7530 may comprise an edge 7536 that may abut the clamshell cover 7516 and / or the motor 7510 to provide a fluid tight seal therebetween. Sealing sleeve 7530 may include an opening 7532 for output shaft 7524. For example, the output shaft 7524 of the gear assembly 7520 can extend through the opening 7532 and the fins 7534 extend toward the output shaft 7524 while allowing rotation of the output shaft 7524 in the opening 7532 Can provide a fluid tight seal. In various embodiments, the sealing sleeve 7530 and / or the edge 7536, the gasket, and / or the fin 7534 thereof may be of rubber and / or a material suitable to form another fluid tight seal. . In various embodiments, for example, a mounting bracket similar to the holder 190, ie, the motor holder 7540, is a gear assembly 7520 and motor sealed within the housing 12 (FIG. 1) of the surgical instrument 10 (FIG. 1). It can hold 7510.

  Figures 32-37 illustrate another surgical instrument 910 that may comprise the many features of the other surgical instruments disclosed herein. In at least one form, the surgical instrument 910, with the articulation mechanism disclosed in Zemlok '763, Zemlok' 344 and / or US Pat. No. 7,431,188, except for the differences described below. An articulating actuating mechanism, generally designated 860, may be provided which may be substantially similar. In another configuration, the surgical instrument may include various forms of alternative articulation flexing mechanisms as described herein. As shown in FIG. 32, the instrument 910 comprises a housing 12 which may comprise a barrel mount 90 having a rotatable member 92 mounted thereon. A rotatable member 92 is associated with the proximal end of the elongate shaft assembly 16 to facilitate rotation of the elongate shaft assembly 16 relative to the housing 12. Such a configuration allows the clinician to selectively select the elongate shaft assembly 16 and the loading unit 20 (or other form of surgical end effector) coupled thereto about the longitudinal axis "LA-LA" of the instrument. Can be rotated. The rotatable member 92 may be irremovably attached to the barrel portion 90 or may be designed to be selectively removed therefrom.

  As disclosed herein, depending on the type and / or configuration of the surgical end effector employed, it may be desirable to supply current to the end effector. For example, the end effector can use sensor (s), light (s), actuator (s), etc. that require power to operate. In such a configuration, however, the conductor system carrying power from the power source to the surgical end effector or loading unit through the elongate shaft may be wound up and severely destroyed, especially if the elongate shaft is rotated for more than one rotation Thus, the ability of the surgical end effector to rotate about the longitudinal axis "LA-LA" of the instrument may be severely limited. The various surgical instruments disclosed herein may use a conductor management system, generally designated 930, which may avoid these problems.

  Referring again to FIG. 32, the surgical instrument 910 may be powered by the power supply 200. The power supply may, for example, be of the type detailed further in Zemlokem 763. For example, power supply 200 may include rechargeable batteries (eg, lead-based, nickel-based, lithium ion-based, etc.). It is also envisioned that the power supply 200 may include at least one disposable battery. In at least one configuration, for example, the disposable battery may be about 9 volts to about 30 volts. FIG. 32 shows an example where the power supply 200 comprises a plurality of batteries 202. The number of batteries used may depend on the current loading requirements of the instrument 910. It is also contemplated that the power supply may include an alternating current source usable in the operating room. For example, using an external power cord and plug (not shown), AC from the operating room outlet to the various components, conductors, sensors, switches, circuits, etc. in the surgical instrument housing and / or end effector It can carry current. In another application, the surgical instrument 910 can obtain power from, for example, an attached or otherwise coordinated robotic system.

  As further shown in FIG. 32, the conductor management system 930 comprises a primary conductor member or wire 932 coupled to the power supply 200 or otherwise interlocked to receive power therefrom. You may Primary conductor member 932 is coupled to a helical, wound and / or windable conductor assembly 934 that is directed within rotatable member 92. In one configuration, for example, a helical conductor assembly 934 may be formed or otherwise may include, for example, a ribbon-like conductor system 936 which is helically wound in the manner shown in FIGS. For example, the helical conductor assembly 934 may be formed from a helically wound conductor system, which may have similar properties to, for example, a helically wound spring such as a torsion spring. In one form, for example, conductor system 936 may be wound continuously rotating or winding, as shown in FIGS. In various configurations, conductor system 936 may be wound in one or more complete turns. For example, conductor system 936 shown in FIGS. 36 and 37 is configured to rotate five or more times completely.

  In various forms, conductor system 936 has a first end 938 that can be secured to, for example, barrel portion 90 of housing 12. In addition, the conductor system 936 further has a second end 940 attached to or otherwise supported by the rotatable member for rotational movement with the rotatable member 92. Thus, as the rotatable member 92 rotates about the barrel portion 90 in the first rotatable direction, the helically wound conductor system 936 is tightened more tightly. Conversely, when the rotatable member 92 is rotated in the second rotatable direction, the degree of tightness of the helically wound conductor system 936 may be loosened. In the configuration in which the rotatable member 92 is removably supported on the barrel portion 90, the first end 938 of the helically wound conductor system 936 is in a slot or another mounting cavity 942 in the barrel portion 90. , Can be removably supported. See, for example, FIGS. 36 and 37. In addition, primary conductor member 932 may be removably coupled to helical conductor assembly 934 by connector assembly 933. Specifically, a primary conductor is provided at the first end 938 of the helically wound conductor system 936 to facilitate removal of the rotatable member 92 from the barrel portion 90 using the removable connector assembly 933. The members 932 can be coupled. In another configuration not intended to remove the rotatable portion 92 from the barrel portion, the first end 938 of the spirally wound conductor system 936 may be irremovably secured to the barrel portion 90, the primary conductor member 932 may be permanently affixed (eg, soldered) to the first end of the helically wound conductor system 936.

  The second end 940 of the helically wound conductor system 936 may be non-removably secured to the rotatable member 92 by an adhesive, mechanical retainer, snap mechanism or the like. In another configuration, the second end 940 of the helically wound conductor system 936 is removably supported in a slot or other mounting mechanism provided on the rotatable member 92 and helically wound. The removal of the conductor system 936 from the rotatable portion 92 can be facilitated. As shown in FIGS. 32 and 33, the secondary shaft conductor member 944 is attached to the second end 940 of the helical cable assembly 934. A secondary shaft conductor member 944 may be supported within the rotatable member 92 and extend through the hollow elongate shaft assembly 16. For example, the secondary shaft conductor member 944 extends through the elongate shaft assembly 16 to its distal end and is attached to a surgical end effector, other conductor system associated with a loading unit, etc., sensors, powered elements, etc. Can work with Thus, when the clinician rotates the rotatable member 92 relative to the housing 12, the helical conductor assembly 934, more specifically, the helically wound conductor system 936 is wound into a somewhat tighter helix, while The supply of power from the power supply 200 to the surgical end effector, loading unit, etc. is facilitated. When the clinician rotates the rotatable member 92 in the opposite direction relative to the housing 12, the helically wound cable 936 is unwound to some extent, while the power supply 200 from the various configurations such as the surgical end effector, loading unit, etc. The supply of power to elements, sensors etc. is still facilitated.

  As further shown in FIGS. 34 and 35, the conductor management system 930 may further comprise a rotation limiting assembly, generally designated 950. In at least one configuration, for example, the rotation limiting assembly 950 is movably attached to the rotatable member 92 and configured to threadably engage the threaded portion 99 on the barrel 90 of the housing 12; A restriction member 952 is provided. As shown in FIG. 33, the restrictor 952 may include a pair of opposing tabs 954 on each side of the axial fin 958 formed on the rotatable member 92. With this arrangement, when the rotatable member 92 rotates on the barrel portion 90 of the housing 12, the restrictor 952 can move axially within the rotatable member 92. The opposite end 960 of the limiting member 952 is configured to threadably engage the threaded portion 99 of the barrel 90. The inwardly extending proximal stop wall 962 and the inwardly extending distal stop wall 964 of the rotatable member 92 axially move the restrictor 942 as the rotatable member 92 rotates on the barrel 90. Help to define the travel distance "TD".

  FIG. 33 shows the restrictor 952 approximately halfway between the proximal stop wall 952 and the distal stop wall 954. When in this position, rotation of the rotatable member 92 in the first direction relative to the barrel portion 90 results in a distal direction until the restrictor 952 contacts the distal stop wall 964 as shown in FIG. The restraint moves axially to "DD". Similarly, axial rotation in the proximal direction “PD” until the restrictor 952 contacts the proximal stop wall 962 of the rotatable member 92 as a result of rotating the rotatable member 92 in the opposite direction relative to the barrel portion 90 Move to Such a configuration limits the number of times the rotatable member 92 can fully rotate around the barrel portion 90 and prevents inadvertent destruction of the helical conductor assembly 934. For example, the restriction assembly 950 may be rotated by the clinician at least one complete rotation in any direction around the elongate shaft assembly, and more specifically, the barrel portion 90, for example, three or less complete rotations. The enabling member 92 can be enabled to rotate. However, the number of rotations, and more specifically, the rotatable distance of the rotatable member 92 on the barrel 90 can be adjusted by adjusting the degree of travel distance "TD".

  FIG. 33 shows the restrictor 952 in an “intermediate” or “central” position, with the restrictor located centrally between the distal stop wall 954 and the proximal stop wall 952. In at least one form, biasing member 980 can be used to bias restrictor 952 to corresponding intermediate positions when elongate shaft assembly 16 and rotatable member 92 are in the intermediate position. As the clinician applies rotational motion to the rotatable portion 92, the elongate shaft assembly 16 rotates as described above. However, when rotational movement is not continuously applied to the rotatable member 92 and the elongate shaft assembly 16, the biasing member 980 returns the restrictor 952 to the intermediate position.

  For example, the at least one surgical instrument may comprise a housing which may comprise a rotatable member supported on the mounting of the housing for rotating around within the rotation range. An elongate shaft assembly defining a longitudinal axis of the instrument may be operatively coupled to the rotatable member for rotational movement with the rotatable member about the longitudinal axis of the instrument. The surgical instrument may further comprise a power source and may comprise a conductor management system. The conductor management system may comprise a wound conductor assembly which may be supported in the rotatable member, the first conductor end fixed to the attachment of the housing and for rotating with the rotatable member within the rotation range And a second conductor end fixed to the rotatable member. The conductor management system may further comprise a primary conductor system supported in the housing and configured to deliver power from the power source to the wound conductor assembly. The shaft conductor system may be coupled with a wound conductor assembly for delivering electrical power to the distal end of the elongate shaft assembly.

  Another example surgical instrument may comprise a housing comprising a rotatable member supported on a mounting of the housing. The surgical instrument may further comprise an elongate shaft assembly that may be operably coupled to the rotatable member for defining a longitudinal axis of the instrument and for rotational movement with the rotatable member about the longitudinal axis of the instrument. . The surgical instrument may further comprise a power source and means for transmitting power from the power source throughout the conductor system extending through the elongate shaft assembly. The surgical instrument includes a rotational travel around the attachment of the rotatable member, at least one complete rotation about the attachment, and at least three full rotations. It may further comprise limiting means.

  As outlined herein, the end effector can be attached to a surgical instrument. As further outlined herein, the surgical instrument may include a firing drive configured to fire the staples from an end effector that includes a staple cartridge. Turning now to the exemplary embodiment shown in FIG. 94, for example, a surgical instrument 9000 comprises a housing, a grip 9012, a firing actuator 9014, and a motor disposed within the housing A handle 9010 may be provided. The surgical instrument 9000 may further comprise a shaft 9040 comprising a firing rod 9020 that can be advanced and / or retracted proximally by a motor. In certain situations, the end effector may comprise a distal portion that can articulate relative to the proximal portion around a articulation joint. In other situations, the end effector may not have an articulation joint. The surgical instrument may further comprise an articulation driver configured to articulate at least a portion of the end effector. Referring again to the representative embodiment shown in FIG. 94, for example, the surgical instrument 9000 can be configured to drive the distal portion of the end effector around the articulating joint, an articulating actuating device 9070 It may further be provided. The end effector shown in FIG. 94, ie, end effector 9060, is not shown as an articulatable end effector, however, an articulatable end effector can be used with surgical instrument 9000. For example, when using an inflexible end effector such as end effector 9060 with surgical instrument 9000, the operation of articulation actuator 9070 may not affect the operation of end effector 9060.

  In addition to the above, the end effector may comprise a drive system corresponding to the drive system of the surgical instrument. For example, when end effector 9060 is assembled to a surgical instrument, end effector 9060 may comprise a firing member that may be operably engaged with the firing rod 9020 of surgical instrument 9000. Similarly, when the end effector is assembled to a surgical instrument, the end effector may include an articulation drive that can be operatively engaged with the articulating rod of the surgical instrument. Further, when end effector 9060 is attached to surgical instrument 9000, end effector 9060 may comprise a proximal connection 9069, which may be attached to distal connection 9042 of shaft 9040 of surgical instrument 9000, for example. In various situations, it may be necessary to properly assemble the end effector connections, drive system, and articulation system to the surgical instrument before the end effector can be used properly.

  Referring again to FIG. 94, handle 9010 may include a firing trigger 9014 that may be configured to operate the motor in handle 9010 when actuated by the user of surgical instrument 9000. In various situations, the handle 9010 may comprise a controller that may be configured to detect actuation of the firing trigger 9014. In some cases, actuation of the firing trigger 9014 can close an electrical circuit in signal communication with the controller. In such case, the controller may then be configured to actuate the motor to advance the firing rod 9020 distally to move the jaws 9062 of the end effector 9060 towards the jaws 9064. In some situations, the handle 9010 may comprise at least one sensor that may be configured to detect the force applied to the firing trigger 9014 and / or the degree to which the firing trigger 9014 has moved. The sensor (s) may be in signal communication with a controller, where the controller may be configured to adjust the speed of the motor based on one or more input signals from the sensor. The handle 9010 may include a safety switch 9015 that needs to be depressed before the controller actuates the motor in response to an input from the firing trigger 9014. In various situations, the safety switch 9015 can be in signal communication with a controller, where the controller can electronically lock out the use of the motor until the safety switch 9015 is depressed. The handle 9010 may also include a retraction actuator 9074 that, when actuated, may actuate the motor in the opposite direction to retract the firing rod 9020 and allow the jaws 9062 to move away from the jaws 9064. In various situations, actuation of the reverse actuation device 9074 can close an electrical circuit in signal communication with the controller. In some cases, the safety switch 9015 may need to be depressed before the controller actuates the motor in the opposite direction in response to the input from the reverse actuation device 9074.

  Before and / or during use of the surgical instrument 9000, the surgical instrument 9000 and / or certain systems of the surgical instrument 9000 may become inoperable, malfunctioning, and / or malfunctioning. In certain circumstances, the user of the surgical instrument may not readily know such defects and / or how to solve them, which may be annoying to the user. Moreover, such indeterminacy may increase the time required to address defects, or "errors." The surgical instrument 9000 is an improvement over the above. Referring again to FIG. 94, the surgical instrument controller 9000 is configured to detect errors in the surgical instrument 9000 and to communicate the errors to the user of the surgical instrument 9000 via one or more indicators. It can be done. The surgical instrument 9000, when activated by the controller, may indicate the nature of the error and / or otherwise be able to draw attention to the system of the surgical instrument 9000 that is otherwise defective Or two or more indicators may be provided. For example, surgical instrument 9000 may comprise end effector indicator 9086, which may be configured to indicate, for example, that the end effector is not assembled to shaft 9040 of surgical instrument 9010. In various situations, surgical instrument 9000 is configured to detect when the end effector is assembled to shaft 9040 and / or correspondingly when the end effector is not assembled to shaft 9040 A sensor may be provided. The sensor can be in signal communication with the controller so that the controller can receive signals from the sensor and can determine if the end effector has been assembled to the shaft 9040. If the controller verifies that the end effector is not assembled to the shaft 9040, the controller can activate the end effector indicator 9086. In various situations, the end effector indicator 9086 may comprise a light, such as, for example, a red light. In some situations, end effector indicator 9086 may comprise a light emitting diode, such as, for example, a red light emitting diode. Additionally or alternatively, the surgical instrument 9000 may include a sensor in signal communication with the controller, which may be configured to detect when the end effector attached to the shaft 9040 has previously been used. . For example, such a sensor may be configured to verify that at least a portion of the staples stored in the end effector have been fired and / or that the staple firing member within the end effector has been previously advanced. You may In such a case, the controller can activate the end effector indicator 9086. Thus, actuation of the end effector indicator 9086 requires the user of the surgical instrument 9000 to have some errors associated with the end effector and to handle such errors prior to operating the surgical instrument 9000, or We can tell that we have to deal with it. From FIG. 94, the reader indicates that the end effector indicator 9086 is adjacent to the distal end of the shaft 9040 and, in various circumstances, may be disposed at or near the distal connection 9042 of the shaft 9040. You will understand. In various situations, end effector indicator 9086 may be disposed on end effector 9060. In any event, when end effector indicator 9086 lights up, as a result of the above, the user of surgical instrument 9000 can quickly ascertain that an error exists and that the error is somehow associated with the end effector. The illumination of the end effector indicator 9086 may indicate to the user if the end effector is not fully assembled to the shaft 9040 and / or if the end effector needs to be replaced.

  In addition to or instead of end effector indicator 9086, the surgical instrument may include one or more indicators. For example, surgical instrument 9000 may include a firing trigger indicator 9081. The firing trigger indicator 9081 can be in signal communication with the surgical instrument controller 9000 such that, for example, the controller can activate the firing trigger indicator 9081 if the controller detects an error with respect to the firing drive of the surgical instrument 9000. As shown in FIG. 94, the firing trigger indicator 9081 may be disposed adjacent to the firing trigger 9014. In such a situation, upon seeing the actuation of the fire trigger indicator 9081, the user of the surgical instrument 9000 can infer that an error with the fire drive has occurred and can begin diagnosing the source of the error. In some situations, the controller may activate the firing trigger indicator 9081, for example, when the battery of the surgical instrument 9000 is somehow failing. For example, if the battery voltage falls below a desired level, the battery may not be able to operate the motor in the desired manner, for example, the firing trigger indicator 9081 may indicate that the battery needs to be replaced. In various situations, when the controller illuminates an indicator such as, for example, end effector indicator 9086 and / or firing trigger indicator 9081, the controller then deactivates one or more operating systems of surgical instrument 9000 it can. For example, the controller may operatively disconnect the firing trigger 9014 from the motor so as not to actuate the firing trigger 9014 and not actuating the motor, for example when the end effector indicator 9086 and / or the firing trigger indicator 9081 are illuminated. May be configured. The operable uncoupling of the firing trigger 9014 from such a motor may cause the user of the surgical instrument 9000 to encounter an error with the surgical instrument and the user may have the nature of the error. It may also indicate that the indicator of the surgical instrument 9000 needs to be checked to confirm.

  Referring again to the exemplary embodiment of FIG. 94, the surgical instrument 9000 may include a retraction actuator indicator 9085 disposed adjacent to the retraction actuator 9074. Similar to the above, the reverse actuator indicator 9085 can be in signal communication with the controller, where, for example, the controller can illuminate the reverse actuator indicator 9085 if the controller detects an error associated with reverse drive. In various situations, the controller can illuminate the reverse drive indicator 9085 if the safety switch 9015 is not depressed prior to activating the reverse drive 9074. In such situations, the reverse actuation device indicator 9085 can act as a reminder of the safety switch 9015 depression. In certain situations, surgical instrument 9000 may include a safety switch indicator 9082 disposed adjacent to safety switch 9015. In some situations, the surgical instrument controller 9000 can cause the safety switch indicator 9082 to light when the user actuates the retraction actuator 9074 prior to activating the safety switch 9015. The safety switch indicator 9082 can be in signal communication with the controller, when, for example, the controller detects the safety switch indicator 9082 if the controller detects that the launch system can not be switched on between the launch mode and the reverse mode. It can be made to shine. The surgical instrument 9000 may include an articulation actuator indicator 9084 disposed adjacent to the articulation actuator 9070. Similar to the above, the articulation actuator indicator 9084 can be in signal communication with the controller, where, for example, the controller can illuminate the articulation actuator indicator 9084 if the controller detects an error associated with articulation drive. . The surgical instrument 9000 may include a shaft indicator 9083 disposed adjacent to a shaft connection configured to attach the shaft 9040 to the handle 9010. As above, the shaft indicator 9083 can be in signal communication with the controller, where, for example, the controller can illuminate the shaft indicator 9083 if the controller detects an error associated with the shaft 9040.

  Referring now to FIG. 95, a surgical instrument 9100 can be a user of the surgical instrument 9100 that there may be one or more errors relating to the surgical instrument 9100 and / or the end effector attached thereto. A handle 9110 may be provided, including an indicator array 9190, configured and actuated as shown in FIG. Indicator array 9190 can be arranged in any suitable manner. In various situations, indicator array 9190 may be arranged, for example, in the shape of, or similar to, the shape of surgical instrument 9100 and / or an end effector attached thereto. In at least one case, the outer surface of the handle 9110 may include, for example, a depiction of an end effector attached to the surgical instrument 9100 and / or the surgical instrument. Indicator array 9190 is configured to indicate, for example, the portion of the surgical instrument 9100 and / or the end effector that is in error, is in error, and / or needs to be examined to address the error. Can be positioned relative to the contours of the surgical instrument and the end effector. For example, boundaries may be delineated to indicate end effector 9060, shaft 9040, handle 9010, firing trigger 9014, safety switch 9015, reverse actuator 9074, and / or articulation actuator 9070. In various situations, for example, end effector indicator 9192 may be disposed adjacent to a depiction of end effector 9060, shaft indicator 9193 may be disposed adjacent to a depiction of shaft 9040, and firing trigger indicator 9191 is , The safety switch indicator 9195 may be disposed adjacent to the depiction of the safety switch 9015 and the reverse actuator indicator 9196 is adjacent to the depiction of the reverse actuator 9074. And / or the articulation actuator indicator 9194 may be disposed adjacent to the depiction of the articulation actuator 9070. In various situations, indicators 9191, 9192, 9193, 9194, 9195 and / or 9196 may each include a light emitting diode. In some circumstances, each light emitting diode may include a red light emitting diode that can be illuminated by the controller to indicate the presence of an error. In various situations, the controller may be configured to pulsate the light of the light emitting diode, which may reduce the time it takes the user to notice that the indicator is illuminated. In certain circumstances, each indicator may include a light emitting diode capable of emitting more than one color. In some circumstances, such light emitting diodes may each be configured to selectively emit, for example, red and green. The controller may be green if no errors are detected for the surgical instrument 9100 and / or the associated portion of the end effector attached thereto, or alternatively, the association of the surgical instrument 9100 and / or the end effector attached thereto The red light emitting diode may be configured to illuminate when an error is detected for the portion.

  In some circumstances, the controller 9000 of the surgical instrument may be configured to activate one or more actuators of the surgical instrument, as the controller illuminates an indicator associated with the actuators, as described in further detail below. For example, the firing trigger 9014, the retraction actuator 9074, and / or the articulation actuator 9070 etc can be locked out. For example, the controller may trigger firing trigger 9014 when firing firing trigger indicator 9081, retraction actuator 9074 when firing retraction actuator indicator 9085, and / or articulation when firing articulation actuator indicator 9084. Device 9070 can be locked out. The handle 9010 of the surgical instrument 9000 may comprise, for example, a firing trigger lock that may be configured to selectively “lock out” the firing trigger 9014 and prevent actuation of the firing trigger 9014. The firing trigger lock can prevent sufficient actuation of the firing trigger 9014 to actuate the motor of the surgical instrument. In at least one such situation, the firing trigger 9014 can be prevented from closing the firing trigger switch. In certain circumstances, the surgical instrument controller 9000 is configured to electronically lock out the firing trigger 9014 in addition to activating the firing trigger lock, ie, to prevent battery power from being supplied to the motor. May be done. In such situations, the electronic lockout and the mechanical lockout may overlap, but the mechanical lockout provides feedback to the user of the surgical instrument 9000 as to whether the firing drive is operatively deactivated. Can be provided. As mentioned above, the controller 9000 of the surgical instrument can also provide feedback via, for example, the firing trigger indicator 9081. In this way, the user of surgical instrument 9000 can be provided with tactile and / or visual feedback that an error has occurred. In some situations, haptic feedback may prompt the user of surgical instrument 9000 to begin searching for visual feedback. For example, when the user attempts to activate the firing trigger 9014 and the firing trigger 9014 can not be actuated, the user can then check the instrument for a lighted indicator. In any event, once the error is resolved, the controller can unlock the firing trigger 9014 by deactivating the firing trigger lock.

  Turning now to FIG. 100, the surgical instrument 9000 may comprise a firing trigger lock 9390, which may be configured to lock out the firing trigger 9014. The fire trigger lock 9390 may be movable between the locked state shown in FIGS. 100, 101 and 103 and the unlocked state shown in FIG. When the end effector is not assembled to the shaft 9040 of the surgical instrument 9000, the firing trigger lock 9390 can be biased to its locked state. In this locked state, the firing trigger lock 9330 can block or at least substantially block the actuation of the firing trigger 9014. More specifically, the firing trigger lock 9390 may comprise a shaft rack 9391, a pinion 9392, a handle rack 9393 and a biasing member such as, for example, a spring, which proximally the shaft rack 9391 In position, the handle rack 9393 can be configured to be biased to a downward position. The proximal position of the shaft rack 9391 and the downward position of the handle rack 9393 are shown in FIG. Referring mainly to FIG. 101, the handle rack 9393 may include an opening 9396, and the firing trigger 9014 may include a projection 9395 that is not aligned with the opening 9396 when the handle rack is in the down position. More specifically, the firing trigger 9014 may comprise a vibrator switch that includes a fulcrum 9397, and when the handle rack 9393 is in the down position, locking the firing trigger 9014 causes the protrusion 9395 to extend from the firing trigger 9014. Abut the at least one of the handle racks 9393 to prevent the firing trigger 9014 from being fully actuated.

  In addition to the above, when the end effector is attached to the shaft 9040, the firing trigger lock 9390 can move between a locking configuration and an unlocking configuration. In the unlocked configuration of the firing trigger lock 9390, referring primarily to FIG. 102, the handle rack 9393 can be in the upward position. In the upward position of the handle rack 9393, the opening 9396 defined in the handle rack 9393 aligns with the projection 9395 extending from the firing trigger 9014. In such a situation, firing trigger 9014 can be rocked and firing trigger 9014 can be actuated. More specifically, the protrusion 9395 can pass through the opening 9396 to allow the firing trigger 9014 to swing about the fulcrum 9397. Thus, from the above, movement of the handle rack 9393 between the down position and the up position correspondingly locks and unlocks the firing trigger 9014. A variety of mechanisms can be utilized to move the handle rack 9393 between a downward position and an upward position. In at least one such embodiment, referring again to FIG. 100, the shaft 9040 may include a firing lock actuator 9399 that may be displaced proximally by the end effector when the end effector is assembled to the shaft 9040. . The shaft rack 9391 may be mounted to and / or extend proximally from the firing lock actuator 9399 and may include teeth 9391a defined at the top. The teeth 9391a can be in meshing engagement with the teeth 9392a defined on the pinion gear 9392 such that the pinion gear 9392 can rotate about its axis when the firing lock actuator 9399 and the shaft rack 9391 are offset proximally. Correspondingly, the handle rack 9393 may comprise a rack tooth 9393a defined at the top, which is also in meshing engagement with the tooth 9392a of the pinion gear, so that the shaft rack 9391 is driven proximally And, by driving the handle rack 9393 from the downward position to the upward position, the firing trigger 9014 can be unlocked. To return the handle rack 9393 to the downward position, the shaft rack 9391 may be moved distally and the pinion gear 9392 may be rotated in the opposite direction. In various situations, the shaft rack 9391 can be moved distally as a result of the end effector being removed from the shaft 9040.

  Turning now to FIGS. 96-97, the handle 9010 may comprise, for example, a trigger lock 9290. The trigger lock 9290 includes a housing 9291, a deployable lock pin 9292, a retainer 9293, an undeployed position where the lock pin 9294 is shown in FIGS. 96 and 98, and a deployed position shown in FIGS. And a biasing member 9294 configured to move between. In various cases, the retainer 9293 may be comprised of a heat sensitive temperature sensitive material. In at least one such case, the temperature sensitive material may be, for example, between a solid and a fluid, such as a liquid, a suspension, and / or a gas, and / or, for example, a solid material and a semisolid material. It may be configured to transfer between. When the temperature sensitive material transitions, or at least partially transitions, between the solid and the fluid, the retainer 9293 opens the lock pin 9294, firing trigger of the handle 9010, and / or any other suitable trigger. It can be locked. In various cases, when deployed, the lock pin 9294 can slide behind the firing trigger and / or otherwise engage the firing trigger. The handle may comprise any suitable number of trigger locks 9290 or the like, for example, to selectively lock out any suitable number of triggers and / or buttons. As understood by the reader, the trigger lock 9290 can not be reset. In such a case, the actuated trigger lock 9290 can, for example, permanently lock out the firing trigger on the handle so that the instrument is no longer usable. A permanent lockout of the firing trigger of the device and / or any other trigger can mean that the device is no longer usable whatever, while in other situations the permanent lockout can be easily reset It may not be possible, for example, it may be necessary to send the instrument to a qualified technician or facility who can assess whether the instrument should be repaired and reused or the instrument should be discarded. When the heat sensitive material of the holder 9293 is at least partially converted to fluid, the technician will assume that the device has been exposed to a temperature above the transition temperature of the heat sensitive material. In various cases, the transition temperature of the heat sensitive material may be, for example, the temperature at which the solid material liquefies, vaporizes, and / or sublimes, for example. In any case, the heat-sensitive material of the holder 9293, and thus its transition temperature, can indicate that the release of the lock pin 9294 has exposed the surgical instrument to a temperature that is above a certain or threshold temperature, It can be selected. In various cases, surgical instruments may be destroyed if excessive temperatures are exceeded. For example, the surgical instrument may comprise, for example, solid state electronics that can be destroyed when exposed to such excessive temperatures. In such a case, the threshold temperature of the device and the transition temperature of the holder 9293 may be equal or at least substantially equal, such that the temperature of the device exceeds the threshold temperature when the trigger lock 9290 is not activated. When the trigger lock 9290 is activated, so that it may be necessary to check if the surgical instrument may be destroyed or at least it has been destroyed. It can be inferred that the temperature has exceeded the threshold temperature.

  In addition to the above, the surgical instrument may be exposed to temperatures above the threshold temperature and / or transition temperature when sterilizing the surgical instrument. Many sterilization procedures are known, some of which involve exposing the surgical instrument to heat. In addition to or instead of the trigger lock 3290, the surgical instrument may comprise at least one temperature sensor capable of evaluating the temperature to which the surgical instrument is exposed. In various cases, the temperature sensor (s) can be in signal communication with a controller of the surgical instrument that can be configured to assess whether the surgical instrument has been exposed to a temperature that exceeds a threshold temperature. In at least one such case, the controller may comprise a microprocessor and an algorithm capable of evaluating the signal received from the temperature sensor (s). If the controller determines that the threshold temperature has been reached and / or that temperature has been exceeded, the controller can permanently prevent the instrument from being operated. In other words, the controller can apply electronic lockout to the surgical instrument. As above, permanent lockout of the instrument can mean that the instrument is not usable any more, while in other situations, the permanent lockout can not be easily resettable, eg, the instrument The equipment may need to be sent to a qualified technician or facility who can assess whether the equipment should be repaired and reused, or the equipment should be discarded. As understood by the reader, a power source may be necessary to operate the controller and / or sensor of the surgical instrument while the surgical instrument is being sterilized. Some embodiments of the surgical instrument comprise a removable battery, ie a power supply, which is removed prior to sterilizing the surgical instrument, in which case the removable battery is separately sterilized and / or re-sterilized. It is processed. When the removable power source is removed from the previous instrument, as understood by the reader, the controller and / or sensor may not have sufficient power to monitor the temperature of the surgical instrument. Embodiments of the surgical instrument disclosed herein may include a battery, ie, a power supply, that is not removed from the surgical instrument when reprocessed. Such batteries may be referred to as permanent batteries because they can provide power to the controller and / or temperature sensor while the device is being sterilized. In various cases, the device comprising permanent batteries may also comprise removable and / or rechargeable batteries. In any case, the device may have sufficient power to detect and record the temperature to which the device is exposed. In at least one case, the controller of the device may comprise a memory chip that is configured to store temperature measurements, for example in a temperature recorder. In various situations, the controller can record sensor measurements intermittently, that is, at an appropriate sampling rate. In some cases, the controller may be configured to allow the controller to increase the sampling rate if recording temperature measurements above a particular temperature, even if the temperature is below the threshold temperature. Correspondingly, the controller may be configured to be able to reduce the sampling rate, eg, to return to the original sampling rate, upon subsequent recording of temperature measurements below a particular temperature.

  Turning now to FIG. 99A, the controller's algorithm is shown. In certain cases, this algorithm may include a surgical instrument startup procedure, such as, for example, when using the surgical instrument for the first time after undergoing a sterilization process. The start-up procedure can begin after the instrument has been switched on. The instrument can be switched on automatically when the end effector is assembled to the instrument. In at least one such case, assembly of the end effector surgical instrument may close a switch in signal communication with the controller. In addition to, or in the alternative to, for example, pressing a button and / or switch on the handle may switch on the instrument. In any case, the controller can then evaluate the temperature measurements stored in the memory chip. For example, the controller can evaluate whether any stored temperature measurements are equal to or above the threshold temperature. If the controller determines that all of the stored temperature measurements fall below the threshold temperature, the controller can proceed with the normal start-up procedure. If the controller determines that one or more of the stored temperature measurements equals or exceeds the threshold temperature, the controller can proceed to another procedure. In at least one case, as described elsewhere herein, the controller can permanently disable the instrument, such as by performing an electronic lockout and / or a mechanical lockout. In certain other cases, the controller may enable the instrument despite the controller determining that one or more of the stored temperature measurements equals or exceeds the threshold temperature. The controller can store the determination in memory and / or indicate to the user, for example, by a display such as a light emitting diode, that the threshold temperature has previously been exceeded, and can then proceed with the normal start-up procedure . In various cases, the controller can process the threshold temperature as an absolute maximum, ie, a single temperature measurement at or above the threshold temperature triggers another start program or permanently sets the instrument It is enough to lock out. In other cases, since both time and temperature can be factors to consider, for example, whether the instrument has failed due to the sterilization procedure, the controller may monitor the pattern of temperature measurements at or above the threshold temperature It may be configured to launch another startup program or to evaluate whether it is sufficient to permanently lock out the device.

  Turning now to FIGS. 104-109, a surgical instrument such as, for example, a surgical instrument 9000 may be provided with a handle 9410 comprising a firing trigger lock system 9490. The handle 9410 may be similar to the handle 9110 in many respects and such points are not repeated herein for the sake of brevity. Similar to the above, fire trigger lock system 9490 may be configured to lock and unlock fire trigger 9414. Also as above, the fire trigger lock system 9490 may be biased into a locked state when the end effector is not assembled to the shaft 9040 of the surgical instrument, as shown in FIGS. Once the end effector has been fully assembled to the shaft 9040, as shown at and 109, it may move to the unlocked state. In addition to the above, referring primarily to FIGS. 108 and 109, when the end effector is assembled to the shaft 9040, the end effector can push the sensing member 9499 proximally. Sensing member 9499 may extend through shaft 9040 from the distal end of shaft 9040 to its proximal end. In use, the end effector can abut the distal end of the sensing member 9499 as the end effector is assembled to the shaft 9040 and pushes the sensing member 9499 proximally, as described above. As shown in FIGS. 108 and 109, when the sensing member 9499 is pushed proximally, the sensing member 9499 contacts the swing arm 9486 of the fire trigger lock system 9490 and can rotate the swing arm 9486 upward. The swing arm 9486 may include an end pivotally mounted to the handle housing via a pin 9487 configured to allow the swing arm 9486 to rotate about an axis. The swing arm 9486 may further comprise a cam follower portion 9488 which can be contacted by the sensing member 9499. In use, the sensing member 9499 can move the swing arm 9486 between a downward position and an upward position, and move the firing trigger lock system 9490 between a locked position and an unlocked position, respectively. The firing trigger lock system 9490 can be pulled upward as the swing arm 9486 rotates upward, and correspondingly can be pushed downward as the swing arm 9486 rotates downward, with the lock pin 9485 attached to the swing arm 9486 It may further be provided. The lock pin 9485 has an upper end pivotally mounted to the swing arm 9486 and a lower end extending through an opening 9483 defined in the firing trigger 9481 when the lock pin 9485 is in the downward position. May be provided. In various situations, the opening 9483 may be defined in an arm 9482 extending from the firing trigger 9414. When the lock pin 9485 is disposed within the opening 9483, the firing trigger 9414 can not pivot about the fulcrum 9484 so that the firing trigger 9414 can not be actuated by the user. When the lock pin 9485 is in the upward position, the lock pin 9485 can not be placed in the opening 9483 so that the firing trigger 9414 can be actuated by the user. Once the end effector is removed from the shaft 9040, the sensing member 9499 can move from the proximal position to the distal position. In other words, with the end effector not attached to the shaft 9040, a biasing member such as, for example, a spring 9489 can bias the swing arm 9486 downward, thus locking the firing trigger lock system 9490 Can be biased. Moreover, when the end effector is not assembled to the shaft 9040, the spring 9489 can bias the sensing member 9499 by the arm 9482 to push the sensing member 9499 distally.

  In addition to the above, actuation of the sensing member 9499 and the fire trigger lock system 9490 can serve to communicate with the user of the surgical instrument. For example, when the end effector is not assembled to the shaft 9040, the sensing member 9499 is urged distally and the firing trigger 9414 is locked out, at which time the user attempts to activate the firing trigger 9414 If the user is immediately aware that something is wrong with the surgical instrument launch system. In this example, the user will immediately notice that the end effector needs to be assembled to the shaft 9040 in order to use the surgical instrument. In various situations, even if the end effector is attached to shaft 9040, the firing trigger can be locked out if it is in use. In at least one such situation, the end effector may comprise a firing member that when in the most advanced position pushes the sensing member proximally when the end effector is assembled to the shaft 9040, however When the end effector is assembled to the shaft 9040, if the firing member is already at least partially advanced, the sensing member can not be pushed proximally so that the firing trigger is locked out It can remain as it is. Again, such lockout of the firing trigger can inform the user that there is a problem in the firing drive, ie in this situation the end effector is already in use. Without such tactile lockout, the user may notice the situation where the actuation device can be depressed without reaction of the surgical instrument to the depressed actuation device, which may lead to user confusion.

  As noted above, assembling the previously unfired end effector onto shaft 9040 may push the sensing member proximally and unlock the firing trigger. In various situations, the sensing member and the firing trigger lock system may be configured such that the firing trigger is not unlocked until the end effector is fully assembled to the shaft 9040. If the end effector is only partially assembled to the shaft 9040, the sensing members may be sufficiently offset to unlock the firing trigger. Again, such lockout of the firing trigger can inform the user that there is a problem in the firing drive, ie, in this situation, the end effector is not fully assembled to the shaft 9040.

  The end effector may be assembled to a surgical instrument, which may include a controller configured to identify the end effector as described herein. In some cases, the controller may be configured to evaluate the identification of the end effector when the controller is activated. In certain cases, looking now at FIG. 176, the controller can be actuated when the battery is inserted into the handle. Additionally or alternatively, the controller may be configured to assess the condition of the surgical instrument when the controller is actuated. For example, the controller may be configured to evaluate the position of the closure member of the closure system, the position of the launch member of the launch system, and / or the position of the articulating member of the articulating system. In certain cases, the surgical instrument may include an absolute positioning sensor to detect the position of the firing member. Such a sensor is disclosed in U.S. patent application Ser. No. 13 / 803,097, filed on Mar. 14, 2013, entitled "ARTICULA TABLE SURGICAL INSTRUMENT INSTRUMENT COMPRISING A FIRING DRIVE", the entire disclosure of which is incorporated herein by reference. It is incorporated in the specification. In some cases, the surgical instrument may include an end-of-stroke recorder. Such an end-of-stroke recorder may comprise electronic switches, counters, and / or toggle switches, including mechanical switches, counters, and / or toggle switches, and / or data stored in non-volatile memory. In such embodiments, the controller can assess whether the previous launch stroke has been completed. Such embodiments may be useful in various situations. For example, the controller may accidentally switch off or otherwise lose power during a surgical procedure, and when the controller is reactivated, is the controller initializing the instrument for the first time, Alternatively, it can not be assessed if the instrument was in the middle of a previous launch stroke. An end-of-stroke recorder can help the controller identify between these two events. Moreover, recording of the end of the stroke not lost or reset by the power loss or cessation of the instrument allows the controller to assess whether the power of the surgical instrument has been lost during the firing stroke. If the controller determines that the previous firing stroke has not been completed, then the controller 1) allows power to the motor to terminate the firing stroke, and / or 2) the firing member, closing member, And / or may be configured to allow power to the motor to retract the articulation member to the home position, i.e. to the non-actuated position. In various cases, the controller can provide the user of the surgical instrument with the option of either advancing the firing stroke or returning the mechanical and / or electrical system of the instrument to its original or inactive position. In such embodiments, the surgical instrument can not automatically return the systems to their original or inactive position. In any case, when the surgical instrument is in its home or inactive state, the previously fired end effector can be removed from the surgical instrument and / or the unfired end effector can be surgical instrument Can be assembled to In various cases, as outlined herein, the surgical instrument can then identify or at least attempt to identify unfired end effectors.

  Turning now to FIG. 177, the controller of the surgical instrument can perform a diagnostic check of the instrument and / or the battery. For example, upon actuation of the controller, as described herein, the surgical instrument can assess whether the surgical instrument has been exposed to a temperature above the threshold temperature of the surgical instrument. Also for example, as also described herein, the surgical instrument can evaluate the power, voltage, and / or current of the usable battery. If the instrument fails one or more of these diagnostic tests, the controller may provide power to the motor, physical lockout of the instrument, and / or the user of the surgical instrument for such errors. Can not be displayed. In such a situation, the instrument can record the errors in memory and allow the test data to be useful to the technician when examining the instrument later. If the device passes these diagnostic tests, the device can also record test data regarding the passing of the diagnostic tests, as described above. In any event, the instrument can then proceed to determine if the instrument is home or inactive, and to evaluate the identification of the end effector. As outlined herein, a method of identifying an end effector is disclosed. Also disclosed herein is a method of evaluating whether a "smart" end effector or a "dam" end effector is attached to a surgical instrument. In various cases, the "smart" end effector may be an end effector that can supply parameters and / or at least some manipulation programs to the surgical instrument as part of the identification process. The "smart" end effector may be an end effector that somehow identifies the way in which the end effector is used by the surgical instrument. In certain cases, the "dam" end effector is an end effector that can not identify the method used with the surgical instrument in any way. An exemplary operating procedure in accordance with the above is outlined in FIG.

  As described herein, batteries can be utilized to provide power to the surgical instrument. In various cases, the surgical instrument and / or the battery are configured to assess whether the battery can provide sufficient power to the surgical instrument to perform one or more functions. Good. In certain cases, the surgical instrument and / or the battery may be configured to indicate to the user of the surgical instrument that the battery has sufficient power to perform one or more functions. . FIG. 179 shows a circuit configured to show the voltage of the battery. Such circuitry may be present in a surgical instrument and / or a battery. In any case, the circuit may comprise a plurality of indicators, which can indicate the amount of charge, the voltage and / or the power that can be supplied by the battery. For example, the circuit may be configured to indicate a first indicator configured to indicate that the battery includes at least a first voltage, and a second indicator configured to indicate that the battery includes at least a second voltage, And a third indicator configured to indicate that at least a third voltage is included. As shown in FIG. 179, the circuit 12100 may comprise a first indicator circuit 12110, a second indicator circuit 12120, and a third indicator circuit 12130 arranged in parallel with one another. When the switch 12101 is closed, a potential may be applied from the battery across the indicator circuits 12110, 12120, and 12130. The first indicator circuit 12110 may comprise a zener diode 12111, a light emitting diode 12112 and a resistor R1 12113. Similarly, the second indicator circuit 12120 may comprise a zener diode 12121, a light emitting diode 12122 and a resistor R2 12123, the third indicator circuit 12130 a zener diode 12131, a light emitting diode 12132, a resistor And R3 12133. The zener diodes 1211 12121 1212 and 12131 may have different breakdown voltages. For example, the first Zener diode 12111 may have a breakdown voltage of, for example, 11.5 V, the second Zener diode 12121 may have a breakdown voltage of, for example, 10 V, and the third Zener diode 12131 may be For example, it may have a breakdown voltage of 8V. In such embodiments, the LEDs 12112, 12122, and 12132 glow when the voltage of the battery is 11.5 V or higher. The fact that all of the LEDs are illuminated means that the battery is fully charged and / or the user of the surgical instrument at least sufficiently charged to perform any function required by the surgical instrument. Can be shown. If the battery voltage is greater than 10V but less than 11.5V, then the LEDs 12112 and 12122 will glow but the LED 12132 will not. While LEDs 12112 and 12122 are illuminated, but that LEDs 12132 are not illuminated means that the battery is less than fully charged, but at least sufficiently charged to perform any function required by the surgical instrument. Can be shown to the user of the surgical instrument. If the battery voltage is 8V or more but less than 10V, the LED 12112 will glow but the LEDs 12122 and 12132 will not. The fact that LED 12112 glows, but that LEDs 12122 and 12132 do not, means that the battery charge is close to consumption and has sufficient charge to perform the specific function required by the surgical instrument Can indicate to the user of the surgical instrument that they may or may not have it. Such LED indication indicates that battery replacement may be required. When the voltage of the battery is less than 8V, all of the LEDs 12112, 12122 and 12132 will not light. Such LED display can indicate that the battery can not be used to reliably perform any function of the surgical instrument. Although circuit 12100 uses three indicator circuits 12110, 12120, and 12130, the circuit may comprise four or more indicator circuits with different breakdown voltage zener diodes. Such an embodiment can, for example, provide a more finely stepped indication of the voltage of the battery. Another embodiment is envisaged which uses only two indicator circuits.

  In various cases, the battery may comprise circuitry configured to indicate that the battery is charged and / or has a sufficient charge that can be used with the surgical instrument. In certain cases, the surgical instrument may comprise a circuit configured to indicate that the attached battery is charged and / or has a sufficient charge to be used with the surgical instrument. . In any event, looking now at FIG. 180, the circuit 12200 may comprise a microprocessor 12201 comprising one or more gates in communication with a battery, which may be, for example, a 9V battery. The circuit 12200 may further include a capacitor 12202, such as a 10 microfarad capacitor, capable of receiving power from the circuit comprising the diode 12203 and the resistor 12204. The circuit 12200 may further comprise an LED 12205 and a resistor 12206 in the discharge path of the capacitor 12202. Such a circuit can intermittently pulsate the LED 12205 as long as the battery can provide sufficient power to the circuit 12200. In such a case, the user may be aware of the pulsating LED 12205 and may know that the battery has at least some power if not enough power for use with the surgical instrument. If the user does not recognize the pulsation of the LED 12205, the user can deduce that the battery lacks sufficient power to use.

  In various situations, as described herein, and with reference to FIG. 284, a surgical instrument configured to be used with a battery and / or a battery can be powered by a battery, voltage And / or diagnostic circuitry configured to evaluate the current. Turning now to FIG. 184, a battery diagnostic circuit 12300 is disclosed. Such circuitry may be configured to examine the battery prior to being used by the surgical instrument, during use by the surgical instrument, and / or after use by the surgical instrument. In various cases, the battery may be used more than once, and in various cases, the battery may be rechargeable or non-rechargeable. The use of the battery and the information obtained during the diagnostic evaluation of the battery can be stored on a memory chip in the battery and / or the surgical instrument. FIG. 183 shows information 12400, which represents the types of information that can be recorded in a memory chip. For example, the number of uses can be recorded. For each use, for example, the maximum voltage and / or current of charging or recharging the battery can be recorded. For each use, for example, the current capacity, working current mA, working current Ah, and / or the lowest voltage encountered during use can be recorded. For each use, for example, the time the battery was charged, the time the battery was used, the temperature during charging of the battery, and / or the temperature during use of the battery can be recorded. These are just some examples of recordable information. In various cases, such information may be utilized by the surgical instrument and / or technician to, for example, assess the battery's previous performance and / or its further suitability for use.

  In various cases, looking now at FIG. 182, a battery and / or a surgical instrument used in the battery may include circuitry to shut off the battery if the battery charge falls below a minimum charge level. In some cases, a lithium ion battery may have a thermal event when used below the minimum charge level, and such a thermal shutdown circuit prevents the use of the battery below this minimum charge level. It can prevent an event from happening.

  In various cases, looking now at FIG. 181, the surgical instrument may comprise a controller configured to perform a diagnostic check of the instrument and / or a battery assembled therein. For example, the controller may comprise a clock and a memory chip that is configured to evaluate and record the instrument and / or battery when it is used. In certain cases, the controller may be configured to disable the device and / or battery if the device and / or battery has been used for an extended period of time since the last use. In certain cases, the device and / or battery may be in various states of the device and / or battery, such as temperature, humidity, and / or time the device and / or battery has been exposed to that temperature and / or humidity, etc. May be configured to evaluate one or more sensors. The controller may be configured to check if the sensor is operating properly, otherwise the controller may disable the device and / or the battery. The controller may be configured to check the number of times the device and / or battery has been used, disabling the device and / or battery if the specified number of times is exceeded. As outlined herein, the controller may be configured to evaluate the power that the battery can supply, and if the available power is insufficient, the device and / or the battery can not be used. Make it

  As described herein, the surgical instrument may include various sensors for collecting feedback and / or other information regarding the status of the instrument. Additionally, the surgical instrument may include sensory indicators to provide the user with feedback and / or information regarding the status of the instrument. In certain cases, an endoscope can be used in conjunction with a surgical instrument to provide the user with additional feedback and / or information regarding the status of the instrument. As described herein, endoscopic and surgical instruments may be in signal communication with a display that can display feedback from, for example, sensors of the endoscopic and / or surgical instruments. 75-93, an endoscope 5018 (FIG. 93) can be in signal communication with a display 5002 (FIG. 75). In particular embodiments, display 5002 may include, for example, a head-up display (HUD) and / or a video monitor. Furthermore, the display 5002 may be, for example, a plasma screen, an LCD screen, or an electroluminescent screen. In various embodiments, display 5002 can transmit a first information layer 5010, which can include, for example, video feedback. The video feedback may be, for example, a feedback of the image observed by the endoscope 5018 (FIG. 93) at the surgical site, for example to show at least a portion of the surgical instrument 5020 as viewed by the endoscope 5018 it can.

  In various embodiments, display 5002 may include touch screen 5004. Referring primarily to FIG. 75, a user can interact with touch screen 5004 and interface with display 5002 and / or surgical instrument 5020. For example, touch screen 5004 can be in communication with display 5002, and input to touch screen 5004 can adjust and / or modify the information shown on display 5002. In such embodiments, the user can communicate with display 5002 without using additional input devices to the display, such as, for example, a keyboard and / or a computer mouse. In other words, additional input devices and / or components may not be required for the adjustment and / or modification of the information shown on the display 5002. Further, in various embodiments, the touch screen 5004 can be easily cleaned and / or disinfected. For example, the touch screen 5004 may have a flat surface that can be easily wiped clean in the operating room and / or the treatment room. Additionally or alternatively, the touch screen 5004 can be in direct and / or indirect communication with the surgical tool 5020 such that an input on the touch screen 5004 provides an input to the surgical tool 5020. The user may be, for example, a surgeon, an operator, and / or an assistant.

  In various embodiments, the touch screen 5004 can be disposed on at least a portion of the display 5002, and can be, for example, removably secured to the display 5002. For example, the touch screen 5004 may be compatible with multiple displays, removably attached and removed from at least one display. Further, in particular embodiments, the touch screen 5004 may be an independent display that can operate independently of the display 5002. For example, the removable LCD screen may include a touch screen 5004, and the removable LCD screen may be superimposed on at least a portion of the display 5002. In another embodiment, the touch screen 5004 may be incorporated into the display 5002. Touch screen 5004 can utilize, for example, resistive, capacitive, ultrasound beam, and / or near-field imaging techniques.

  Referring primarily to FIG. 93, in various embodiments, the feedback controller 5016 can be in signal communication with a surgical instrument 5020, an endoscope 5018, and / or a display 5002. In particular embodiments, a wired and / or wireless connection 5017 between the feedback controller 5016 and the endoscope 5018 can provide video feedback from the endoscope 5018 to the feedback controller 5016. Additionally, the wired and / or wireless connection 5019 between the feedback controller 5016 and the surgical instrument 5020 and / or the microcontroller of the surgical instrument 5020 may provide feedback controller 5016 with feedback data measured and / or detected by the surgical instrument 5020. Can be provided to For example, various sensors are described herein, as well as Zemlock '263 and Zemlock' 344, the disclosure of which is incorporated herein in its entirety, the various sensors being feedback and / or instrument status. It can detect information about Additionally, a wired and / or wireless connection 5015 between the feedback controller 5016 and the display 5002 can provide feedback data from the surgical instrument 5020 and / or video feedback from the endoscope 5018 to the display 5002. In at least one embodiment, video feedback may be shown on the first information layer 5010 on the display 5002 and feedback data may be shown on the second information layer 5012 on the display 5004. In embodiments where a removable LCD display including touch screen 5004 is disposed on top of display 5002, wired and / or wireless connections between feedback controller 5016 and the removable LCD display may, for example, remove feedback data. It can be provided to a possible LCD display and / or from the LCD display to the feedback controller 5010.

  Referring primarily to FIG. 76, display 5002 may transmit a first information layer 5010, which may include, for example, video feedback from endoscope 5018 (FIG. 93). In various cases, video feedback 5010 may include an indication of a surgical instrument 5020 acting on the tissue T. In various embodiments, the surgical instrument 5020 may be, for example, similar to the surgical instrument 10 (FIG. 1) and the disposable loading unit (DLU) and / or the end effector 5022 coupled to the surgical instrument may be For example, it may be similar to the loading unit 20 (FIG. 2). The DLU 5022 of the surgical instrument 5020 can articulate with respect to the tissue T, grasp and / or clamp the tissue T between a pair of jaws, and staple the tissue T as described herein. And / or tissue T can be cut with a cutting element. In addition, an endoscope 5018, which may be positioned at and / or near the surgical site, may observe the DLU 5022 and may communicate video feedback and / or recording to the feedback controller 5016 (FIG. 93). In various embodiments, video feedback in the first information layer 5010 on the display 5002 can provide live visual feedback of the surgical site to the operator of the surgical instrument 5020.

  Referring primarily to FIG. 77, display 5002 can display a second information layer 5012. Further, the user can select, move, resize, minimize, enlarge, modify, and / or otherwise manipulate the second information layer 5012. For example, a user can manipulate the second information layer 5012 by interfacing with the touch screen 5004. As described herein, the second information layer 5012 may include feedback data from the surgical instrument 5020 and / or a controller that controls the surgical instrument 5020. In various embodiments, the second information layer 5012 may comprise a control panel 5030, and a touch screen 5004 may be used to select and / or utilize the functionality of the control panel 5030. Control panel 5030 may be foldable, resizable, movable, and / or otherwise operable by touch screen 5004. For example, the user can minimize or fold the control panel 5030 by selecting the minimize / maximize icon 5032 and maximize or expand the control panel 5030 by reselecting the minimize / maximize icon 5032 Can. Further, the user can move the control panel 5030 on the display 5002 by, for example, "drag and drop" the control panel 5030 across the display 5002. In addition, the user can resize the control panel 5030 relative to the display 5002 by “magnifying” and / or “shrinking” contacts on the touch screen 5004. Those skilled in the art will appreciate that various conventional and / or intuitive contacts to the touch screen 5004 can be used, for example, to modify and / or manipulate the second information layer 5012 and / or its control panel 5030. I will.

  Still referring to FIG. 77, control panel 5030 may include a plurality of menus, categories, and / or categories. For example, control panel 5030 may include an instrument feedback menu 5036, a display menu 5060, and / or an instrument controller menu 5070. The user can use control panel 5030 to select a menu and / or switch between operating states of touch screen 5004. For example, when the user selects the instrument controller menu 5070 of the control panel 5030, the touch screen 5004 can communicate instructions and / or control to the instrument controller 5016 (FIG. 93) and / or the microcontroller. In such embodiments, the touch screen 5004 may be operated in instrument control, as described herein. Further, for example, when the display menu 5060 is selected from the control panel 5030, the user can change the settings for the second information layer 5012 and / or the display 5002. In such an embodiment, the touch screen 5004 may be operated in the setting change state. Additionally or alternatively, when the instrument feedback menu 5036 is selected, the user can change the feedback data contained in the second information layer 5012. In such an embodiment, the touch screen 5004 may be operated in a feedback operation state. In various embodiments, control panel 5030 may include additional and / or fewer menus, categories, and / or categories. Further, various menus, categories, and / or classifications of control panel 5030 may be changed, for example, according to user preferences. In the second information layer 5012, menus, categories, and / or categories may be shown verbally and / or as desired. In various embodiments, the categories under each menu 5036, 5060, 5070 can be selectively displayed in the second information layer 5012. For example, the categories under each menu 5036, 5060, 5070 may be displayed in the second information layer 5012 only when the user selects the corresponding upper layer menu 5036, 5060, 5070. In another embodiment, the user may, for example, manually minimize and / or maximize categories and / or subcategories corresponding to each menu 5036, 5060, and / or 5070, for example.

  With further reference to FIG. 77, the instrument feedback menu 5036 may include a plurality of feedback categories and relates to feedback data measured and / or detected by the surgical instrument 5020 (FIG. 93) during a surgical procedure. You may As described herein, the surgical instrument 5020 may, for example, position the movable jaw between the opening and closing directions, the depth of the clamped tissue, the clamping force on the clamped tissue, the DLU 5022 Joint flexion and / or position, velocity and / or force of the firing element can be detected and / or measured. Further, a feedback controller 5016 (FIG. 93) in signal communication with the surgical instrument 5020 can provide detected feedback to a display 5002 that can display feedback on the second information layer 5012. As described herein, the selection, placement, and / or configuration of feedback data displayed in the second information layer 5012 can be changed based on, for example, a user's input to the touch screen 5004.

  In various embodiments, display menu 5060 of control panel 5030 may relate to multiple categories, such as, for example, unit system 5062 and / or data mode 5064. In particular embodiments, the user can select a unit system category 5062 and switch between unit systems, such as metric and customs units. In addition, the user selects the data mode category 5064, for example, between the type of numerical display of feedback data (FIGS. 79-81) and / or the type of graphical display of feedback data (FIGS. 82-83). It can be switched. The numerical representation of the feedback data can be displayed, for example, as numerical values and / or percentages. Further, a graphical representation of the feedback data can be displayed, for example, as a function of time (FIG. 82) and / or distance (FIG. 83). As described herein, a user may select the instrument controller menu 5070 from the control panel 5030 and, for example, a surgical instrument 5020 that may be implemented via the instrument controller 5016 (FIG. 93) and / or a microcontroller. You can enter instructions for (Figure 93).

  Referring now to FIG. 78, the second information layer 5012 may overlap at least a portion of the first information layer 5010 on the display 5002. Additionally, the touch screen 5004 can allow the user to manipulate the second information layer 5012 for video feedback in the underlying first information layer 5010 on the display 5002. For example, a user may manipulate touch screen 5004 to select, manipulate, reformat, resize, and / or otherwise change the information displayed in second information layer 5012. In particular embodiments, the user can manipulate the second information layer 5012 for the surgical instrument 5020 shown in the first information layer 5010 on the display 5002 using the touch screen 5004. The user may, for example, select menus, categories and / or classifications of the control panel 5030 and may adjust the second information layer 5012 and / or the control panel 5030 to reflect the user's selection. In various embodiments, the user may select a category from the instrument feedback category 5036 that corresponds to the particular feature (s) of the surgical instrument 5020 shown in the first information layer 5010. Move, position itself, and / or “snap” feedback corresponding to the user-selected category to a position on display 5002 with respect to the particular feature (s) of surgical instrument 5020 Good. For example, selected feedback may be moved and placed in the vicinity of and / or superimposed on specific feature (s) of the surgical instrument 5020 shown in the first information layer 5010.

  79 and 80, when the user selects, for example, the knife advancement category 5040 from the instrument feedback menu 5036, data and / or information detected regarding the advancement of the knife may be detected, for example, in the first information layer 5010. The position of the second information layer 5012 relative to the DLU 5022 knife shown can be moved and / or "snapped". Further, after the user has selected the desired category or categories from the instrument feedback menu 5036, the control panel 5030 can be collapsed and / or minimized. Feedback data 5052 regarding the advancement of the knife may be displayed on the display 5002 near the detected knife of the DLU 5022 shown in the first information layer 5010, as the knife is translated and / or moved by the DLU 5022: For example, moving between a first position when the knife is near the start of the firing stroke (FIG. 79) and a second position when the knife is near the distal end of the firing stroke (FIG. 80) Good. For example, when the knife translates the distance X mm, data 5052 on the advance of the knife can be placed at the first position (FIG. 79), and when the knife translates the distance Y mm, the data 5052 on the advance of the knife can be the second position (FIG. 80) can be arranged. In such an embodiment, the operator can follow the precursor of the knife during the firing stroke by looking at feedback data 5052 on screen 5002. For example, when the knife of the DLU 5022 is closed by the indication of the end effector jaw 5024 and / or the tissue T, for example, the operator changes the feedback data 5052 against the DLU 5022 shown in the lower first information layer 5010 The position of the knife in the DLU 5020 can be traced and / or approximated based on the position of the value and / or feedback data 5052. In addition, the display 5002 can incorporate a numerical indication of knife advancement, as well as graphic and / or symbolic indicia of knife advancement. For example, a symbol 5054, such as an arrow, may be moved and / or extended relative to the DLU 5022 shown in the lower first information layer 5010 to indicate the advancement of the knife by the DLU 5022. Continuing to refer to FIGS. 79 and 80, for example, as the knife is advanced distally from a position near the start of the firing stroke (FIG. 79) to a position near the distal end of the firing stroke (FIG. 80), eg, symbol 5054 Can extend distally.

  In various embodiments, the user can select one or more different categories of feedback data from the instrument feedback menu 5036 and can display different categories of feedback data in the second information layer 5012 on the display 5002. In such an embodiment, when the user selects feedback data of a different category from the tool feedback menu 5036, numerical and / or symbolic representations of the feedback data may be displayed on the display 5002 for the DLU 5022 shown in the lower first information layer 5010. It can be moved to the appropriate position. For example, if the user selects the jaw position category 5038 from the tool feedback menu 5036, feedback data regarding the position of the movable jaw between the open position and the clamp position can be displayed on the second information layer 5012, eg, on the display 5002 Can be moved to a position near the movable jaw (s) 5024 of the surgical instrument 5020. Furthermore, if the knife speed category 5042 is selected, feedback data 5058 (FIG. 82) on the speed of the knife can be displayed in the second information layer 5012 and, similar to the numerical data 5052 and / or the symbols 5054 described above, the display 5002 It can be moved to a position near the knife in the upper DLU 5022. If the tissue depth category 5044 is selected by the user, feedback data regarding the detected tissue depth can be displayed in the second information layer 5012, eg, moved to a position on the display 5002 near the measured tissue T. be able to. Furthermore, in at least one embodiment, the second information layer 5012 may include a scale and / or a rule that may indicate the tissue depth to be detected. The user may move the ruler with the touch screen 5004 relative to the underlying tissue T shown in the first information layer 5010, for example to make the user easily recognize changes in tissue depth. If the user selects the end effector joint flexion category 5046, feedback data 5252 (FIGS. 84-88) on joint flexion of the DLU 5022 can be displayed in the second information layer 5012, eg, joint flexion of the DLU 5022 on the display 5002 It can be moved to a position near the joint 5026 (FIGS. 84 and 85). If the user selects the launch force category 5048, feedback data regarding the launch force applied to the tissue by the knife can be displayed in the second information layer 5012, for example moving to a position near the knife of the DLU 5022 on the display 5002. Can. In addition, feedback data regarding the firing force applied by the knife can be moved in the second information layer 5012, for example, as the knife moves relative to the DLU 5022 during the firing stroke. Furthermore, if the clamp force category 5050 is selected, feedback data 5158 (FIG. 83) on the clamp force on the tissue T can be displayed in the second information layer 5012 and DLU 5022 shown in the first information layer 5010 underneath. It can be moved nearby. In such embodiments, feedback data 5158 regarding the clamping force can indicate changes in clamping pressure along the length and / or width of the DLU 5022, for example, during clamping and / or throughout the firing stroke.

  In various embodiments, the feedback shown in the second information layer 5012 can be moved with the corresponding features of the surgical instrument 5020 in the first information layer 5010. For example, when DLU 5022 is operated around a surgical site, DLU 5022 may move around display 5002. In such embodiments, feedback regarding DLU 5022, such as jaw position and / or joint flexion data, etc. may move with DLU 5022. As the associated feedback moves, the operator does not have to look away from the corresponding features of the surgical instrument 5020 shown in the first information layer 5010 on the display 5002, and that feedback is reliably It can be kept in view. Further, the feature (s) of the surgical instrument 5020 shown in the first information layer 5010 that the associated feedback wishes to be confirmed by the operator on the display 5002 as the feedback moves. To ensure that they do not block.

  In particular embodiments, the user can select multiple feedback categories and view them on display 5002 simultaneously. In addition, selected feedback (s) can be automatically placed on display 5002 to display related data in the second information layer 5012 in a non-overlapping arrangement. In other words, the feedback displayed in the second information layer 5012 may not overlap with another feedback displayed in the second information layer 5012; however, such feedback may, for example, be displayed on the display 5002. It may overlap with the video feedback of the first information layer 5010 to be displayed. In various embodiments, when the feedback data is moved and / or "snapped" to a position on the screen relative to the surgical instrument 5020 shown in the underlying first information layer 5010, the user can enter the second information By “dragging and dropping” feedback data to another location in layer 5012, the default location can be overwritten.

  Referring now to FIG. 81, the knife shown in the first information layer 5010 a marking 5056 for advancing the knife, such as a cross, a target center, and / or a graphical representation of the knife and / or the knife edge, etc. To the position in the second information layer 5012 that overlaps the position of. In certain embodiments, for example, moving the knife symbol display 5056 and / or detecting the knife in the DLU 5022 on the screen 5002 even when the knife display is interrupted and the knife is not visible on the display 5002 You can follow the position. For example, the indicia 5056 may be at a first position near the start of the launch stroke relative to the DLU 5022 and move the indicia 5056 to a second position near the end of the launch stroke relative to the DLU 5022 Good.

  In various embodiments, feedback selected by the user via the touch screen 5004 may be “snapped” to corners, edges, and / or another predetermined location on the display 5002. For example, with continued reference to FIG. 81, numerical data 5052 regarding the advancement of the knife may be moved to the corners of the display 5002. Additionally or alternatively, the user may interface with the touch screen 5004 and move the numerical data 5052 to different locations on the touch screen 5004. Based on the location of the underlying surgical tool 5020 in the first information layer 5010, the user can ensure that the corresponding and / or specific features of the DLU 5022 are not blocked and / or disturbed by the numerical data 5052. , Numerical data 5052 may be moved to a position in the second information layer 5012. In addition or as an alternative, the position of the numerical data 5052 in the vicinity of the corresponding feature of the DLU 5022 so that the user can easily check simultaneously the corresponding feature of the DLU 5022 and the numerical data 5052 by the user. You may move to

  Referring to FIGS. 84 and 85, symbolic representations 5254 (FIG. 85) of feedback data from feedback controller 5016 (FIG. 93) may be included in the second information layer 5012. For example, a symbolic indication 5254 of an articulation of the DLU 5022, such as an angle and / or an arc or the like indicating the contour can be displayed on the second information layer 5012 and the joints of the surgical instrument 5020 shown in the first information layer 5010 It can be moved to a position on the display 5002 near and / or superimposed on the flex joint 5026. For example, the contoured arc extends between an axis A defined by the unarticulated DLU 5022 (FIG. 84) and an axis A 'defined by the articulated DLU 5022 (FIG. 85). In certain embodiments, the joint flexion angle indicia 5254 may be visible in the second information layer 5012 even when the articulation joint 5026 is not visible on the screen. For example, if the articulating joint 5026 is not located within the field of view of the endoscope and / or is obstructed or obstructed, then the articulating symbol display 5254 provides a user with a visual indication of articulating flexion. Can be provided to In various embodiments, the indicia 5252 may be adjusted and / or changed in response to the movement of the DLU 5022 and / or articulation. For example, symbol 5254 may be directed from the initial and / or unarticulated position of DLU 5022 (FIG. 84) to the articulated position of DLU 5022 (FIG. 85) as detected by instrument 5020. It may be an arc or a line with an arrow that can extend. Furthermore, in various embodiments, the indicia 5254 can be "snapped" to a position relative to the DLU 5022 shown in the first information layer such that the indicia 5254 overlap and / or align with the DLU 5022. For example, referring mainly to FIG. 85, the joint flexion angle symbol 5254 can be moved to and / or near the location of the articulating joint 5026 shown in the first information layer 5010 on the display 5002 and initially And / or can extend between an axis A defined by the DLU 5022 in an unarticulated position and an axis A 'defined by the DLU 5022 upon articulation of the DLU 5022.

  Further, in various embodiments, numerical data 5252 relating to joint flexion of DLU 5022 can be displayed in a second information layer 5012 on display 5002. Further, as DLU 5022 articulates, data 5252 may change. For example, the second information layer 5012 may indicate that the joint flexion is X ° before the DLU 5022 is flexed (FIG. 84) and the joint flexion is Y ° after the DLU 5022 is flexed (FIG. 85) Can be shown. In various embodiments, feedback data 5252 regarding joint flexion of DLU 5022 may be displayed, for example, at and / or near the joint flexion joint 5026 of the surgical instrument 5020 displayed in the first information layer 5010. It may be displayed in the second information layer 5012. The user moves and resizes the joint flexion data 5252 displayed in the second information layer 5012 using, for example, the video feedback displayed in the first information layer 5010 using the touch screen 5004. It can be minimized and / or otherwise manipulated. Additionally or alternatively, the user may interface with the touch screen 5004 and move the indicia 5254 and / or numerical data 5252 to different locations on the touch screen 5004. Based on the location of the underlying surgical tool 5020 in the first information layer 5010, the user is able to prevent and / or disturb specific feature (s) of the DLU 5022 by the numerical data 5252 The numerical data 5252 may be moved to a position in the second information layer 5012. In addition or as an alternative, the numerical data 5252 corresponds to the DLU 5022 in such a way that the user can easily check simultaneously the corresponding DLU 5022 feature (s) and the numerical data 5252 It may be moved to a position near the feature (s).

  Referring now to FIG. 82, a graphical representation may be selected from the display menu 5060 of the control panel 5030, for example, by the touch screen 5004. In such an embodiment, a graphical representation of feedback 5058 can be displayed in the second information layer 5012 on the display 5002. The user can select the graphical display and confirm the measured and / or detected data from the surgical instrument 5020 and / or its controller for time and / or space. For example, if the user desires to observe the velocity of the firing element throughout the firing stroke, the knife velocity category 5042 (FIG. 78) can be selected from the instrument feedback menu 5036 (FIG. 78). In such embodiments, for example, a graphical representation 5058 of the speed of the knife may continue to acquire data points and increase during the firing stroke. In various embodiments, at the completion of the firing stroke, the graphical representation 5058 can show a “soft” start period 5057 and / or a “soft” stop period 5059 of the knife. In addition, the graphical representation 5058 can be displayed at a particular position along the length of the end effector jaw 5022 that the velocity of the knife at a particular position along the length of the end effector jaw 5024 is displayed in the first information layer 5010 Correspondingly, it can be arranged on the display 5002. For example, the graph display 5058 can start at and / or near the beginning of the knife process of the entire DLU 5022 displayed in the first information layer 5010, eg, the entire DLU 5022 displayed in the first information layer 5010. Ending at and / or near the end of the knife process of Further, as described herein, the graph display 5058 can be "snapped" to the appropriate location on the screen, and the user utilizes the touch screen 5004 to move and / or move the graph display 5058 as desired. It can be resized. In particular embodiments, a numerical display of the firing rate may be displayed in the second information layer 5012 along with the graphical display 5058.

  Referring now to FIG. 83, in various embodiments, the user may wish to observe the clamping force applied on the tissue T along the length and / or width of the end effector jaws 5024, and thus The clamp force category 5050 (FIG. 78) can be selected from the instrument feedback menu 5036 (FIG. 78). In such an embodiment, a graphical representation 5158 of the clamping force can be displayed in the second information layer 5012. In some embodiments, a graphical representation 5158 can be disposed in the second information layer 5012 relative to the clamped tissue displayed in the first information layer 5010. For example, the graphical display 5158 can start at and / or near the proximal end of the jaw 5024 shown in the first information layer 5010, eg, the distal end of the jaw 5024 displayed in the first information layer 5010 and And / or can end there. Further, as described herein, the graph display 5158 can be "snapped" to the appropriate location on the screen, and the user utilizes the touch screen 5004 to, for example, move and / or resize the graph display 5158. it can. In particular embodiments, the graphical display may be changed during use to reflect, for example, changes in clamping pressure during the firing stroke.

  86-88, in various embodiments, a user can interface with touch screen 5004 and enter control and / or instructions into surgical instrument 5020 via instrument controller 5016 and / or a microcontroller. For example, the user can enter controls directed to articulation of DLU 5022, clamping of end effector jaws 5024, advancing and / or retracting cutting elements, and / or ejection of staples from DLU 5022. In various embodiments, the user selects the instrument controller category 5070 from the control panel 5030 via the touch screen 5004 and activates the instrument control status, such that the user can control the surgical instrument 5020 via the touch screen 5004. it can. When the touchscreen 5004 is activated for instrument control, the user can interface with the touchscreen 5004 to control the surgical instrument 5020. For example, the user interfaces with control buttons and / or icons in the second information layer 5012 and / or interfaces with a location on the touch screen 5004 corresponding to the underlying surgical instrument 5020, for example, An instruction can be input to the surgical instrument 5020.

  For example, referring to FIG. 86, a user can interface with the touch screen 5004 to indicate, for example, the desired joint flexion direction and degree of DLU 5022. In particular embodiments, the user can drag contacts on touch screen 5004 from and / or near DLU 5022 to a desired articulated position of end effector 5002. Referring to FIG. 86, the user follows a line or arc 5352 from the location of the DLU 5022 displayed in the first information layer 5010 and / or in the vicinity thereof to the desired joint bending position of the DLU 5022. Can. For example, arc 5352 can extend from axis A defined by DLU 5022 and / or approximately from axis A, and arc 5352 can extend to axis A 'defined by the desired articulated position of DLU 5022. Further, arc 5352 can extend, for example, in the direction indicated by arrow 5354. In particular embodiments, the arc 5352 may not be visible in the second information layer 5010 when the user enters the desired joint flexion via the touch screen 5004. In various embodiments, the touch screen 5004 can convey the desired joint flexion angle to the instrument controller 5016 (FIG. 93) and / or the microcontroller, which can bring the joint flexion of the DLU 5022 to a desired joint flexion angle. Referring now to FIG. 88, the instrument controller 5016 (FIG. 93) and / or the microcontroller may articulate DLU 5022 into axis A ′, eg, based on user input via touch screen 5004. it can.

  Referring primarily to FIG. 87, in various embodiments, a user can interface with control buttons, schematics, and / or icons in the first information layer 5012 to input instructions into the surgical instrument 5020. For example, the first information layer 5012 may include a symbol or icon 5356, and the user can move and / or manipulate the icon 5356 to cause joint flexion of the DLU 5022. In various embodiments, the icon 5356 may include, for example, a schematic view of the DLU 5022. In addition, the user may drag the icon 5356 in an articulated and / or rotated orientation that causes an articulation of the DLU 5022. In various embodiments, the lines and / or arcs 5358 can indicate the direction and / or degree of joint flexion desired by the user. For example, arc 5358 can extend from the non-articulating direction of icon 5356 to the articulating direction of icon 5356 '. Articulated icon 5356 'can correspond to, for example, the desired joint flexion of DLU 5022. Referring now to FIG. 88, the instrument controller 5016 and / or the microcontroller can articulate DLU 5022 to axis A ′, for example, based on user input through touch screen 5004. For example, DLU 5022 can be articulated to an angle that exhibits the contour defined by arc 5358 between the unarticulated icon 5356 and the articulated icon 5356 'shown in FIG.

  Referring primarily to FIGS. 89 and 90, in various embodiments, a user can interface with the touch screen 5004 and input instructions regarding the closing of the jaws 5024 into the surgical instrument 5020. In particular embodiments, the user can drag contacts on the touch screen 5004 from the location of and / or near the moveable jaws 5024 toward the closing direction of the moveable jaws 5024 to initiate the closing of the jaws 5024. For example, the user follows a line or arc 5362 (FIG. 89) from the location of and / or in the vicinity of the movable jaw 5024 displayed in the first information layer 5010 towards the desired closing direction of the movable jaw 5024 be able to. In various embodiments, the touch screen 5004 can convey a closing motion to the instrument controller 5016 and / or the microcontroller, which can affect the closing of the movable jaw (s) 5024. In particular embodiments, the arc 5362 traced by the user on the touch screen 5004 can extend from the axis A and / or approximately from the axis A defined by the movable jaw 5024, the arc 5362 being the desired of the movable jaw 5024 It can extend in an axis A '(FIG. 90) defined by the clamping direction. Further, arc 5362 can extend, for example, in the direction indicated by arrow 5364. Referring now to FIG. 90, the instrument controller 5016 and / or the microcontroller can affect the closing of the moveable jaw 5024 relative to the axis A ′ based, for example, on user input via the touch screen 5004.

  Referring now to FIGS. 91 and 92, in various embodiments, a user can interface with control buttons and / or icons in the first information layer 5012 and input instructions into the surgical instrument 5020. For example, the first information layer 5012 may include a control interface 5072, which may comprise, for example, buttons 5074, 5075, 5076, 5077, 5078 for inputting instructions into the instrument controller 5016 and / or the microcontroller. Buttons for entering instructions into the instrument controller 5016 (FIG. 93) and / or the microcontroller may be, for example, articulation of the DLU 5022, closing and / or clamping of the jaws 5024, firing and / or retraction of the cutting element, and / or Or, it may relate to ejection of staples from DLU 5022. The user can interface with the touch screen 5004 and select the button (s) from the control interface 5072. Referring mainly to FIG. 91, the control interface 5072 may include, for example, a stop / back button 5474, a primary stop button 5475, a start button 5476, an acceleration button 5477, and / or a deceleration button 5478. The user may, for example, touch start button 5476, start the firing stroke and / or advance the firing element, touch primary stop button 5475, pause the firing stroke, and / or touch stop / retract button 5474, The firing stroke can be stopped and the firing element can be retracted. Additionally, the user can interface with the control interface 5072 to adjust the velocity of the launch element during the launch stroke. For example, the user can touch acceleration button 5477 to increase the velocity of the firing element, and the user can touch deceleration button 5478 to decrease the velocity of the firing element. The user may, for example, increase the velocity of the launch element after and / or during the “soft” start phase of the launch stroke and / or for example “soft” of the launch stroke towards the end of the launch stroke. In the stop phase, the velocity of the launch element may be reduced. In another embodiment, the control interface 5072 may comprise buttons and / or controls, for example, to change the closure of the jaws 5024 and / or the articulation of the DLU 5022. In various embodiments, when the instrument controller 5070 menu is selected from the control panel 5030 and / or the instrument control state is otherwise selected by the user, the control interface 5072 may include in the second information layer 5012. You can "snap" the position of the. The user can, for example, move, adjust and / or manipulate the control interface 5072 relative to the first information layer 5010 and / or the display 5002.

  In various embodiments, referring to FIG. 92, the second information layer 5012 can include a progress bar 5480, which can indicate, for example, the location of the launch element in the DLU 5022. The progress bar 5480 can extend between the proximal end 5482 and the distal end 5488 to define the most proximal and the most distal positions of the firing element during the firing stroke. In various embodiments, the position of the launch element can be indicated, for example, along the progress bar 5480. In particular embodiments, the user can use the controls in control interface 5072 to adjust the firing stroke. For example, the user interfaces with the control interface 5072 to start and / or stop the launch stroke “soft” start phase and / or “soft” stop phase based on the indicated position of the launch element along the progress bar 5480 it can. Furthermore, the progress bar 5480 may, for example, be able to set a position along the progress bar 5480 at which the “soft” start phase and / or the “soft” stop phase may begin and / or end, a measuring indicia and / or guide 5484, 5486 may be included. Guides 5484, 5486 may be visual candidates, for example, for starting and / or stopping the "soft" start period by the acceleration button 5077 and / or the "soft" stop phase by the deceleration button 5078 during the firing stroke. It can be provided to users. In various embodiments, the positions of the guides 5454 and 5486 may be preset by the user.

  Still referring to FIG. 92, in various embodiments, the instrument controller 5016 and / or the microcontroller automatically adjust to changes in the velocity of the firing element based on the position of the guides 5484, 5486 along the progress bar 5480. It can have an impact. Further, the user can interface with the touch screen 5004 to move and / or manipulate the progress bar 5480, thus changing the "soft" start phase and the "soft" stop phase of the launch stroke. For example, the “soft” start phase and / or “soft” stop phase can be set along the progress bar 5480 to a predetermined position between the proximal end 5482 and the distal end 5488. In particular embodiments, the user can interface with the touch screen 5004 to move and / or adjust the position of the guides 5454, 5486 along the length of the progress bar 5480. For example, the user can switch guides 5548, 5486 between multiple positions on progress bar 5480 by dragging and releasing guides 5484, 5486, the "soft" start phase and / or "soft" stop phase of the launch stroke Can be longer and / or shorter. In particular embodiments, the user can interface with the touch screen 5004 and move and / or adjust the position of the distal end 5488 of the progress bar 5480 to lengthen and / or shorten the firing stroke. For example, the user can drag the distal end 5488 proximally to shorten the firing stroke and / or, for example, drag the distal tip 5488 distally to prolong the firing stroke. In various embodiments, the instrument controller 5016 and / or the microcontroller may, for example, be based on the modified position of the guides 5484, 5486 and / or the distal end 5488 along the progress bar 5480, the velocity and / or Or you can adjust the launch stroke length.

  In various embodiments, the surgical instrument 10 may include at least one actuating mechanism. As detailed herein, such a deactivation mechanism can prevent tampering of the surgical instrument by the end user. For example, referring now to FIG. 134, a power supply 2500 is shown. The power supply 2500 can be used to power a surgical instrument such as, for example, the surgical instrument 10 (see FIG. 1), which is described elsewhere herein, eg, the power source 200 (FIG. 1). Similar in many respects to another power supply such as Reference) and another type of power supply further detailed in Zemlok '763 incorporated herein by reference in its entirety . To prevent tampering with the power supply 2500, the power supply 2500 may be configured to become inoperable or shut down if tampered with. For example, power supply 2500 may be deactivated, for example, by stopping reception, storage, and / or transmission of energy. By preventing tampering, the power supply 2500 can be reliably operated properly while the surgical instrument 10 is in use.

  Referring to FIGS. 134 and 135, power supply 2500 may comprise an outer casing 2502 that may seal various components of power supply 2500, such as, for example, battery pack 2510. The casing 2502 may comprise a first shell 2504 and a second shell 2506 that may be releasably coupled to the first shell 2504, as shown in FIG. In particular examples, shells 2504 and 2506 may be formed of a thermoplastic material such as, for example, polycarbonate. Alternatively, another material with appropriate features may be used. Further, the shells 2504 and 2506 can be coupled together by one or more fastening techniques, such as, for example, adhesives, welds, mating structures, and / or screws. In one example, shells 2504 and 2506 may be secured to one another by a snap fit type engagement. In another example, as shown in FIG. 135, shells 2504 and 2506 may be secured to one another by fasteners 2508.

  Referring to FIGS. 135-137, power supply 2500 can include an activation release mechanism 2512 that can cause the power supply 2500 to become inoperable if the power supply 2500 is defective. For example, the deactivation mechanism 2512 can disable the power supply 2500 if the casing 2502 is tampered with. As shown in FIGS. 135-137, the actuating mechanism 2512 may comprise circuitry 2514 which may include a frangible portion 2516 (see FIG. 136). In certain instances, the frangible portion 2516 may be comprised of a conductive material that can be easily broken. As shown in FIG. 136, the circuit 2514 can be coupled to the battery pack 2510 so that current can flow as long as the destructible portion 2516 remains intact. As shown in FIG. 137, when the destructive portion 2516 is broken, the circuit 2514 is broken, whereby the flow of current flowing therethrough can be stopped. In addition to the above, as shown in FIG. 135, the circuit 2514 can be arranged such that the frangible portion 2516 can be broken when the first shell 2504 and the second shell 2506 are separated, the broken circuit 2514 being The power supply 2500 may not be able to supply power to the receiving, storing, and / or surgical instrument 10 without any significant effort to repair.

  Referring to FIG. 135, power supply 2500 may comprise one or more batteries depending on the current loading requirements of the instrument 10. In various aspects, power supply 2500 may include a plurality of batteries that may be connected in series with one another, such as, for example, a battery pack such as battery pack 2510. Power supply 2500 may be replaceable. In particular aspects, power supply 2500 may include rechargeable batteries (eg, lead-based, nickel-based, lithium ion-based, etc.). The battery may be, for example, a 3 volt lithium battery, such as a CR 123A battery, but in alternative embodiments, different types of batteries can be used (such as batteries with different voltage levels and / or different chemistry) . The user can disconnect the depleted power supply 2500 from the surgical instrument 10 and connect the charged power supply 2500 into place. The depleted power supply 2500 can then be charged and reused. It is also envisioned that the power supply 2500 may include at least one disposable battery. In various aspects, the disposable battery may be about 9 volts to about 30 volts. The user can disconnect and remove the depleted disposable power supply 2500 and connect a new disposable power supply 2500 to provide power to the surgical instrument 10.

  As mentioned above, the power supply 2500 may comprise a rechargeable battery, for example, which can be removably installed within the handle portion 14 of the housing 12 (see FIG. 1). In such situations, the charger base may be used to charge the power supply 2500, which may include a power supply for charging the power supply 2500. For example, an activation release mechanism such as the activation release mechanism 2512 can be used to prevent the power supply 2500 from being recharged by the charger base, as described above, if the power supply 2500 is tampered with. For example, the circuit 2514 may be coupled to the battery pack 2510 and may be coupleable to the charger pedestal such that the charger pedestal may recharge the battery pack 2510. As described above, when the first shell 2504 is separated from the second shell 2506, thereby interrupting the current flowing through the entire circuit 2514, the destructible portion 2516 (see FIG. 135) can be destroyed, and the charger base is removed. Can prevent the battery pack 2510 from being recharged. The tampering of the power supply 2500 may be advantageous to prevent tampering of the power supply 2500 by the end user, as the power supply can not be recharged in order to subsequently use the surgical instrument 10.

  Referring now to FIGS. 138-141, power supply 2500 may store data including information regarding power supply 2500 such as, for example, total available charge, frequency of use, and / or performance, eg, data storage such as memory 2552 An apparatus may be provided. In addition, memory 2552 includes various information regarding the operation of surgical instrument 10 during a surgical procedure, such as, for example, various sensor readings, firing times, number of cartridges used, and / or information regarding the treated patient. Data regarding the surgical instrument 10 can be stored. Memory 2552 may include ROM (Read Only Memory), RAM (Random Access Memory), RPOM (Programmable ROM), EERPOM (Electrically Erasable PROM), and / or other computer readable media. It may include any means for storing software, without limitation.

  In addition to the above, referring again to FIGS. 138-141, the power supply 2500 may comprise a data access portal, such as, for example, an I / O interface 2550, to access data stored in the memory 2552. For example, I / O interface 2550 allows downloading of data stored in memory 2552 of power supply 2500 to an external computing device for evaluation and analysis. In certain situations, the I / O interface 2550 may be a wired interface and is operatively coupled to the deactivation mechanism 2512 to provide a breakable connection that can be disconnected to prevent data transmission by the I / O interface 2550. Good. Similar to the frangible portion 2516 of the actuating release mechanism 2512, the frangible connection of the actuating release mechanism 2554 occurs when the casing 2502 is broken, for example when the first shell 2504 and the second shell 2506 are separated from each other. Etc. can be arranged to be separable.

  In addition to the above, as shown in FIGS. 139-141, I / O interface 2550 receives a corresponding connector 2556 of an external computer device, for example, to allow data transfer between memory 2552 and the computer device. A connector 2555 may be provided, which may be configured as such. In addition, the connector 2554 is between the locked position where the connector 2554 is not exposed (see FIG. 139) and the unlocked position where the connector 2554 is exposed to receive the corresponding connector 2556 (see FIG. 140). It may be configured to move, for example, may be protected by a cover such as a pivoting cover 2559. In one example, the helical cover 2559 can be secured to the casing 2502 using a helical screw 2558. Other means of reversibly covering the connector 2556 are contemplated by the present disclosure. In addition to the above, in certain instances, connectors 2554 and 2556 may be different from connectors 2554 and 2556, for example, connector 2554, to prevent or at least limit unauthorized access to data stored in memory 2552. A key lock engagement may be provided, which may have a unique complementary shape that prevents receiving the connector. In a particular example, as shown in FIG. 141, the connector 2554 can be disposed within the casing 2502 to further limit unauthorized access to data stored in the memory 2552. In such situations, the connector 2554 can be accessed by separating the first shell 2504 from the second shell 2506 of the casing 2502. However, as detailed above, the deactivation mechanism 2512 can disable the power supply 2500 if the casing 2502 is destroyed and allow the connector 2554 to gain access to the data stored in the memory 2552. Attempts to expose can be further prevented.

  Referring to FIG. 142, power supply 2500 may comprise a processor 2560 that may manage data stored in memory 2552. A processor 2560 may be coupled to the tamper detection mechanism 2562 to protect such data from unauthorized access. For example, processor 2560 can be coupled to circuitry 2514 and can be configured to detect breakage of frangible portion 2516. In one example, the failure detection mechanism 2562 may include one or more sensors configured to detect failure of the casing 2502. In any event, upon detecting corruption, processor 2560 may be programmed to prevent unauthorized access to data stored in memory 2552, for example, by deleting or encrypting data.

  Referring to FIGS. 143-145, a surgical instrument 2600 is shown. Surgical instrument 2600 is similar in many respects to surgical instrument 10 (see FIG. 1) and / or surgical instrument 2100 (see FIG. 146). For example, surgical instrument 2600 may comprise a housing assembly 2602 similar to housing assembly 2102 of surgical instrument 2100 and / or housing 12 of surgical instrument 10. Additionally, the surgical instrument 2600 may comprise a power supply 2500 'that can be used to power the surgical instrument 2600, which may be other than described herein, such as, for example, the power supply 2500 (see FIG. 134). It is similar in many respects to the power supply described at the site, and another type of power supply further detailed in Zemlok '763 incorporated herein by reference in its entirety. Additionally, as shown in FIG. 143, the power supply 2500 'may comprise a charge level indicator 2660, which may be configured to provide the user with feedback about the charge level of the power supply 2500'. The feedback may, for example, be in the form of sound and / or light. The power supply 2500 'may include one or more light emitting diodes (LEDs). The processor 2560 may be programmed, for example to control LEDs, to provide the user with feedback on the charge level of the power supply 2500 ', as measured, for example, by a charge meter.

  As shown in FIGS. 143-145, the power supply 2500 'may comprise a first LED 2662 and a second LED 2664. The processor 2560 can be coupled to the LEDs 2662 and 2664 and can be programmed to illuminate both the LEDs 2662 and 2664 upon receiving a signal from the charge meter that the power supply is fully charged. In addition, the processor 2560 may be programmed to turn off both the LEDs 2662 and 2664 upon receiving a signal from the charge meter that the power has been lost. Further, when the processor 2560 receives a signal from the charge meter that the power supply has a sufficient charge to complete the operation of the surgical instrument 2600 only once, only the first LED 2662 is It may be programmed to glow. Another means of alerting the user to the charge level of the power supply 2500 'is contemplated by the present disclosure.

  In certain embodiments, for example, various components of surgical instrument 10 may be reusable and various components may be interchangeable. Furthermore, the surgical instrument 10 may be at least partially assembled, disassembled and / or reassembled. For example, the surgical instrument 10 may be at least partially disassembled, for example, reassembling reusable components and replacement components. In addition, the surgical instrument 10 may be at least partially disassembled for cleaning, disinfecting, and / or reprocessing between surgical procedures. Thereafter, the surgical instrument 10 may, for example, be reassembled. As detailed herein, various features, assemblies and / or systems of the surgical instrument 10 can facilitate their disassembly and assembly. For example, referring now to FIGS. 146-148, a surgical instrument 2100 is shown. Surgical instrument 2100 is similar in many respects to surgical instrument 10 (see FIG. 1). For example, surgical instrument 2100 may include a housing assembly 2102 similar to housing 12 of surgical instrument 10. In addition, the housing assembly 2102 may comprise a number of removable elements 2103 that may be removably secured to the housing body 2104, such as, for example, the actuation assembly 2106. Other components of the housing assembly 2102 may be removably secured to the housing body 2104. For example, the housing assembly 2102 may include a replaceable power source 2108 that may be removably secured to the handle portion 2110 of the housing body 2104. Power supply 2108 is similar in many respects to other power supplies described elsewhere herein, such as, for example, power supply 200 (see FIG. 1).

  Referring again to FIG. 147, the housing assembly 2102, or some or all of the components thereof, may be reusable. In other words, the housing assembly 2102, or some or all of the components thereof, may be used in a plurality of surgical procedures, cleaning, disinfecting, and / or reprocessing the housing assembly 2102 between surgical procedures. You may need Cleaning, disinfecting, and / or cleaning of the housing assembly 2012 can be performed by reversibly disassembling the housing assembly 2102 or removing, for example, some or all of the components, such as the actuation assembly 2106, in a simple and reproducible manner. The reprocessing process can be simplified and / or cost reduced.

  Referring to FIG. 147, the housing assembly 2102 can be disassembled after the surgical procedure, and the components of the disassembled housing assembly 2102, such as the housing body 2104, the actuation assembly 2106 and / or the power supply 2110, etc., are features of each component And cleaning, disinfecting, and / or reprocessing individually or in combination with other components, depending on the internal components. In a particular example, housing body 2104 may be disposable. In other words, the housing assembly 2102 can be disassembled after the surgical procedure, and the housing body 2104 can be replaced with a new housing body 2104. However, after cleaning, disinfecting, and / or reprocessing the remaining components, they may be attached to the new housing body 2104. The reader will understand that other components of the housing assembly 2102 may also be disposable and replaced with new similar components.

  Referring again to FIGS. 146-148, the housing body 2104 may be configured to allow assembly and disassembly of the housing assembly 2102 in a simple, predictable and reproducible manner. For example, the housing body 2104 may include a first side plate 2112 (see FIG. 147) and a second side plate 2114 (see FIG. 146) that may be removably attached to the first side plate 2112. In one example, the side plate portions 2112 and 2114 may include snap-fit engagement portions. The side plate portions 2112 and 2114 may be adapted to be in meshing engagement with one another. In one example, side plate portion 2112 is a corresponding male member (not shown) disposed on side plate portion 2114 which is cylindrical in shape and snap-fits when side plates 2112 and 2114 are assembled together. May be configured to receive a plurality of female members 2116 (see FIG. 147).

  In addition to the above, the actuation assembly 2106 may be nested within the first side plate portion 2112. As shown in FIG. 147, to allow removal of the actuation assembly 2106 from the housing body 2104 by the user, the second side plate portion 2114 is removed and the actuation assembly 2106 nested within the first side plate portion 2112. Can be exposed. As shown in FIG. 147, the actuation assembly 2106 may comprise a motor 2118 that can cause rotational movement to the end effector (eg, the cartridge / anvil portion of the loading unit 20 shown in FIG. 2). Motor 2118 is similar in many respects to the other motors described elsewhere herein, such as, for example, motor 100 (see FIG. 1). In addition, actuation assembly 2106 may also include a transmission assembly 2120 that may be operatively coupled to motor 2118, which is described elsewhere herein, such as, for example, gear assembly 170 (see FIG. 5). Similar in many ways to other transmission assemblies. In addition, actuation assembly 2106 may also include a firing member assembly 2122 that converts the rotational motion generated by motor 2118 into axial motion, which may be transmitted through firing rod 2124 to the end effector. The firing member assembly 2122 is similar in many respects to the other drive assemblies described elsewhere herein, such as, for example, the firing member assembly 82.

  Referring to FIGS. 147 and 148, the first side plate portion 2112 may comprise a plurality of compartments designed to receive the actuation assembly 2106 and having the space. For example, the side plate portion 2112 may include a motor nesting section 2126 which may have a space for housing the motor 2118 as shown in FIG. In particular examples, motor nesting section 2126 may be designed to fit motor 2118 in a particular arrangement to ensure correct assembly. In addition, motor nesting section 2126 may comprise a mounting instruction, which may, for example, be molded on the wall of motor nesting section 2126 to ensure correct mounting. For example, the sidewalls of motor nesting section 2126 may be configured to closely receive motor 2118. Moreover, the sides may be asymmetrically configured to accommodate the motor 2118 in only one direction, ie the correct direction, at least in part.

  Similarly, side plate portion 2112 may include a transfer assembly nested section 2128, which may have a space for receiving transfer assembly 2120, as shown in FIG. Further, in particular examples, the transfer assembly nested section 2128 may be designed to fit the transfer assembly 2120 in a particular arrangement to ensure accurate assembly. For example, the sidewalls of the transfer assembly nested section 2128 may be configured to closely receive the transfer assembly 2120. Moreover, the sides may be asymmetrically configured to accommodate the transmission assembly 2120 in one direction only, i.e. the correct direction, at least in part. In addition, transfer assembly nested section 2128 may comprise an assembly instruction, which may, for example, be molded on the wall of transfer assembly nested section 2128 to ensure correct assembly. Similarly, the side plate portion 2112 may include a firing member assembly nesting section 2130, which may have a space for receiving the firing member assembly 2122 as shown in FIG. Further, in particular examples, the firing member assembly nesting section 2130 may be designed to fit the firing member assembly 2122 in a particular arrangement to ensure correct assembly. For example, the side walls of the firing member assembly nesting section 2130 may be configured to closely receive the firing member assembly 2122. Moreover, the sides may be asymmetrically configured to accommodate the firing member assembly 2122 in only one direction, i.e., the correct direction, at least in part. In addition, the firing member assembly nesting section 2130 may comprise an assembly instruction, which may be molded, for example, on the wall of the firing member assembly nesting section 2130, to ensure correct assembly. The reader will understand that other components of the actuation assembly 2106 may also be provided in the side plate portion 2112 with a specific designated storage compartment. The reader may also establish an electrical connection between the actuation assembly 2106 and other components of the housing assembly 2102, such as the power supply 2108, and / or other components of the surgical instrument 2100, when properly assembled. It will also be appreciated that electrical contacts to the components of actuation assembly 2106 may also be embedded in the compartments of side plate 2112.

  In addition to the above, as shown in FIG. 147, the user can use surgical instrument 2100 to releasably couple actuation assembly 2106 to firing rod 2124, thereby facilitating disassembly and reassembly of actuation assembly 2106. The actuating assembly 2106 can be removed and reconnected as a unit from the. In one example, as shown in FIG. 147, the firing member assembly 2122 is configured to receive the proximal portion 2134 of the firing rod 2124 and be releasably locked to its upper surface, eg, in a snap fit engagement. A hollow tubular distal portion 2132 may be provided, which may be provided with a distal opening.

  Referring again to FIGS. 147 and 148, other components of the housing assembly 2102 can be nested in dedicated compartments within the side plate portion 2112 in a manner similar to the actuation assembly 2106. For example, the side plate portion 2112 may include a power supply nest section 2136 which may have a space for accommodating the power supply 2108. Further, in particular examples, the power nesting compartment 2136 may be designed to fit the power source 2108 in a particular arrangement to ensure correct assembly. For example, the sidewalls of the power nesting compartment 2136 may be configured to closely house the power source 2108. Moreover, the sides may be asymmetrically configured to accommodate the power supply 2108 in one direction only, i.e. the correct direction, at least in part. In addition, the power nesting compartment 2136 may comprise a mounting instruction, which may, for example, be molded on the wall of the power nesting compartment 2136 to ensure correct mounting.

  In addition to the above, as shown in FIGS. 147 and 148, the firing button nested compartments may also have a space for receiving the firing button 2138, for example certain user input mechanisms such as the firing button 2138 and / or the closing switch 2140. A closure switch nesting section 2144 which may have space for receiving the 2142 and / or the closure switch 2140 may be removable from the housing body 2104. Further, in particular examples, the firing button nested section 2142 may be designed to fit the firing button 2138 in a particular arrangement to ensure correct assembly. For example, the sidewalls of the firing button nesting section 2142 may be configured to closely receive the firing button 2138. Moreover, the sides may be asymmetrically configured to accommodate the firing button 2138 in only one direction, ie the correct direction, at least in part. Similarly, the closure switch nesting section 2144 may be designed to fit the closure switch 2140 in a particular arrangement to ensure correct assembly. For example, the closure switch nesting section 2144 may be configured to closely receive the closure switch 2140. Moreover, the sides may be configured asymmetrically to accommodate the closure switch 2140 in only one direction, ie the correct direction, at least in part. In addition, the firing button nesting compartment 2142 and / or the closure switch nesting compartment 2144 may be molded, for example, on the wall of the firing button nesting compartment 2142 and / or the closure switch nesting compartment 2144 to ensure correct assembly. , May be equipped with an assembly instruction unit.

  Referring again to FIGS. 147 and 148, in addition to the nested sections, the side plate sections 2112 are one of the removable elements 2103 of the housing assembly 2102 to securely retain the removable elements 2103 in their respective sections. Fixing mechanism (s) may be provided to secure the part or all in each compartment. Such a locking mechanism is movable between the unlocking configuration (see FIG. 148) and the locking configuration (see FIG. 147) to lock the removable elements 2103 of the housing assembly 2102 to their respective sections within the side plate portion 2112. , And a fixing member. The reader will understand that one or more removable members 2103 can be secured to the side plate portion 2112 utilizing one or more securing members. In addition, the securing mechanism also includes a safety mechanism that may prevent the securing member from moving into the locking configuration in the event of improper assembly to ensure correct assembly of the removable element 2103 of the housing assembly 2102 You may As shown in the exemplary embodiment of FIG. 147, the actuation assembly 2106 may be, for example, by a number of securing members such as a motor securing member 2148, a transmission assembly securing member 2150, and / or a firing member assembly securing member 2152. It can be fixed to the side plate portion 2112. In a particular example, as shown in FIG. 147, the power supply locking member 2154, the firing button locking member 2156, and the closing switch locking member 2158 can be used to lock the power source 2108, firing button 2138 and closing switch 2140, respectively. .

  By moving from the unlocked configuration (see FIG. 148) to the locked configuration (see FIG. 147), the securing member can be anchored on the removable element 2103. For example, by moving from the unlocked configuration (see FIG. 148) to the locked configuration (see FIG. 147), the motor fixing member 2148 can be anchored on the motor 2118. In particular examples, some or all of the removable element 2103 may comprise a rail that is configured to receive a locking member when moved from the unlocked configuration to the locked configuration. The rails may be arranged so that they can receive and align the moving fixation member only when the removable elements 2103 are properly nested within their respective compartments in the side plate 2112. For example, if the motor 2118 is not properly nested within the motor nesting section 2126, the motor locking member 2148 can not be properly aligned with its rails, and thus the motor locking member 2148 moves from the unlocked configuration to the locked configuration. The fixing member 2148 can not enter into the rail and may, for example, abut the outer wall of the motor 2118. In a particular example, when the user attempts to assemble the side plates 2112 and 2114 when the motor securing member 2148 is not in the locked configuration, the first side plate 2112 is prevented from meshing engagement with the second side plate 2114 The motor fixing member 2148 can be arranged to be able to do so. This configuration can warn the user and reconfirm the assembled components of the housing assembly 2102 for correct installation.

  Similar to the motor fixing member 2148, the transmission assembly fixing member 2150 can be housed in a dedicated rail on the transmission assembly 2120, and the transmission assembly fixing member 2150 is properly nested in the transmission assembly nesting section 2128. Only if it can be arranged to align with the corresponding rail. In addition, the firing member assembly securing member 2152 can be housed, for example, in a dedicated rail on the firing member assembly 2122, and the firing member assembly securing member 2152 is properly nested within the firing member assembly nesting section 2130. If it does, it can be arranged to align with the rail. Similarly to the motor fixing member 2148, when the user attempts to assemble the side plate portions 2112 and 2114 when the transmission assembly fixing member 2150 and / or the firing member assembly fixing member 2152 are not in the locking configuration, the first side plate portion The transfer assembly securing member 2150 and / or the firing member assembly securing member 2152 can be disposed such that 2112 can be prevented from meshing engagement with the second side plate portion 2114. As described above, a portion of the removable element 2103 can be removed and reassembled into the side plate member 2112 as a single assembly, and secured by the plurality of securing members. For example, as shown in FIG. 147, the actuation assembly 2106 can be secured to the side plate portion 2112 by a motor securing member 2148, a transmission assembly securing member 2150 and / or a firing member assembly securing member 2152. Such a configuration is such that failure to properly assemble any one of the components of the actuation assembly 2106 prevents the corresponding securing member from reaching the locking configuration and at least one securing member does not reach the locking configuration. In addition, if the user attempts to assemble the side plate portions 2112 and 2114, the first side plate portion 2112 can be prevented from meshing engagement with the second side plate portion 2114, thus providing an additional step to guarantee the correct assembly.

  Referring again to FIGS. 147 and 148, a portion or all of the securing member may be pivotally attached to the first side plate portion 2112, from the unlocked configuration (see FIG. 148) to the locked configuration (see FIG. 147). Or vice versa may be movable relative to the first side plate portion 2112. In particular examples, the second side plate portion 2114 is a removable element nested within the first side plate portion 2112 when the side plate portions 2112 and 2114 are aligned for meshing engagement during assembly of the housing assembly 2102. A protruding securing member (not shown) may be provided that is configured to be received within a corresponding receiving member (not shown) in 2103. The projecting fixing member can securely keep the removable element 2103 fixed in the first side plate portion 2112. In addition, if the user attempts to assemble the side plate portions 2112 and 2114 when, for example, the protruding fixing member is not properly aligned with its corresponding receiving member, the protruding fixing member may, for example, improperly remove the removable element 2103. Assembling warns the user and re-confirms assembly of the removable element 2103 of the housing assembly 2102 for correct assembly, preventing the first side plate portion 2112 from meshing engagement with the second side plate portion 2114 it can. The reader may position the projecting fixing members and their corresponding receiving members so that the projecting fixing members can be configured to protrude from the removable element 2103 and be received in the corresponding receiving members on the second side plate 2114. You will understand what you can do in reverse. In any case, the projecting fixing members and their corresponding receiving members can be removably attached to one another, for example in a snap-fit engagement. Another engagement mechanism is contemplated by the present disclosure.

  In addition to the above, part or all of the removable element 2103 is configured to receive the locking member of the first side plate portion 2112 when it is moved from the unlocked configuration (see FIG. 148) to the locked configuration (see FIG. 147). The cam surface may be provided. The cam surface may be arranged on the outer surface of part or all of the removable element 2103 and by means of corresponding fixing members it may be possible to apply pressure on the removable element 2103 in the locking configuration. For example, motor 2118 may have a cam surface along its rail. When the motor locking member 2148 moves from the unlocked configuration (see FIG. 148) to the locking configuration (see FIG. 147), the motor locking member 2148 travels over the motor 2118 along the cam surface and is locked by the motor locking member 2148, for example The pressure can be increased on motor 2118 at maximum pressure in the configuration. The pressure applied on the motor 2118 may help to secure the motor in the motor nesting compartment 2126.

  As mentioned above, the end effector may comprise a firing member that can be advanced distally to staple and / or cut tissue. Referring now to FIG. 155, the end effector 11260 may comprise a first jaw comprising an anvil 11262 and a second jaw comprising a staple cartridge 11264. End effector 11260 includes: 1) a housing and / or frame 11261 extending proximally from anvil 11262 and staple cartridge 11264, and 2) a firing member 11266 movable relative to housing 11261, anvil 11262 and cartridge 11264 It may further be provided. The end effector 11260 may further include an articulation joint 11230 configured such that the anvil 11262 and the cartridge 11264 can be articulated by the articulation drive 11268. In use, the end effector 11260 is, for example, 1) an end effector housing 11261 is connected to a shaft housing 11241 configured to support the end effector housing 11261, and 2) an end effector firing member 11266 is an end And / or 3) an end effector joint flex drive 11268 is advanced to the end effector joint flex drive 11268 that is coupled to a shaft firing actuator 11246 configured to advance and retract the effector firing member 11266 And, it may be assembled to the shaft 11240 of the surgical instrument so as to be coupled to a shaft joint flexion actuator 11248 configured to retract. In use, the firing member 11266 is advanced distally from the open position where tissue can be placed intermediate the anvil 11262 and the cartridge 11264 to the closed position where the anvil 11262 compresses tissue against the cartridge 11264 You can move 11262. In various situations, the firing member 11266 engages the first jaw such that the anvil 11262 can be pivoted towards the staple cartridge 11264 by the engagement member when the firing member 11266 is advanced distally. The first engagement member configured and the second engagement member configured to engage the second jaw may be provided. In order to reopen the end effector and allow the anvil 11262 to return to the open position, the firing member 11266 must be fully retracted. In various situations, the firing member 11266 may become immobile in the at least partially fired position, such that the anvil 11262 can not be reopened, making it difficult to remove the surgical instrument from the surgical site Become.

  Turning now to FIGS. 156-161, an end effector such as end effector 11360 reopens anvil 11262 of end effector 11360 even though the firing member of end effector 11360 does not move at least partially fired. It may be provided with a launchable member. More specifically, end effector 11360 comprises a detachable member 11366 comprising separable portions 11366a and 11366b, which may be configured to allow relative movement between anvil 11262 and cartridge 11264 in various cases. May be equipped. Referring primarily to FIGS. 157 and 158, the detachable portions 11366a and 11366b can be held together by the lock 11390 when the lock 11390 is in the locked state, as shown in FIG. Correspondingly, when the lock 11390 is in the unlocked state, the detachable parts 11366a and 11366b can move relative to each other. The detachable portion 11366a of the launch member 11366 may comprise a first side 11363a, a second side 11367a, and a cutting member 11365a disposed intermediate the sides 11363a and 11367a. In various situations, the side portions 11363a and 11367a are not shown in FIGS. 157 and 158 and may be attached to the cutting member portion 11365a by one or more pins extending through the opening 11396a defined therein. It may be held. The detachable portion 11366b of the firing member 11366 may comprise a first side 11363b, a second side 11367b, and a cutting member 11365b disposed intermediate the sides 11363b and 11367b. In various situations, sides 11363 b and 11367 b may be retained on cutting member 11365 b by at least one retaining member not shown in FIGS. 157 and 158 and engaging foot 11396 b extending therefrom. As will be appreciated by the reader, the retention pins hold the various components of the detachable portion 11363a together while the holding members hold the various components of the detachable portion 11363b together. As also understood by the reader, the lock 11390 holds the separable portions 11363a and 11363b together when in the locked position. In various cases, referring primarily to FIG. 158, the lock 11390 additionally includes a first locking member 11397a configured to engage the first locking portion 11361a of the first cutting member portion 11365a, And a second lock member 11397b configured to engage the second lock portion 11361b of the second cutting member portion 11365b. The first lock 11361a and the second lock 11361b can be configured to cooperatively and removably retain the cutting members 11365a and 11365b. In various cases, the locking portions 11397a, 11397b may be configured such that the cutting surfaces 11395a and 11395b of the cutting members 11365a and 11365b form a continuous or at least substantially continuous cutting surface, respectively. And 11365b can be held together. Referring again to FIG. 158, the lock portions 11397a, 11397b of the lock 11390 can be configured such that the keys 11361a and 11361b of the cutting member portions 11365a and 11365b, respectively, are cooperatively engaged and held. In various cases, the lock portions 11397a, 11397b can define a recess 11398 therebetween that is configured to receive the keys 11361a and 11361b when the lock 11390 is in the locked position. When the lock 11390 is pulled proximally, the lock portions 11397a and 11397b can disengage the keys 11361a and 11361b. At such time, the lock 11390 can not already hold the cutting members 11365a and 11365b together. In such a situation, as a result, the separable parts 11366a and 11366b can move relative to one another. For example, the detachable portion 11366a can move with the jaw 11262 when the jaw 11262 is reopened, and correspondingly, the detachable portion 11366b can stay with the cartridge 11264. From the above, when the firing member 11366 becomes immobile, for example, in an at least partially fired position, the lock 11390 can be pulled proximally to unlock the separable portions 11366a and 11366b.

  As described above, the lock 11390 can be pulled proximally to unlock the separable portions 11366a and 11366b of the firing member 11366. Turning now to FIG. 159, lock bar 11391 allows lock 11390 to be pulled proximally and / or pushed distally. The lock bar 11391 can be disposed within the end effector 11360 and can comprise a proximal end 11392 and a distal end 11393. The distal end 11393 of the lock bar 11391 may engage the lock 11390. More specifically, in at least one embodiment, the distal end 11393 may comprise a projection extending therefrom which may be slidably disposed within the elongated slot 11399 defined in the lock 11390 . To pull the lock 11390 proximally, the lock bar 11391 may be pulled proximally until its projection contacts the proximal end 11394 of the elongated slot 11399, at which time the movement of the lock bar 11391 is transmitted to the lock 11390 can do. Correspondingly, the protrusion may be configured to abut the distal end 11395 of the elongated slot 11399 to push the lock 11390 distally. As understood by the reader, referring again to FIG. 156, the firing member 11366 is configured to allow the protrusions of the lock bar to extend therethrough and engage the lock 11390, as described above. It may be provided with one or more longitudinal slots 11369 defined therein.

  In addition to the above, referring primarily to FIGS. 156 and 160, the proximal end 11392 of the lock bar 11391 is configured to be engaged by the lock actuator 11348 of the shaft 11340 of the surgical instrument. May be equipped. Referring primarily to FIG. 160, the lock actuator 11348 may comprise a distal end 11349 with a notch, which may be configured, for example, to receive the proximal end 11392 of the lock bar 11391. The lock actuator 11348 can be pulled proximally and / or pushed distally by the user of the surgical instrument to move the lock actuator 11348 and the lock bar 11391 proximally and / or distally, respectively. It may further comprise a proximal end 11347. In use, the proximal end 11392 of the lock bar 11391 may be assembled to the distal end 11349 of the lock actuator 11348 when the end effector 11360 is assembled to the shaft 11340.

  As mentioned above, the motor can be used to deploy the fasteners from the end effector and / or to advance and / or retract the firing member to incise tissue captured within the end effector. In various cases, the motor may include a rotatable drive shaft, which may translate its rotation into a translational motion, for example, to transmit to a firing member such as a cutting member and / or a staple driver. In at least one such case, the rotatable drive shaft may comprise a collar including a threaded opening defined therein and a threaded portion engaged by screwing, the drive in use The rotation of the shaft can limit the rotation of the collar to advance the collar distally and / or retract the collar proximally depending on the direction of rotation of the drive shaft. In certain cases, the firing member may become immobile and / or otherwise encounter a desired or predetermined maximum force, ie a force above torque, ie a torque. Turning now to FIGS. 162-167, motor assembly 12000 may comprise motor 12010, shaft 12020, and sliding clutch assembly 12030, which may be transmitted to shaft 12020 by motor 12010. It can limit the force, that is, the torque. In various cases, referring primarily to FIGS. 162 and 163, the sliding clutch assembly 12030 can transfer torque between the rotatable drive output 12012 of the motor 12010 and the shaft 12020. Referring now to FIGS. 165-167, drive output 12012 includes, in various cases, a substantially annular outer contour 12011 and a transition surface 12014 that may be flat or at least substantially flat. May be equipped. The outer contour of the drive output 12012 comprises a first drive shoulder 12016 defined between the annular contour 12011 and the plane 12014 and, in addition, between the opposite end of the plane 12014 and the annular contour 12011 And a second drive shoulder 12018 defined in

  As also shown in FIGS. 165-167, the sliding clutch assembly 12030 may include a drive element 12034 that is biased into engagement with the drive output 12012 by a biasing element or spring 12036. The drive element 12034 may be at least partially disposed in a retention slot defined in the housing 12037 of the sliding clutch assembly 12030 such that movement of the drive element 12034 relative to the housing 12037 can be defined along an axis. As will be appreciated by the reader, housing 12037 of the sliding clutch assembly may be mounted on shaft 12020 such that housing 12037 and shaft 12020 rotate in unison with one another. As also understood by the reader, in at least certain circumstances, the drive element 12034 can transfer rotational movement of the drive output 12012 to the housing 12037. More specifically, until drive output 1120 contacts drive element 12034 as drive output 12012 rotates in a first direction as shown by arrow 12017 to advance the firing member distally. The drive output 12012 can be rotated relative to the drive element 12034. As understood by the reader, the first drive shoulder 12016 has contacted the drive element 12034 as long as the biasing member 12036 can resist or at least sufficiently resist the radial outward movement of the drive element 12034. It can be maintained as it is. As long as drive element 12034 is in contact with first drive shoulder 12016, motor 12010 can rotate shaft 12020 in a direction that advances the firing member distally. In various cases, the motor 12010 causes the first drive shoulder 12016 of the drive output 12012 to slide by the drive element 12034 so that the drive output 12012 is relative to the drive element 12034, the sliding clutch housing 12037 and the shaft 12020 A torque large enough to offset the drive element 12034 radially outward can be applied to the drive output 12012 to rotate. In other words, when the torque applied to the drive output 12012 exceeds a predetermined or maximum torque, the drive element 12034 may be disabled and operatively disengaged from the motor 12010. When the torque applied to the drive output 12012 falls below this predetermined or maximum torque, the drive element 12034 can re-engage the first drive shoulder 12016 so that the shaft 12020 is the drive output 12012 of the motor 12010. The shaft 12020 can be operatively reengaged with the motor 12010 to be rotated by the

  In addition to the above, when the drive output portion 12012 is rotated in the second direction as shown by the arrow 12019 to retract the firing member proximally, the drive is driven until the second drive shoulder 12018 contacts the drive element 12034 The output 12012 can be rotated relative to the drive element 12034. As understood by the reader, the second drive shoulder 12018 has contacted the drive element 12034 as long as the biasing member 12036 can resist or at least sufficiently resist the radial outward movement of the drive element 12034. It can be maintained as it is. As long as the drive element 12034 is in contact with the second drive shoulder 12018, the motor 12010 can rotate the shaft 12020 in a direction to retract the firing member proximally. In various cases, the motor 12010 causes the second drive shoulder 12018 of the drive output 12012 to slide by the drive element 12034 so that the drive output 12012 is relative to the drive element 12034, the sliding clutch housing 12037 and the shaft 12020. A torque large enough to offset the drive element 12034 radially outward can be applied to the drive output 12012 to rotate. In other words, when the torque applied to the drive output 12012 exceeds a predetermined or maximum torque, the drive element 12034 may be disabled and operatively disengaged from the motor 12010. When the torque applied to the drive output 12012 falls below this predetermined or maximum torque, the drive element 12034 can re-engage the second drive shoulder 12018 so that the shaft 12020 is the drive output 12012 of the motor 12010. The shaft 12020 can be operatively reengaged with the motor 12010 to be rotated by the

  In various cases, in addition to the above, the first drive shoulder 12016 and the second drive shoulder 12018 may have the same configuration. In particular cases, the first drive shoulder 12016 may be defined by a first radius of curvature and the second drive shoulder 12018 may be defined by a second radius of curvature. In some cases, the first radius of curvature may be the same as the second radius of curvature. In such a case, when the drive output unit 12012 is rotating in the first direction 12017, the maximum slip torque that the motor 12010 can apply, that is, the slip torque, causes the drive output unit 12012 to rotate in the second direction 12019. , May be the same as or substantially the same as the maximum or sliding torque that the motor 12010 can apply. In some cases, the first radius of curvature may be different than the second radius of curvature. In such a case, when the drive output unit 12012 is rotating in the first direction 12017, the maximum slip torque that the motor 12010 can apply, that is, the slip torque, causes the drive output unit 12012 to rotate in the second direction 12019. And may differ from the maximum or sliding torque that the motor 12010 can apply. In at least one such case, the first radius of curvature may be greater than the second radius of curvature, so that the maximum or slip torque in the first direction 12017 is the maximum or slip torque in the second direction 12019. It may be smaller. In other words, motor 12010 can apply greater torque to shaft 12020 when the firing element is retracted than when the firing element is advanced. In such cases, it may be advantageous when it is desirable to retract the firing element to, for example, reopen the end effector of the surgical instrument and release the clamp from the tissue. In at least one case, the first radius of curvature may be smaller than the second radius of curvature, so that the maximum or slip torque in the first direction 12017 is greater than the maximum or slip torque in the second direction 12019 Good. In other words, motor 12010 can apply greater torque to shaft 12020 when the firing element is advancing than when the firing element is retracted.

  In addition to the above, referring mainly to FIGS. 163 and 164, the biasing member 12036 may be resiliently supported by a spring collar 12032 disposed in a circumferential groove 12031 defined in the sliding clutch housing 12037. . In such a case, spring collar 12032 and biasing member 12036 may cooperate to apply a radially inward biasing force and / or resist radially outward movement of drive element 12034. In various cases, the spring collar 12032 may comprise an annular body comprising a first free end 12033 and a second free end 12034, the annular body being resilient when said force is applied radially outwardly. It can expand elastically and can contract elastically if the radial outward force is eliminated or reduced. In such a case, the first free end 12033 of the spring collar 12032 can move relative to the second free end 12034.

  The devices disclosed herein may be designed to be disposed of after a single use, or may be designed to be used multiple times. However, in each case, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of disassembly of the device followed by cleaning or replacement of particular parts and subsequent reassembly. In particular, the device can be disassembled, and any number of particular parts or components of the device can be selectively replaced or removed in any combination. During cleaning and / or replacement of particular components, the device can be reassembled at the realignment facility or reassembled by the surgical team prior to surgery and ready for subsequent use. Those skilled in the art will recognize that reconditioning of the device may utilize various techniques for disassembly, cleaning / replacement, and reassembly. All such techniques and the resulting use of the reconditioned device are within the scope of the present invention.

  Preferably, the invention described herein will be processed prior to surgery. First, new or used equipment is obtained and cleaned as needed. The device may then be sterilized. In one sterilization method, the device is placed in a closed and sealed container such as a plastic or TYVEK bag. The container and instrument are then placed in a radiation field which can penetrate the container, such as gamma radiation, x-rays or high energy electron beams. The radiation kills bacteria on the surface of the device and in the container. The sterile device can then be stored in a sterile container. The sealed container keeps the device sterile until it is opened at the medical facility.

  Any patent publications or other disclosures incorporated herein, in whole or in part, by reference, will be incorporated by reference to the present definitions, descriptions or other disclosures described in this disclosure. Only to the extent not inconsistent with. As such, and to the extent necessary, the disclosure content as explicitly set forth herein supersedes any conflicting description incorporated herein by reference. Any references, or portions thereof, that are incorporated herein by reference, but which conflict with the existing definitions, descriptions, or other disclosures described herein, may be incorporated by reference in their entirety and the disclosures therein. It shall be incorporated only to the extent that no contradiction arises with the content.

  Although the invention has been described as having an exemplary design, the invention may be further modified within the spirit and scope of the present disclosure. Accordingly, the present application is intended to cover any variations, uses, or adaptations of the present invention that use its general principles. Furthermore, the present application is intended to cover such deviations as being known or customary in the field to which the present invention relates.

[Aspect of embodiment]
(1) A system in signal communication with a surgical instrument for displaying feedback during endoscopic surgery, comprising:
A screen comprising a touch sensitive interface, wherein the touch sensitive interface is configured to receive at least one input;
A first layer shown on the screen, the first layer comprising primary feedback from the surgical instrument;
A second layer shown on the screen, the second layer comprising secondary feedback from the surgical instrument, the second layer at least partially comprising the second layer; Overlying the first layer, at least one input to the touch sensitive interface being configured to manipulate the second order feedback of the second layer relative to the first order feedback of the first layer, system.
The system of claim 1, wherein the primary feedback comprises video feedback of the surgical instrument.
The system of claim 2, wherein said secondary feedback comprises data detected by said surgical instrument.
(4) The at least one input may include at least one of the data detected by the surgical instrument, relative to the surgical instrument shown in the second layer, on the screen. The system according to embodiment 3, comprising dragging to a position.
(5) said at least one input comprises selecting a portion of said secondary feedback, said portion of said secondary feedback corresponding to a feature of said surgical instrument, said selection of said secondary feedback The system according to claim 1, wherein the positioned portion positions itself at a position on the screen near a corresponding feature of the surgical instrument shown in the first layer.

6. The system according to claim 5, wherein the position on the screen overlaps a corresponding feature of the surgical instrument shown in the first layer.
The system according to claim 1, wherein the at least one input comprises moving the secondary feedback between a plurality of positions.
The system according to claim 1, wherein the at least one input comprises transforming the secondary feedback between a plurality of unit systems.
The system according to claim 1, wherein the at least one input comprises converting the secondary feedback between a numerical display and a graphical display.
The system of claim 1, wherein the at least one input comprises resizing the secondary feedback.

The control system according to claim 1, further comprising: a controller in signal communication with the touch sensitive interface and the surgical instrument, wherein the controller selectively controls the surgical instrument based on the at least one input. system.
(12) A device for performing signal communication with an endoscopic instrument, comprising:
Lower layer display of video feedback from the endoscopic instrument,
Upper layer display of dynamic feedback from the endoscopic instrument;
Operation means for operating the upper layer display of dynamic feedback with respect to the lower layer display of video feedback.
The apparatus according to claim 12, wherein the upper layer indication of dynamic feedback comprises information detected by the endoscopic instrument.
The device according to claim 12, wherein the operating means comprises a touch screen.
(15) A system for use with a surgical instrument, the system comprising:
A screen comprising a touch sensitive interface, wherein feedback from the surgical instrument is configured to be shown on the screen, the feedback comprising
Endoscope video feed,
A state of the surgical instrument overlapping at least a portion of the endoscopic video feed;
A controller in signal communication with the touch sensitive interface and the surgical instrument, the controller selectively controlling the surgical instrument based on an input to the touch sensitive interface. .

The system of claim 15, wherein the controller is in wireless communication with the surgical instrument.
The system according to claim 15, wherein the surgical instrument comprises a threshold threshold and the controller controls the surgical instrument to exceed the threshold threshold.
(18) the touch sensitive interface comprises an operable schematic of at least a portion of the surgical instrument and configured to control at least a corresponding portion of the surgical instrument by operation of the operable schematic; 21. The system according to embodiment 15, being.
The system according to claim 18, wherein the maneuverable schematic is movable relative to the endoscopic video feed.
20. The system of embodiment 15, wherein the touch sensitive interface comprises a plurality of controls, wherein the plurality of controls are adjustable.

Claims (17)

A system in signal communication with a surgical instrument for displaying feedback during endoscopic surgery, the system comprising:
A screen comprising a touch sensitive interface, wherein the touch sensitive interface is configured to receive at least one input;
A first layer shown on the screen, the first layer comprising primary feedback from an endoscope;
A second layer shown on the screen, the second layer comprising secondary feedback from the surgical instrument, the second layer at least partially comprising the second layer; Overlying the first layer, at least one input to the touch sensitive interface being configured to manipulate the second order feedback of the second layer relative to the first order feedback of the first layer, And a second layer,
The touch sensitive interface comprises an operable schematic of at least a portion of the surgical instrument, and the operation of the operable schematic is configured to control at least a corresponding portion of the surgical instrument. ,
The system, wherein the operable schematic is movable relative to the first layer.   The system of claim 1, wherein the primary feedback comprises video feedback from the endoscope.   The system of claim 2, wherein the secondary feedback comprises data detected by the surgical instrument.   The at least one input drags at least one of the data detected by the surgical instrument to a specific position on the screen relative to the surgical instrument shown in the first layer The system of claim 3 including:   The at least one input comprises selecting a portion of the secondary feedback, the portion of the secondary feedback corresponding to a feature of the surgical instrument, the selected one of the secondary feedback The system according to claim 1, wherein the portion positions itself at a position on the screen near a corresponding feature of the surgical instrument shown in the first layer.   6. The system of claim 5, wherein the position on the screen overlaps a corresponding feature of the surgical instrument shown in the first layer.   The system of claim 1, wherein the at least one input comprises moving the secondary feedback between a plurality of positions.   The system of claim 1, wherein the at least one input comprises transforming the secondary feedback between a plurality of unit systems.   The system of claim 1, wherein the at least one input comprises converting the secondary feedback between a numerical display and a graphical display.   The system of claim 1, wherein the at least one input comprises resizing the secondary feedback.   The system according to claim 1, further comprising a controller in signal communication with the touch sensitive interface and the surgical instrument, wherein the controller selectively controls the surgical instrument based on the at least one input. An apparatus in signal communication with an endoscopic instrument, the apparatus comprising:
A first layer display of video feedback from the endoscopic instrument;
A second layer indication of dynamic feedback from the surgical instrument,
Operating means for operating the second layer representation of the dynamic feedback with respect to the first layer representation of the video feedback;
The operating means comprises a touch screen;
The touch screen comprises an operable schematic of at least a portion of the surgical instrument, and the operation of the operable schematic is configured to control at least a corresponding portion of the surgical instrument;
The device, wherein the operable schematic is movable relative to the first layer. The apparatus according to claim 12, wherein the second layer indication of the dynamic feedback includes information detected by the surgical instrument . A system for use with a surgical instrument, the system comprising:
A screen comprising a touch sensitive interface, wherein feedback comprising feedback data from the surgical instrument is configured to be shown on the screen, the feedback comprising
Endoscope video feed,
A state of the surgical instrument overlapping at least a portion of the endoscopic video feed;
A controller in signal communication with the touch sensitive interface and the surgical instrument, the controller selectively controlling the surgical instrument based on an input to the touch sensitive interface;
The touch sensitive interface comprises an operable schematic of at least a portion of the surgical instrument, and the operation of the operable schematic is configured to control at least a corresponding portion of the surgical instrument. ,
The system, wherein the maneuverable schematic is movable relative to the endoscopic video feed.   15. The system of claim 14, wherein the controller is in wireless communication with the surgical instrument.   15. The system of claim 14, wherein the surgical instrument comprises a threshold threshold and the controller controls the surgical instrument to exceed the threshold threshold.   The system of claim 14, wherein the touch sensitive interface comprises a plurality of controls, wherein the plurality of controls are adjustable.

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