JP6938530B2 - Rotating powered surgical instrument with manually actuated bailout system - Google Patents

Description

The present invention relates to surgical instruments and, in various situations, staples and cutting instruments designed for stapled and cutting tissue and staple cartridges for use with them.

The various features of the embodiments described herein, along with their advantages, can be understood by the following description in conjunction with the following accompanying drawings.
FIG. 3 is a perspective view of a surgical instrument comprising an interchangeable surgical tool assembly according to at least one embodiment. FIG. 3 is another perspective view of the handle assembly of the surgical instrument of FIG. 1, omitting a portion of the handle housing to expose the components contained therein. It is an exploded view of each part of the handle assembly of the surgical instrument of FIG. 1 and FIG. 2 is a cross-sectional perspective view of the handle assembly of FIGS. 2 and 3. The portion of the handle assembly of FIGS. 2 to 4, where the grip portion of the handle assembly is shown by a solid line at one position relative to the primary housing portion of the handle assembly and by an imaginary line at another position relative to the primary housing portion. It is a cross-sectional side view. 2 is an end sectional view of the handle assembly of FIGS. 2 to 5 along line 6-6 of FIG. Another end sectional view of the handle assembly of FIGS. 2-6, along line 7-7 of FIG. 2 is another end sectional view of the handle assembly of FIGS. 2-7 showing a shifter gear that meshes and engages with a drive gear on a rotary drive socket. 2 is another end sectional view of the handle assembly of FIGS. 2-8 showing the position of the shifter solenoid when the shifter gear is engaged with the drive gear on the rotary drive socket. 2 is another perspective view of the handle assembly of FIGS. 2-9, showing a particular portion in cross section and an access panel portion in imaginary line. It is a top view of the handle assembly of FIGS. 2 to 11 showing the bailout system in an operable position. 2 is a perspective view of a bailout handle of the bailout system shown in FIGS. 2 to 11. It is an exploded assembly view of each part of the bailout handle of FIG. 12 which showed each part in the cross section. It is sectional drawing of the handle assembly of FIG. 2 is a perspective view of a tool mounting module portion of the handle assembly of FIGS. 2 to 11 and the replaceable surgical tool assembly of FIG. It is a partial cross-sectional perspective view of the tool mounting module part of FIG. FIG. 16 is an exploded view of each part of the replaceable surgical tool assembly of FIG. It is an exploded view of the tool mounting module of FIG. It is a perspective view of one form of a shaft coupler release assembly. FIG. 16 is a side sectional view of the tool mounting module of FIGS. 16 and 18, aligned for introduction onto the tool mounting portion of the handle assembly of FIG. Another side sectional view of the tool mounting module of FIG. 20, initially inserted into the tool mounting portion of the handle assembly of FIG. FIG. 2 is another side sectional view of the tool mounting module of FIGS. 20 and 21 attached to the tool mounting portion of the handle assembly of FIG. FIG. 3 is a perspective view of the replaceable surgical tool assembly of FIG. FIG. 23 is a cross-sectional perspective view of the replaceable surgical tool assembly of FIG. FIG. 23 is a perspective view of a surgical end effector portion of the replaceable surgical tool assembly of FIG. FIG. 25 is a cross-sectional perspective view of the surgical end effector of FIG. It is an exploded view of the surgical end effector of FIG. FIG. 25 is a partial rear sectional view of the surgical end effector of FIG. FIG. 3 is a cross-sectional perspective view of a launching member or a cutting member according to at least one embodiment. FIG. 5 is a cross-sectional view of a joint joint according to at least one embodiment. FIG. 25 is a cross-sectional view of the surgical end effector of FIG. 25, in which the launch member of FIG. 29 is in the launch position. Another cross-sectional view of the surgical end effector of FIG. 25, with the launch member of FIG. 29 at the end position. Another cross-sectional view of a portion of the surgical end effector of FIG. 25 with the anvil assembly in the open position. Another cross-sectional view of a portion of the surgical end effector of FIG. 25, wherein the launch member of FIG. 29 is in the pre-launch position. Another cross-sectional view of a portion of the surgical end effector of FIG. 34, the launching member is returned to the starting position, thereby compressing the female threaded closing nut and screwing the closing thread segment on the distal power shaft. I'm matching. It is a perspective view of the bearing spring by at least one Embodiment. It is an exploded view of the joint joint of FIG. FIG. 30 is a top view of the joint joint of FIG. 30 in which the surgical end effector of FIG. 25 is in a non-joint motion orientation. Another top view of the joint joint of FIG. 30 in which the surgical end effector is in maximum range of motion orientation. FIG. 30 is a perspective view of a portion of the elongated shaft assembly of FIG. 23 showing each portion of an embodiment of the articulated joint and surgical end effector rotary locking system of FIG. It is a partial decomposition perspective view of the joint joint and the end effector which shows one configuration for facilitating the supply of the electric signal to the end effector around the joint joint by at least one embodiment. It is a side view of the joint joint and the end effector of FIG. 40A which showed some components in the cross-sectional view. FIG. 40 is a partial cross-sectional perspective view of the surgical end effector rotary locking system of FIG. 40 in a non-locking orientation. Another partial cross-sectional perspective view of the surgical end effector rotary locking system of FIGS. 40 and 41 in a non-locking orientation. Top view of the surgical end effector rotary locking system of FIGS. 40-42 in lock orientation. Top view of the surgical end effector rotary locking system of FIGS. 40-43 in a non-locking orientation.

Throughout the drawings, the corresponding reference numerals indicate the corresponding parts. The illustrations described herein illustrate various embodiments of the invention in one form, and such illustrations should be construed as limiting the scope of the invention in any way. No.

The applicant of the present application owns the following patent applications filed on the same date as the present application, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 15 / 089,325, Title of Invention "METHOD FOR OPERATING A SURGICAL STAPLING SYSTEM",
-US Patent Application No. 15 / 089,321, Title of Invention "MODULAR SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY",
-US Patent Application No. 15 / 089,326, Title of Invention "SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE DISPLAY FIELD",
-US Patent Application No. 15 / 089,263, Title of Invention "SURGICAL INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION",
-US Patent Application No. 15 / 089,277, title of invention "SURGICAL CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE MEMBER",
-US Patent Application No. 15 / 089,283, title of invention "CLOSE SYSTEM ARRANGEMENTS FOR SURGICAL CUTTING AND STAPLING DEVICES WITH SEPARATE AND DISTINCT FIRING SHAFTS",
-US Patent Application No. 15 / 089,296, title of invention "INTERCHANGE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAF"
-US Patent Application No. 15 / 089,258, Invention Title "SURGICAL STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION",
-US Patent Application No. 15 / 089,278, Title of Invention "SURGICAL STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF TISSUE",
-US Patent Application No. 15 / 089,284, Title of Invention "SURGICAL STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT",
-US Patent Application No. 15 / 089,295, title of invention "SURGICAL STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT",
-US Patent Application No. 15 / 089,300, Invention title "SURGICAL STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT",
-US Patent Application No. 15 / 089,196, Title of Invention "SURGICAL STAPLING SYSTEM COMPRISING A JAW CLOSE LOCKOUT",
-US Patent Application No. 15 / 089,203, Title of Invention "SURGICAL STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT",
-US Patent Application No. 15 / 089,210, Invention Title "SURGICAL STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT",
-US Patent Application No. 15 / 089,324, Title of Invention "SURGICAL INSTRUMENT COMPRISING A SHIFTING MECHANISM",
-US Patent Application No. 15 / 089,335, title of invention "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS",
-US Patent Application No. 15 / 089,339, Invention Title "SURGICAL STAPLING",
-US Patent Application No. 15 / 089,253, Title of Invention "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVIGHTS",
-US Patent Application No. 15 / 089,304, Title of Invention "SURGICAL STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET",
-US Patent Application No. 15 / 089,331, Title of Invention "ANVIL MODEFICANTION MEMBERS FOR SURGICAL STAPLERS",
-US Patent Application No. 15 / 089,336, Invention Title "STAPLE CARTRIDGES WITH ATRAUMATIC FEATURES",
-US Patent Application No. 15 / 089,312, Title of Invention "CIRCULAR STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT",
-US Patent Application No. 15 / 089,309, title of invention "CIRCULAR STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM", and-US Patent Application No. 15 / 089,349, title of invention "CIRCULAR STAPLING SYSTEM".

The applicant for this application also has a US patent application, filed December 31, 2015 and specified below, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 984,488, Invention Title "MECHANIMSS FOR COMPENSATING FOR BATTERY PACK FAIRURE IN POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 14 / 984,525, title of invention "MECHANIMSS FOR COMPENSATING FOR DRIVETRAIN FAIRURE IN POWERED SURGICAL INSTRUMENTS", and-US Provisional Patent Application No. 14 / 984,552, title of invention "SURGICAL" MOTORS AND MOTOR CONTROL CIRCUITS ".

The applicant of this application is also in possession of US patent applications specified below, filed on February 9, 2016, the entire contents of which are incorporated herein by reference:
-US Provisional Patent Application No. 15 / 019,220, Title of Invention "SURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END EFFECTOR",
-US Patent Application No. 15 / 019,228, Title of Invention "SURGICAL INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS",
-US Patent Application No. 15 / 019,196, Title of Invention "SURGICAL INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT",
-US Patent Application No. 15 / 019,206, title of invention "SURGICAL INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE RELATIVE TO AN ELONGATE SHAFT ASSEMBLY",
-US Patent Application No. 15 / 019,215, Title of Invention "SURGICAL INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS",
-US Patent Application No. 15 / 019,227, Title of Invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK ARRANGEMENTS",
-US Patent Application No. 15 / 019,235, title of invention "SURGICAL INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN ARTICULATION SYSTEMS",
-US Patent Application No. 15 / 019,230, title of invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM ARRANGEMENTS", and-US Patent Application No. 15 / 019,245, title of invention "SURGICAL INSTRUMENTS" REDUCTION ARRANGEMENTS ".

The applicant for this application is also filed on February 12, 2016 and owns US patent applications specified below, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 15 / 043,254, Invention Title "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 15 / 043,259, Invention Title "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 15 / 043,275, title of invention "MECHANIMSS FOR COMPENSATING FOR DRIVETRAIN FAIRURE IN POWERED SURGICAL INSTRUMENTS", and-US Patent Application No. 15 / 043,289, title of invention "INTERACTERIV". SURGICAL INSTRUMENTS ".

The applicant of the present application owns the following patent applications filed on June 18, 2015, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 742,925, Invention title "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS",
-US Patent Application No. 14 / 742,941, Title of Invention "SURGICAL END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSEING FEATURES",
-US Patent Application No. 14 / 742,914, Invention Title "MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS",
-US Patent Application No. 14 / 742,900, title of invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FORT PORT"
-US Patent Application No. 14 / 742,885, name "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", and-US Patent Application No. 14 / 742,876, name "PUSH / PULSTER ".

The applicant of the present application owns the following patent applications filed on March 6, 2015, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 640,746, Invention Title "POWERED SURGICAL INSTRUMENT",
-US Patent Application No. 14 / 640,795, Title of Invention "MULTIPLE LEVEL THRESHOLDS TO MODEIFY OPERATION OF POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 14 / 640,832, Invention Title "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES", Agent Reference No. END7557USNP / 140
-US Patent Application No. 14 / 640,935, title of invention "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION",
-US Patent Application No. 14 / 640,831, Title of Invention "MONITORING SPEED CONTROLL AND PRECISION INCREMENTING OF MOTOR FOR FOR POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 14 / 640,859, Title of Invention "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES",.
-US Patent Application No. 14 / 640,817, Title of Invention "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS",
-US Patent Application No. 14 / 640,844, title of invention "CONTROLL TECHNIQUES AND SUB-PROCESSOR CONTROL WITHIN MODELAR SHAFT WITH SELECT CONTROLL PROCESSING FROM HANDLE",
-US Patent Application No. 14 / 640,837, Invention Title "SMART SENSORS WITH LOCAL SIGNAL PROCESSING",
-US Patent Application No. 14 / 640,765, Title of Invention "SYSTEM FOR DETECTING THE MIS-INSTRETION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER",
-US Patent Application No. 14 / 640,799, title of invention "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", and-US Patent Application No. 14 / 640,780, title of invention "SURGICAL INSTRUME" BATTERY HOUSING ".

The applicant of the present application owns the following patent applications filed on February 27, 2015, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 633,576, Title of Invention "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSTECTION STATION",
-US Patent Application No. 14 / 633,546, title of invention "SURGICAL APPARATUS CONFIGURED TO ASSESS WHERETER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHIN ANCE"
-US Patent Application No. 14 / 633,576, title of invention "SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES",
-US Patent Application No. 14 / 633,566, Title of Invention "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY",
-US Patent Application No. 14 / 633,555, Title of Invention "SYSTEM FOR MONITORING WHERTHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED",
-US Patent Application No. 14 / 633,542, Title of Invention "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT",
-US Patent Application No. 14 / 633,548, Title of Invention "POWER ADAPTER FOR A SURGICAL INSTRUMENT",
-US Patent Application No. 14 / 633,526, Invention Title "ADAPTABLE SURGICAL INSTRUMENT HANDLE",
-US Patent Application No. 14 / 633,541, Invention Name "MODULAR STAPLING ASSEMBLY", and-US Patent Application No. 14 / 633,562, Invention Name "SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER"".

The applicant of the present application owns the following patent applications filed on December 18, 2014, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 574,478, title of invention "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF"
-US Patent Application No. 14 / 574,483, Invention Title "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS",
-US Patent Application No. 14 / 575,139, Title of Invention "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS",
-US Patent Application No. 14 / 575,148, Title of Invention "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLES WITH ARTICULATABLE SURGICAL END EFFECTORS",
-US Patent Application No. 14 / 575,130, title of invention "SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATEV TO ASTAPLE"
-US Patent Application No. 14 / 575,143, Invention Title "SURGICAL INSTRUMENTS WITH IMPROVEED CLOSE ARRANGEMENTS",
-US Patent Application No. 14 / 575,117, title of invention "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS",
-US Patent Application No. 14 / 575,154, Title of Invention "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVEED FIRING BEAM SUPPORT ARRANGEMENTS",
-US Patent Application No. 14 / 574,493, title of invention "SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", and-US Patent Application No. 14 / 574,500, title of invention "SURGICAL SYSTEM ".

The applicant of the present application owns the following patent applications filed on March 1, 2013, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 13 / 782,295, title of invention "ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCIVE PATHWAYS FOR SIGNAL COMMUNICATION", now US Patent Application Publication No. 2014/0246471,
-US Patent Application No. 13 / 782,323, Invention Title "ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246472,
-US Patent Application No. 13 / 782,338, Invention Title "THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS", Currently US Patent Application Publication No. 2014/0249557,
-US Pat.
-US Patent Application No. 13 / 782,460, Invention Title "MULTIPLE PROCESSOR MOTOR CONTROL FOR MODEDULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0246478,
-US Patent Application No. 13 / 782,358, Invention Title "JOYSTICK SWITCH ASSEMBLES FOR SURGICAL INSTRUMENTS", Currently US Patent Application Publication No. 2014/0246477,
-US Pat.
-US Patent Application No. 13 / 782,518, Invention Title "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMEMENT PORTIONS", Currently US Patent Application Publication No. 2014/0246475,
-US Patent Application No. 13 / 782,375, title of invention "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEFREEDOM", now US Patent Application Publication No. 2014/0246473, and
-US Patent Application No. 13 / 782,536, Invention Title "SURGICAL INSTRUMENT SOFT STOP", now US Patent Application Publication No. 2014/0246476.

The applicant of the present application also owns the following patent applications filed on March 14, 2013, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 13 / 803,097, Invention Title "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", Currently US Patent Application Publication No. 2014/0263542,
-US Patent Application No. 13 / 803,193, Invention Title "CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263537,
-US Patent Application No. 13 / 803,053, Invention Title "INTERCHANGE SHAFT ASSEMBLES FOR USE WITH A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0263564,
-US Patent Application No. 13 / 803,086, Invention title "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK", now US Patent Application Publication No. 2014/0263541,
-US Patent Application No. 13 / 803,210, Invention Title "SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263538,
-US Patent Application No. 13 / 803,148, Invention Title "MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT", Currently US Patent Application Publication No. 2014/0263554,
-US Patent Application No. 13 / 803,066, Invention Title "DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODEDULAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263565,
-US Patent Application No. 13 / 803,117, Invention Title "ARTICULATION CONTORL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263553,
-US Patent Application No. 13 / 803,130, Invention Title "DRIVE TRAIN CONTOROL ARRANGEMENTS FOR MODELAR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263543, and
-US Patent Application No. 13 / 803,159, Invention Title "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/0277017.

The applicant of the present application also owns the following patent application filed on March 7, 2014, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 200,111, Invention Title "CONTROLL SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2014/0263539.

The applicant of the present application also owns the following patent applications filed on March 26, 2014, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 226,106, Invention Title "POWER MANAGEMENT CONTORL SYSTEMS FOR SURGICAL INSTRUMENTS", Currently US Patent Application Publication No. 2015/0272582,
-US Patent Application No. 14 / 226,099, Invention Title "STERILIZATION VERIFICATION CIRCUIT", Currently US Patent Application Publication No. 2015/0272581,
-US Patent Application No. 14 / 226,094, Invention Title "VERIFICATION OF NUMBER OF BATTERY EXCHANGE COUNT", Currently US Patent Application Publication No. 2015/0272580,
-US Patent Application No. 14 / 226,117, Invention Title "POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL", now US Patent Application Publication No. 2015/0272574,
-US Patent Application No. 14 / 226,075, Invention Title "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLES", now US Patent Application Publication No. 2015/0272579,
-US Patent Application No. 14 / 226,093, Invention Title "FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2015/0272569,
-US Patent Application No. 14 / 226,116, Invention Title "SURGICAL INSTRUMENT UTILIZING SENSOR ADAPATION", Currently US Patent Application Publication No. 2015/0272571,
-U.S. Patent Application No. 14 / 226,071, the title of the invention "SURGICAL INSTRUMENT CONTROLL CIRCUIT HAVING A SAFETY PROCESSOR", now U.S. Patent Application Publication No. 2015/0272578,
-US Patent Application No. 14 / 226,097, Invention Title "SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS", Currently US Patent Application Publication No. 2015/0272570,
-US Patent Application No. 14 / 226,126, Invention Title "INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS", Currently US Patent Application Publication No. 2015/0272572,
-US Patent Application No. 14 / 226,133, Invention Title "MODULAR SURGICAL INSTRUMENT SYSTEM", Currently US Patent Application Publication No. 2015/0272557,
-US Patent Application No. 14 / 226,081, Invention title "SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT", now US Patent Application Publication No. 2015/02777471,
-US Patent Application No. 14 / 226,076, Invention Title "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTESTION", now US Patent Application Publication No. 2015/02804424,
-US Patent Application No. 14 / 226,111, title of invention "SURGICAL STAPLING INSTRUMENT SYSTEM", now US Patent Application Publication No. 2015/02272583, and-US Patent Application No. 14 / 226,125, title of invention "SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT", currently US Patent Application Publication No. 2015/0280384.

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

The applicant of the present application also owns the following patent applications filed on April 9, 2014, the entire contents of which are incorporated herein by reference:
-US Patent Application No. 14 / 248,590, Invention Title "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now US Patent Application Publication No. 2014/030987,
-US Patent Application No. 14 / 248,581, Title of Invention "SURGICAL INSTRUMENT COMPRISING A CLOSEING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT", Currently US Patent Application No. 3059
-US Patent Application No. 14 / 248,595, title of invention "SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT", currently published in U.S. Patent No. 14 / 248,595
-US Patent Application No. 14 / 248,588, Invention Title "POWERED LINEAR SURGICAL STAPLER", Currently US Patent Application Publication No. 2014/0309666,
-US Patent Application No. 14 / 248,591, Invention Title "TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT", Currently US Patent Application Publication No. 2014/0305911,
-US Patent Application No. 14 / 248,584, Title of Invention "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURFTS
-US Patent Application No. 14 / 248,587, Invention Title "POWERED SURGICAL Stapler", Currently US Patent Application Publication No. 2014/0309665,
-US Patent Application No. 14 / 248,586, Invention Title "DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2014/03059090, and-US Patent Application No. 14 / 248,607. , The title of the invention "MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS", currently US Patent Application Publication No. 2014/0305992.

The applicant of the present application also owns the following patent applications filed on April 16, 2013, the entire contents of which are incorporated herein by reference:
-US Provisional Patent Application No. 61 / 812,365, Title of Invention "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFFORMED BY A SINGLE MOTOR",
-US Provisional Patent Application No. 61 / 812,376, Invention Name "LINEAR CUTTER WITH POWER",
-US Provisional Patent Application No. 61 / 812,382, Invention Name "LINEAR CUTTER WITH MOTOR AND PISTOL GRIP",
-US provisional patent application No. 61 / 812,385, title of invention "SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTION MOTORS AND MOTOR CONTROL", and-US provisional patent application No. 61 / 812,372, title of invention "SURGICAL" MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR ".

Many specific details are provided to provide a complete understanding of the overall structure, function, manufacture, and use of embodiments described herein and shown in the accompanying drawings. Well-known behaviors, components, and elements are not described in detail to avoid obscuring the embodiments described herein. It is understood by the reader that the embodiments described and illustrated herein are non-limiting examples, and therefore the particular structural and functional details disclosed herein are exemplary and exemplary. It will be understood to get. Modifications and changes to them can be made without departing from the claims.

The terms "comprise" (any form of comprise, such as "comprises" and "comprising"), "have" (any form of have, such as "has" and "having"), "include ( ”(Any word form of include, such as“ includes ”and“ inclusion ”), and“ contain ”(any word form of content, such as“ context ”and“ contouring ”) are open concatenations. It is a verb. As a result, a surgical system, device, or device that "includes", "has", "contains", or "contains" one or more elements is one or more of them. It has elements, but is not limited to having only one or more of them. Similarly, one or more elements of a system, device, or device that "equips", "has", "contains", or "contains" one or more features. However, it is not limited to having only one or more of these characteristics.

The terms "proximal" and "distal" are used herein with reference to the clinician operating the handle portion of the surgical instrument. The term "proximal" refers to the part closest to the clinician, and the term "distal" refers to the part located away from the clinician. For convenience and clarity, it is further understood that spatial terms such as "vertical", "horizontal", "top", and "bottom" can be used with respect to the drawings herein. Let's go. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limited and / or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, it is readily understood by the reader that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including those associated with, for example, open surgical procedures. Will. By reading "Forms for Carrying Out the Invention" herein, the reader can read that the various instruments disclosed herein are incised or punctured into tissue, eg, through a natural opening. You will further understand that it can be inserted into the body in any way, such as through a hole. The working part or end effector part of these instruments can also be inserted directly into the patient's body, or through an access device with a passage of action capable of advancing the end effector and elongated shaft of the surgical instrument. You can also do it.

Surgical staple fastening systems can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw comprises a staple cartridge. Other implementations in which the staple cartridge is insertable into and detachable from the first jaw, but the staple cartridge is not removable from the first jaw, or at least not easily replaceable. The form is also recalled. The second jaw comprises an anvil configured to deform the staples ejected from the staple cartridge. The second jaw is pivotable with respect to the first jaw about the closed axis, but recalls other embodiments in which the first jaw is pivotable with respect to the second jaw. Will be done. Surgical staple fastening systems further include articulated joints configured to allow the end effector to rotate, i.e., range of motion with respect to the shaft. The end effector is rotatable about a range of motion that extends through the joint. Other embodiments that do not include joints are also recalled.

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

The staples are supported by a staple driver inside the cartridge body. The driver can move between the first, i.e., unlaunched position and the second, i.e., the launched position, which ejects the staples from the staple cavity. The driver includes an elastic member that is held within the cartridge body by a retainer that extends around the bottom of the cartridge body and is configured to grip the cartridge body and hold the holder against the cartridge body. .. The driver can be moved between its unfired position and its fired position by a thread. The thread can move between the proximal position adjacent to the proximal end and the distal position adjacent to the distal end. The thread has multiple ramps configured to slide under the driver and lift the driver, with staples supported on it and facing the anvil.

In addition to the above, the thread is moved distally by the launching member. The launching member is configured to contact the thread and push the thread towards the distal end. Longitudinal slots defined within the cartridge body are configured to receive launching members. The anvil also includes a slot configured to receive the launching member. The firing member further comprises a first cam that engages the first jaw and a second cam that engages the second jaw. When advancing the launching member distally, the first cam and the second cam can control the distance between the deck of the staple cartridge and the anvil, i.e. the tissue gap. The launcher also comprises a knife configured to incise the captured tissue between the staple cartridge and the anvil. It is desirable that the knife be positioned at least partially proximal to the slope so that the staples are ejected forward of the knife.

Handle Assembly FIG. 1 shows a motor driven surgical system 10 that can be used to perform a wide variety of surgical procedures. In the illustrated embodiment, the motor-driven surgical system 10 includes a selectively reconfigurable housing or handle assembly 20 that is attached to a form of interchangeable surgical tool assembly 1000. For example, the system 10 shown in FIG. 1 includes an interchangeable surgical tool assembly 1000 with a surgical cutting and fastening instrument, which may be called an end cutter. As discussed in more detail below, interchangeable surgical tool assemblies include end effectors adapted to support staple cartridges of various sizes and types, including various shaft lengths, sizes, and types, etc. Can have. Such a configuration may conclude the tissue using, for example, any suitable fastener. For example, a fastener cartridge with multiple fasteners housed detachably inside can be detachably inserted and / or attached to an end effector of a surgical tool assembly. Other surgical tool assemblies may also be used interchangeably with the handle assembly 20. For example, the replaceable surgical tool assembly 1000 can be removed from the handle assembly 20 and replaced with a different surgical tool assembly configured to perform other surgical procedures. In other configurations, the surgical tool assembly may not be interchangeable with, for example, another surgical tool assembly and essentially comprises a dedicated shaft that is non-detachably fixed or coupled to the handle assembly 20. Surgical tool assemblies are also sometimes referred to as elongated shaft assemblies. The surgical tool assembly may be reusable, or in other configurations, the surgical tool assembly may be designed to be disposed of after a single use.

As you read through the embodiments for practicing the present invention, the various forms of interchangeable surgical tool assemblies disclosed herein can also be effectively used in connection with robotic surgical systems. Will be understood. Therefore, the terms "housing" and "housing assembly" are also used to generate and apply at least one control motion that can be used to actuate the elongated shaft assemblies and their respective equivalents disclosed herein. May include a housing or similar portion of a robotic system that accommodates or otherwise operably supports at least one drive system configured in. The term "frame" may refer to a portion of a handheld surgical instrument. The term "frame" may also refer to a portion of a robot-controlled surgical instrument and / or a portion of a robotic system that may be used to operably control the surgical instrument. For example, the surgical tool assembly disclosed herein is incorporated herein by reference in its entirety, US Patent Application No. 13 / 118,241, title of the invention "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS. It can be used with, but is not limited to, various robot systems, instruments, components, and methods as disclosed in current US Patent Application Publication No. 2012/02987719.

As shown herein with reference to FIGS. 1 and 2, the housing assembly or handle assembly 20 includes a primary housing portion 30 that can be formed from a pair of housing segments 40, 70, which housing segments are made of plastic, polymeric material. , Made of metal, etc., and can be joined together by suitable fastener configurations such as adhesives, screws, press fitting mechanisms, snap fitting mechanisms, latches and the like. Further discussed below, the primary housing portion 30 is configured to generate and apply various control motions to the corresponding parts of the interchangeable surgical tool assembly operably attached to the drive system. Supports the drive system of the operable inside. The handle assembly 20 further comprises a grip portion 100, which is movably coupled to the primary housing portion 30 and is gripped and manipulated by the clinician at various positions with respect to the primary housing portion 30. It is configured as follows. The grip portion 100 can be made of a pair of grip segments 110, 120, which can be made of plastic, polymer material, metal, etc., and for assembly and maintenance purposes, for example, adhesives, screws, press fitting mechanisms. , Snap fitting mechanism, latch, etc. are joined to each other by a suitable fastening configuration.

As can be seen in FIG. 2, the grip portion 100 comprises a grip housing 130, which grips a hollow cavity 132 configured to operably support a drive motor and gearbox, which will be discussed in more detail below. It is defined. The upper portion 134 of the grip housing 130 extends through an opening 80 in the primary housing portion 30 and is configured to be pivotally pivotally supported on the swivel shaft 180. The swivel shaft 180 defines a swivel axis marked as "PA". See FIG. For reference, the handle assembly 20 defines a handle axis designated as "HA", which is the shaft axis "SA" of the elongated shaft assembly of the replaceable surgical tool operably attached to the handle assembly 20. It may be parallel to the other. The swivel axis PA crosses the handle axis HA. See FIG. With such a configuration, the grip portion 100 is swiveled relative to the primary housing portion 30 about the swivel axis PA to the best position for the type of interchangeable surgical tool assembly that is coupled to the handle assembly 20. It becomes possible. The grip housing 130 defines a grip axis, which is indicated as "GA" as a whole. See FIG. When the replaceable surgical tool assembly coupled to the handle assembly 20 is equipped with, for example, an end cutter, the clinician sees that the grip axis GA is perpendicular to or nearly perpendicular to the handle axis HA (angle "H1"). As such (referred to herein as the "first grip position"), it may be desired to position the grip portion 100 with respect to the primary housing portion 30. See FIG. However, if the handle assembly 20 is used to control, for example, an interchangeable surgical tool assembly that includes a circular stapler, the clinician may say that the grip axis GA is 45 degrees or about 45 degrees to the handle axis HA. It may be desired to swivel the grip portion 100 relative to the primary housing portion 30 to a position at an angle or other suitable acute angle (angle "H2"). This position is referred to herein as the "second grip position." FIG. 5 shows the grip portion 100 at the second grip position with an imaginary line.

As shown herein with reference to FIGS. 3-5, the handle assembly 20 also includes a grip locking system, indicated as 150 as a whole, which desires the grip portion 100 with respect to the primary housing portion 30. It is for selectively locking to the orientation of. In one configuration, the grip locking system 150 includes an arched row 152 of pointed teeth 154. The teeth 154 are separated from each other, forming a locking groove 156 between them. Each locking groove 156 corresponds to a locking position at a particular angle with respect to the grip portion 100. For example, in at least one configuration, the teeth 154 and the locking groove or "locking position" 156 are such that the grip portion 100 is locked between the first grip position and the second grip position at intervals of 10 to 15 degrees. It is configured to be possible. This configuration may use two stop positions that are adjusted according to the type of instrument (shaft configuration) used. For example, in the case of the shaft configuration of the end cutter, it may be about 90 degrees with respect to the shaft, and in the case of the configuration of the circular stapler, the angle with respect to the shaft while being swept forward towards the surgeon. It may be about 45 degrees. The grip locking system 150 further includes a locking button 160, which has a locking portion configured to lock engage with the locking groove 156. For example, the locking button 160 is swiveled onto the swivel pin 131 within the primary handle portion 30 so that the locking button 160 can swivel and engage the corresponding locking groove 156. The locking spring 164 acts to urge the locking button 160 to engage or lock position with the corresponding locking groove 156. The locking portion and tooth configuration serve to allow the tooth 154 to slide over the locking portion when the clinician presses the locking button 160. In this way, in order to adjust the angular position of the grip portion 100 with respect to the primary housing portion 30, the clinician presses the locking button 160 and then turns the grip portion 100 to the desired angular position. When the grip portion 100 moves to the desired position, the clinician releases the locking button 160. The locking spring 164 then urges the locking button 160 towards the row of teeth 154 so that the locking portion enters the corresponding locking groove 156 and holds the grip portion 100 in that position during use.

Drive system The handle assembly 20 operably supports a first rotary drive system 300, a second rotary drive system 320, and a third axial drive system 400. The rotary drive systems 300 and 320 are each powered by a motor 200 operably supported within the grip portion 100. As can be seen in FIG. 2, for example, the motor 200 has a gearbox assembly 202 that is supported within the cavity 132 of the grip portion 100 and has an output drive shaft 204 projecting from it. In various forms, the motor 200 may be, for example, a brushed DC drive motor having a maximum rotation speed of about 25,000 RPM. In other configurations, the motor may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 200 may be powered by a power source 210, which in one form may include a removable power pack 212. The power supply 210 is disclosed in more detail, for example, in US Patent Application Publication No. 2015/0272575, the title of the invention "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM", all of which are incorporated herein by reference. It may have any of a variety of power supply configurations. In the illustrated configuration, for example, the power pack 212 may include a proximal housing portion 214 configured for attachment to the distal housing portion 216. The proximal housing portion 214 and the distal housing portion 216 are configured to operably support a plurality of batteries 218 inside. Each of the batteries 218 may include, for example, lithium ion (“LI”) or other suitable battery. The distal housing portion 216 is configured to be detachably and operably attached to the handle circuit board assembly 220, which is also operably coupled to the motor 200. The handle circuit board assembly 220 may also be referred to as a "control system or CPU 224" as a whole. A large number of batteries 218 may be directly connected and may be used as a power source for the handle assembly 20. In addition, the power supply 210 may be replaceable and / or rechargeable. In other embodiments, the surgical instrument 10 may be powered, for example, by alternating current (AC). The motor 200 may be controlled by a rocker switch 206 mounted on the grip portion 100.

As outlined above, the motor 200 is operably coupled to a gearbox assembly 202 that includes an output drive shaft 204. A drive bevel gear 230 is attached to the output drive shaft 204. The motor 200, gearbox assembly 202, output drive shaft 204 and drive bevel gear 230 may also be collectively referred to herein as "motor assembly 231". The drive bevel gear 230 interfaces with a driven bevel gear 234 attached to the system drive shaft 232 and a swivel bevel gear 238 pivotally supported on the swivel shaft 180. The driven bevel gear 234 has an engaging position in which the driven bevel gear 234 meshes with the drive bevel gear 230 (FIG. 5) and an engagement disengagement position in which the driven bevel gear 234 disengages from the meshing engagement with the drive bevel gear 230 (FIG. 14). It is axially movable on the system drive shaft 232 to and from. The drive system spring 235 is pivotally supported between the drive bevel gear 234 and the proximal end flange 236 formed on the proximal portion of the system drive shaft 232. See FIGS. 4 and 14. The drive system spring 235 acts to urge the driven bevel gear 234 to disengage from meshing engagement with the drive bevel gear 230, as discussed in more detail below. The swivel bevel gear 238 facilitates the swivel movement of the output drive shaft 204 and the drive bevel gear 230 with the grip portion 100 with respect to the primary handle portion 30.

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

As can be seen in FIG. 3, the first drive system 300 includes a first drive socket 302 that is rotatably supported within the distal wall 32 formed within the primary handle portion 30. The first drive socket 302 may include a first body portion 304 in which a grooved socket is formed. The first driven gear 306 is formed on or immovably attached to the first body portion 304. The first body portion 304 may be rotatably supported in a corresponding hole or passage provided within the distal wall 32, or a corresponding bearing mounted on the distal wall 32 (not shown). ) May be rotatably supported. Similarly, the second rotational drive system 320 includes a second drive socket 322 that is also rotatably supported within the distal wall 32 of the primary handle portion 30. The second drive socket 322 may include a second body portion 324 in which a grooved socket is formed. A second driven gear 326 is formed on top of the second body portion 324 or is non-rotatably mounted on the second body portion 324. The second body portion 324 may be rotatably supported in a corresponding hole or passage provided within the distal wall 32, or a corresponding bearing mounted on the distal wall 32 (not shown). ) May be rotatably supported. The first drive socket 302 and the second drive 322 are separated from each other at each outer portion of the handle axis HA. See, for example, FIG.

As shown above, in the illustrated example, the rotary drive selector system 240 includes a shifter gear 250. As can be seen in FIGS. 6-9, the shifter gear 250 is rotatably mounted on an idler shaft 252 movably supported within the bow slot 244 of the shifter mounting plate 242. The shifter gear 250 is mounted so that it rotates freely on the idler shaft 252 and is still engaged with the central drive gear 234. The idler shaft 252 is coupled to the end of the shaft 262 of the shifter solenoid 260. The shifter solenoid 260 is pinned to or otherwise mounted on the primary handle housing 30, and when the shifter solenoid 260 is activated, the shifter gear 250 is moved to move the first driven gear 306 or the second driven gear 306. It is designed to mesh and engage with one of the gears 326. For example, in one configuration, when the solenoid shaft 262 is retracted (FIGS. 6 and 7), the shifter gear 250 meshes with and engages with the central drive gear 234 and the first driven gear 306, thus causing the motor 200 to operate. As a result, the rotation of the first drive socket 302 will occur. As can be seen in FIGS. 6 and 7, a shifter spring 266 may be used to urge the shifter gear 250 to its first operating position. Therefore, if power to the surgical instrument 10 is lost, the shifter spring 266 will automatically urge the shifter gear 250 to the first position. When the shifter gear 250 is in that position, the motor 200 is subsequently actuated, resulting in rotation of the first drive socket 302 of the first rotary drive system 300. When the shifter solenoid is activated, the shifter gear 250 is moved to mesh and engage with the second driven gear 326 on the second drive socket 322. After that, the operation of the motor 200 results in the operation or rotation of the second drive socket 322 of the second rotational drive system 320.

Bailout System As discussed in more detail below, the first rotary drive system 300 and the second rotary drive system 320 power the various component parts of the interchangeable surgical tool assembly coupled to it. Can be used to As shown above, in at least one configuration, the shifter spring 266 urges the shifter gear 250 to the first position if power is lost to the motor during operation of the replaceable surgical tool assembly. It will be. Rotational drive motion to the first drive system 300 to allow the interchangeable surgical tool assembly to be removed from the patient, depending on which component of the interchangeable surgical tool assembly was operating. It may be necessary to reverse the application of. The handle assembly 20 in the illustrated example uses a manually actuable "bailout" system, indicated as 330 as a whole, which system is, for example, the first rotary drive system 300 in the scenario described above. It is for manually adding a rotation drive motion to the.

See here in FIGS. 3, 10 and 11, the illustrated bailout system 330 includes a bailout drive train 332 that includes a planetary gear assembly 334. In at least one form, the planetary gear assembly 334 includes a planetary gear housing 336 that houses a planetary gear device (not shown) that includes a planetary bevel gear 338. The planetary gear assembly 334 includes a bailout drive shaft 340 operably coupled to a planetary gear device within the planetary gear housing 336. The rotation of the planetary bevel gear 338 rotates the planetary gear device, which ultimately causes the bailout drive shaft 340 to rotate. The bailout drive gear 342 is pivotally supported on the bailout drive shaft 340 so that the bailout drive gear 342 can move axially on the bailout drive shaft 340 and still rotate with the bailout drive shaft. .. The bailout drive gear 342 is movable between the spring stop flange 344 formed on the bailout drive shaft 340 and the shaft end stop 346 formed on the distal end of the bailout drive shaft 340. .. A bailout shaft spring 348 is pivotally supported on the bailout drive shaft 340 between the bailout drive gear 342 and the spring retaining flange 344. The bailout shaft spring 348 urges the bailout drive gear 342 distally on the bailout drive shaft 340. The bailout drive gear 342 meshes with and engages with the bailout driven gear 350 non-rotatably mounted on the system drive shaft 232 when in its most distal position on the bailout drive shaft 340. See FIG.

See here in FIGS. 12 and 13, the bailout system 330 includes a bailout actuator assembly or a bailout handle assembly 360 that facilitates the manual bailout drive motion being applied to the bailout drive train 332. There is. As can be seen in these figures, the bailout handle assembly 360 includes a bailout bevel gear assembly 362 that includes a bailout bevel gear 364 and a ratchet gear 366. The bailout handle assembly 360 further includes a bailout handle 370 movably coupled to the bailout bevel gear assembly 362 by a swivel yoke 372 mounted swivelly onto the ratchet gear 366. The bailout handle 370 is slewably coupled to the slewing yoke 372 by a pin 374 so as to selectively pivotally move between the retracted position "SP" and the actuated position "AP". See FIG. A handle spring 376 is used to urge the bailout handle 370 to the operating position AP. In at least one configuration, the angle between the axis SP representing the stowed position and the axis AP representing the operating position may be, for example, about 30 degrees. See FIG. As can be seen in FIG. 13, the bailout handle assembly 360 further includes a ratchet claw 378 that is rotatably mounted in the cavity or hole 377 of the swivel yoke 372. The ratchet claw 378 is configured to engage with the ratchet gear 366 when rotated in the operating direction "AD" and to rotate and disengage from the meshing engagement when rotated in the opposite direction. There is. The ratchet spring 384 and ball member 386 are movably supported within the cavity 379 of the swivel yoke 372 so that they lock engage with the detents 380, 382 of the ratchet claw 378 when the bailout handle 370 is actuated (ratcheted). work.

With reference to FIGS. 3 and 10, the bailout system 330 further includes a bailout access panel 390 that can be operated between open and closed positions. In the illustrated configuration, the bailout access panel 390 is configured to be detachably coupled to the housing segment 70 of the primary housing portion 30. Thus, at least in this embodiment, the bailout access panel 390 is said to be in the "open" position when it is removed or removed from the primary housing portion 30, and the bailout access panel 390 is as shown. When attached to the primary housing portion 30, it is said to be in the "closed" position. However, other embodiments are also contemplated in which the access panel is movably coupled to the primary housing portion so that it remains attached to the primary housing portion even when the access panel is in the open position. For example, in such an embodiment, the access panel may be swivelly attached to the primary housing portion or slidably attached to the primary housing portion and operated between an open position and a closed position. It may be possible. In the illustrated example, the bailout access panel 390 is configured to snap engage with the corresponding portion of the housing segment 70 to hold the bailout access panel detachably in the "closed" position. .. Other forms of mechanical fasteners such as screws and pins may also be used.

Whether the bailout access panel 390 is removable from the primary housing portion 30 or remains movably attached to the primary housing portion 30, each bailout access panel 390 has a bailout access. Includes a drive system locking member or yoke 392 and a bailout locking member or yoke 396 projecting from the back of the panel or otherwise formed on the bailout access panel. The drive system locking yoke 392 includes a drive shaft notch 394 in which the bailout access panel 390 is installed within the primary housing portion 30 (ie, the bailout access panel is in the "closed" position. At some point, it is configured to receive a portion of the system drive shaft 232 inside. When the bailout access panel 390 is placed or installed in a closed position, the drive system locking yoke 392 urges the driven bevel gear 234 (against the urging force of the drive system spring 235) to engage the drive bevel gear 230. It works to engage. In addition, the bailout locking yoke 396 includes a bailout drive shaft notch 397, which bailout drive shaft notch 340 when the bailout access panel 390 is installed or placed in a closed position. It is configured to accept a portion of the inside. As can be seen in FIGS. 5 and 10, the bailout locking yoke 396 also urges the bailout drive gear 342 (against the urging force of the bailout shaft spring 348) to engage the bailout drive gear 350. It works to disengage from the engagement. Therefore, the bailout locking yoke 396 prevents the bailout drive gear 342 from interfering with the rotation of the system drive shaft 232 when the bailout access panel 390 is installed or in the closed position. In addition, the bailout locking yoke 396 includes a handle notch 398, which is for engaging the bailout handle 370 and holding the bailout handle in the retracted position SP.

4, 5 and 10 show the components of the drive system and the components of the bailout system when the bailout access panel 390 is installed or in a closed position. As can be seen in these figures, the drive system locking member 392 urges the driven bevel gear 234 to mesh and engage with the drive bevel gear 230. Therefore, when the bailout access panel 390 is installed or in the closed position, the operation of the motor 200 results in the rotation of the drive bevel gear 230 and ultimately the system drive shaft 232. Also, when in this position, the bailout locking yoke 396 acts to urge the bailout drive gear 342 to disengage from meshing engagement with the bailout driven gear 350 on the system drive shaft 232. Thus, when the bailout access panel 390 is installed or in the closed position, the drive system can be actuated by the motor 200 and the bailout system 330 is disconnected or puts an actuating motion on the system drive shaft 232. It is prevented from being added. To activate the bailout system 330, the clinician first removes the bailout access panel 390 or otherwise moves the bailout access panel 390 to the open position. By this procedure, the drive system locking member 392 is disengaged from engagement with the driven bevel gear 234, whereby the drive system spring 235 can urge the driven bevel gear 234 to disengage from meshing engagement with the drive bevel gear 230. It becomes. In addition, removing the bailout access panel 390 or moving the bailout access panel to the open position also results in disengagement of the bailout locking yoke 396 from the bailout drive gear 342. Thereby, the bailout shaft spring 348 can urge the bailout drive gear 342 to engage with the bailout driven gear 350 on the system drive shaft 232. Therefore, the rotation of the bailout drive gear 342 results in the rotation of the bailout driven gear 350 and the system drive shaft 232. By removing the bailout access panel 390 or otherwise moving the bailout access panel 390 to the open position, the handle spring 376 also moves the bailout handle 370 to the operating position shown in FIGS. 11 and 14. It becomes possible to urge. When in this position, the clinician can manually ratchet the bailout handle 370 in the ratchet direction RD, resulting in the ratchet bevel gear 364 rotating (eg, in the clockwise direction of FIG. 14). As a result, backward rotation motion is finally applied to the system drive shaft 232 through the bailout drive train 332. Clinicians use the bailout handle 370 multiple times until the system drive shaft 232 has been sufficiently rotated multiple times to retract the components of the surgical end effector portion of the surgical tool assembly attached to the handle assembly 20. Can be ratcheted. Once the bailout system 330 has been fully manually activated, the clinician then replaces the bailout access panel 390 (ie, returns the bailout access panel 390 to the closed position), thereby the drive system locking member. The 392 urges the driven bevel gear 234 to engage the drive bevel gear 230 and the bailout locking yoke 396 urges the bailout drive gear 342 to disengage it from the meshing engagement with the bailout driven gear 350. Can cause. As discussed above, the shifter spring 266 will urge the shifter solenoid 260 to the first operating position if power is lost or cut off. Therefore, the operation of the bailout system 330 results in a reverse or backward motion being added to the first rotary drive system 300.

As discussed above, surgical staple fasteners may include, for example, a manually actuated bailout system configured to retract the staple firing device. In many cases, the bailout system may need to be moved and / or cranked multiple times to fully retract the staple firing device. In such cases, users of staple fasteners may forget the number of times the bailout was cranked and / or be confused as to how much more the launch drive would otherwise need to be retracted. be. A variety of systems are provided in which staple fasteners are configured to detect the position of the launch member of the launch drive, determine the distance at which the launch member needs to be retracted, and display that distance to the user of the surgical instrument. Embodiment is intended.

In at least one embodiment, the surgical staple fastening device comprises one or more sensors configured to detect the position of the launching member. In at least one case, the sensor may include, for example, a Hall effect sensor and may be located within the shaft and / or end effector of the staple fastener. The sensor signals the controller of the surgical stapler and the surgical stapler signals the display on the surgical stapler. The controller compares the actual position of the launching member with the data or reference position (including the fully retracted position of the launching member) and determines the distance between the actual position of the launching member and the reference position, that is, the remaining distance. Includes a microprocessor configured to calculate.

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

In addition to the above, the activation of the bailout mechanism may operably disconnect the battery or power supply of the surgical stapler from the electric motor of the ejection drive. In at least one embodiment, the actuation of the bailout mechanism reverses the switch, whereby the battery is electrically separated from the electric motor. Such a system prevents the electric motor from preventing the manual retreat of the launching member.

The illustrated handle assembly 20 also supports a third axial drive system, indicated as 400 as a whole. As can be seen in FIGS. 3 and 4, the third axial drive system 400 includes, in at least one form, a solenoid 402 having a third drive actuator member or rod 410 projecting from it. A third drive cradle or socket 414 is formed at the distal end 412 of the third drive actuator member 410, which is a drive system component of an operably mounted replaceable surgical tool assembly. It is for accepting the corresponding part of. The solenoid 402 is wired to or otherwise communicates with the handle circuit board assembly 220 and the control system or CPU 224. In at least one configuration, the solenoid 402 is "spring-pushed" so that when the solenoid 402 is not activated, its spring component re-engages the third drive actuator 410 to the inactive starting position. do.

As shown above, the reconstitutive handle assembly 20 can advantageously be used to activate a wide variety of interchangeable surgical tool assemblies. For that purpose, the handle assembly 20 includes a tool mounting portion, indicated as 500 as a whole, for operably connecting the replaceable surgical tool assembly to the handle assembly. In the illustrated example, the tool mounting portion 500 includes two inwardly facing dovetail receiving slots 502, which engage with the corresponding portion of the tool mounting module portion of the replaceable surgical tool assembly. It is configured to fit. Each dovetail receiving slot 502 may be tapered or, in other words, somewhat V-shaped. The dovetail receiving slot 502 is configured to releasably receive the corresponding tapered attachment or lug portion formed on a portion of the tool attachment nozzle portion of the replaceable surgical tool assembly. Each interchangeable surgical tool assembly may also be equipped with a latching system configured to releasably engage the corresponding holding pocket 504 formed in the tool mounting portion 500 of the handle assembly 20.

Various interchangeable surgical tool assemblies are operably coupled to or interfaced with a first rotary drive system 310 into a "primary" rotary drive system, as well as a second rotary drive system 320. It may have a "secondary" rotary drive system that is operably coupled or configured to interface with it. Primary and secondary rotational drive systems may be configured to provide various rotational motions to a portion of a particular type of surgical end effector that includes a portion of an interchangeable surgical tool assembly. To facilitate operably coupling the primary rotational drive system to the primary rotational drive system and the secondary drive system to the second rotational drive system 320, the tool mounting portion 500 of the handle assembly 20 is also provided. The primary rotational drive system is aligned and operably coupled to the first rotational drive system 300 on the handle assembly 20 and the secondary rotational drive system to the second rotational drive system 320 on the handle assembly 20. Includes a pair of insertion lamps 506 configured to urge a portion of the primary and secondary rotational drive system of the interchangeable surgical tool assembly distally during the coupling process to facilitate There is.

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

Replaceable Surgical Tool Assembly FIG. 15 illustrates the use of a replaceable surgical tool assembly 1000 that can be used with the handle assembly 20. As can be seen in this figure, for example, the replaceable surgical tool assembly 1000 includes a tool mounting module 1010 configured to be operably and detachably mounted on the tool mounting portion 500 of the handle assembly 20. The tool mounting module 1010 in the illustrated configuration includes a nozzle frame 1020. In the illustrated configuration, the interchangeable surgical tool assembly 1000 includes a primary rotary drive system 1100 and a secondary rotary drive system 1200. As discussed in more detail below, the primary rotary drive system 1100 operably interfaces with the first rotary drive system 300 on the handle assembly 20 and has a rotary firing motion on the surgical end effector 1500 attached to it. Is configured to add. The secondary rotary drive system 1200 is configured to operably interface with a second rotary drive system 320 on the handle assembly 20 to add joint motion control motion to the joint motion system 1700. The range of motion system 1700 couples the surgical end effector 1500 to the elongated shaft assembly 1400 coupled to the nozzle frame 1020. The interchangeable surgical tool assembly 1000 further includes a tertiary drive system 1300 configured to operably interface with a third axial drive system 400 within the handle assembly 20. The tertiary axial drive system 1300 of the surgical tool assembly comprises a tertiary actuating shaft 1302 with a shaft mounting lug 1306 formed on its proximal end 1304. As discussed in more detail below, when the replaceable surgical tool assembly 1000 is coupled to the handle assembly 20, the shaft mounting lug 1306 is a shaft mounting on the distal end 412 of the third drive actuator member 410. Accepted in socket 414.

Still referring to FIG. 15, it will be appreciated by the reader that the tool mounting portion 500 of the handle assembly 20 includes two inwardly facing dovetail receiving slots 502. Each dovetail receiving slot 502 may be tapered or, in other words, somewhat V-shaped. The dovetail receiving slot 502 is configured to releasably receive the corresponding tapered mounting or lug 1022 formed on the nozzle frame 1020. Next, with reference to FIG. 18, in at least one embodiment, the tool mounting module 1010 is detachably latch-engaged to the tool mounting portion 500 of the handle assembly 20 by a latching system, indicated as 1030 as a whole. In the illustrated embodiment, the latching system 1030 includes a lock yoke 1032, which lock yoke is a pair of inwardly extending swivel pins that are received within the corresponding swivel holes (not shown) of the nozzle frame 1020. Includes 1034 (only one is shown in FIG. 18). Such a configuration serves to coupled the lock yoke 1032 to the nozzle frame 1020 in a swivel or movable manner. The lock yoke 1032 further comprises a pair of retaining lugs or hook formations 1036 (only one of which may be visible in FIG. 18), the retaining lugs or hook forming being formed on the tool mounting portion 500 of the handle assembly 20. It is configured to be received in the corresponding holding pocket 504 in the form of a hook or otherwise in a holding manner. The lock yoke 1032 can be swiveled and disengaged from the holding engagement by applying an unlocking motion to the release button 1038 attached to the lock yoke 1032 (indicated by arrow 1041 in FIGS. 18, 20 and 21). The lock yoke spring 1040 is received on a spring lug 1039 formed on the lock yoke 1032 and a spring mounting lug 1021 formed on the nozzle frame 1020. The lock yoke spring 1040 acts to urge the lock yoke 1032 to the locked position.

The latching system 1030 of the illustrated example further comprises a shaft coupler release assembly 1031 which further provides a primary rotary drive system 1100 to a primary rotary drive system 300 and further to a secondary rotary drive system 1200. Is for releasably engaging with a second rotational drive system 320 on the handle assembly 20. With reference to FIGS. 18 and 19, the primary drive system 1100 is configured to be axially received in the first drive socket 302 of the first rotary drive system 300. Includes. The primary drive key 1102 is slidably received on the primary transfer shaft 1104, which is rotatably supported by the bulkhead 1023 formed on the nozzle frame 1020. The primary drive key 1102 also movably extends through a hole 1025 in another bulkhead 1024 formed in the nozzle frame 1020. See FIG. The primary transfer shaft 1104 is spline-coupled so that the primary drive key 1102 freely moves axially on the primary transfer shaft 1104 but does not rotate with respect to the primary transfer shaft, and therefore the primary drive key 1102 The rotation results in the rotation of the primary transfer shaft 1104. As further seen in FIG. 18, the primary drive key 1102 includes a mounting flange 1106 that is received within the cavity 1044 of the coupler release tab 1042. Therefore, the primary drive key 1102 and the coupler release tab 1042 move together. The primary transfer spring 1108 is pivotally supported on the primary transfer shaft 1104 and extends between the bulkhead 1023 and the coupler release tab 1042, and the coupler release tab 1042 and the primary drive in the proximal direction "PD" on the primary transfer shaft 1104. Bounce the key 1102.

Still referring to FIGS. 18 and 19, the secondary drive system 1200 is configured to be axially received in the second drive socket 322 of the second rotary drive system 320. Contains 1202. The secondary drive key 1202 is slidably received on the secondary transfer shaft 1204, which is rotatably supported by the bulkhead 1023. The secondary drive key 1202 also movably extends through the hole 1026 of the bulkhead 1024. The secondary transfer shaft 1202 is spline-coupled so that the secondary drive key 1202 moves freely on the secondary transfer shaft 1204 in the axial direction but does not rotate with respect to the secondary transfer shaft. The rotation of the secondary drive key 1202 results in the rotation of the secondary transfer shaft 1204. The secondary drive key 1202 includes a mounting flange (not shown) that is received within the cavity (not shown) of the coupler release tab 1042. Therefore, the secondary drive key 1202 and the coupler release tab 1042 move together. The secondary transfer spring 1208 is pivotally supported on the secondary transfer shaft 1204 and extends between the bulkhead 1023 and the coupler release tab 1042, and the coupler release tabs 1042 and 2 in the proximal direction PD on the secondary transfer shaft 1204. The next drive key 1202 is urged. As can be seen in FIG. 18, the coupler release tab 1042 is formed with two upright actuator portions 1046, which are inwardly extending coupler release tabs 1048 formed on the lock yoke 1032. It corresponds to.

The operation of the latching system 1030 can be understood by referring to FIGS. 20-22. FIG. 20 shows the start of the joining process, where the interchangeable surgical tool assembly 1000 has been moved in the introduction direction "ID" with respect to the handle assembly 20. To initiate the deployment process, the clinician aligns the tapered mounting lug 1022 on the nozzle frame 1020 with the corresponding dovetail slot 502 on the tool mounting portion 500 of the handle assembly 20 and inserts it into the handle assembly 20. Move the interchangeable surgical tool assembly 1000 to the direction ID. Inserting and moving the tapered mounting lug 1022 into the corresponding dovetail slot 502 causes the shaft mounting lug 1306 on the tertiary actuating shaft 1302 to move with the shaft mounting socket 414 on the distal end 412 of the third drive actuator member 410. Work to align. Similarly, the primary drive key 1102 and the secondary drive key 1202 are respectively aligned to contact the corresponding insertion lamp 506 formed on the tool mounting portion 500 of the handle assembly 20.

FIG. 21 shows the contact between the primary drive key 1102 and the corresponding insertion lamp 506, which makes it understood that the secondary drive key 1202 is in the same position as the corresponding insertion lamp 506. As can be seen in this figure, the primary drive key 1102 is in contact with the insertion lamp 506, and the replaceable surgical tool assembly 1000 continuously advances in the insertion direction ID, causing the insertion lamp 506 to move to the primary transfer shaft 1104. The primary drive key 1102 will be urged above to the distal DD. The secondary drive key 1202 also moves distally DD on the secondary transfer shaft 1204. This movement can be further accomplished by pressing the release button 1038 in the direction indicated by the arrow 1041, which causes the lock yoke 1032 to contact the coupler release tab 1042 and the first transfer spring 1108 and the second transfer. The coupler release tab will be moved to the distal DD against the urging force of the spring 1208. The clinician may maintain the pressure on the release button 1038, whereby the primary drive key 1102 and the secondary drive key 1202 dispel their corresponding insert lamps 506, then the primary drive key 1102 and the secondary drive. The key 1202 can move and align with the corresponding first drive socket 302 and second drive socket 322, respectively. When the tapered mounting lugs 1022 are seated in their respective dovetail slots 502, the primary drive key 1102 is axially aligned with the first drive socket 302 and the secondary drive key 1202 is axially aligned with the second drive socket 322. Aligned in the direction so that when the clinician releases the release button 1038, the primary drive key 1102 enters the first drive socket 302 and the secondary drive key 1202 enters the second drive socket 322. .. See FIG. 22. Therefore, the rotation of the first drive socket 302 results in the rotation of the primary drive key 1102 and the primary transfer shaft 1104, and the rotation of the second drive socket 322 results in the rotation of the secondary drive key 1202 and the secondary transfer shaft. It produces 1204 rotations. In addition, the shaft mounting lug 1306 is received within the shaft mounting socket 414 on the distal end 412 of the third drive actuator member 410. Therefore, the axial movement of the third drive actuator member 410 results in an axial movement of the tertiary actuating shaft 1302. Also, as can be seen in FIGS. 20-22, the interchangeable surgical tool assembly 1000 further comprises an onboard "tool" circuit board 1060, which "tool" circuit board is on the handle circuit board 220. It has a connector portion 1062 configured to mesh with the corresponding connector 222 of. When the tool circuit board 1060 is coupled to the handle circuit board 220, the tool circuit board supplies an identification signal to the control system or CPU 224, whereby the control system or CPU 224 is used for interchangeable surgery. Allows you to select the appropriate control action for the type of tool assembly.

End Effector Replaceable Surgical Tool Assembly 1000 includes a surgical end effector 1500 configured to cut and fasten tissue. As can be seen in FIGS. 23 and 24, the surgical end effector 1500 is operably coupled to the elongated shaft assembly 1400 by a joint 1702. As discussed in more detail below, the elongated shaft assembly 1400 is operably coupled to the tool mounting module 1010 and is a primary rotary drive system 1100, a secondary rotary drive system 1200 and a tertiary axial drive system 1300, respectively. Includes parts. See here in FIGS. 25-28, the surgical end effector 1500 has an elongated channel 1520 which is configured to operably support the surgical staple cartridge 1550 inside. The surgical staple cartridge 1550 may include a compressible or implantable staple cartridge having a body portion 1552, which body portion supports unformed metal staples or other forms of fastener lines. It consists of a compressible hemostatic material such as oxidized regenerated cellulose (“ORC”) or bioabsorbable foam. In at least some embodiments, the entire cartridge is polydioxa sold under the Trademark PDS® to prevent alteration of the staples and activation of the hemostatic material during the introduction and placement process. Biodegradable films such as non-films, polyglycerol sebacate (PGS) films, and / or PGA (polyglycerol acid), PCL (polycaprolactone), PLA or PLLA (polylactic acid), PHA (polyhydroxyalkanoate) , PGCL (polycaprolactone 25) and / or can be coated and / or coated with other biodegradable films formed from a complex of, for example, PGA, PCL, PLA, PDS, which becomes impermeable until ruptured. A wide variety of implantable cartridge configurations are known and can be used. For example, various implantable / compressible cartridge configurations are disclosed in more detail in many of the patent applications and patents, each of which is incorporated herein by reference in its entirety. In the illustrated example, the cartridge body portion 1552 of the surgical staple cartridge 1550 is sized so that it is detachably supported within the elongated channel 1520.

The elongated channel 1520 and the surgical staple cartridge 1550 introduced therein may also be referred to herein as the "first jaw" 1502. The surgical end effector 1500 also includes a second jaw 1504 in the form of an anvil assembly 1560 that is supported to move up and down with respect to the first jaw. In other words, the first jaw 1502 and the second jaw 1504 may be configured to move up and down with respect to each other between the open and closed positions. In the illustrated configuration, the anvil assembly 1560 includes an anvil body portion or an anvil frame 1562. Anvil frame 1562 includes a proximal anvil portion 1570 with a pair of trunnion pins 1572 extending laterally from it. The trunnion pin 1572 is movably received within a swivel slot 1526 formed in the corresponding upright wall 1524 of the channel mounting portion 1522 of the elongated channel 1520. See FIGS. 27 and 28. The anvil frame 1562, in at least one form, comprises a pair of downwardly extending tissue stoppers 1564, which, when the target tissue is cut, the fasteners are properly placed to fasten the cut tissue. In order to do so, it acts to limit the distance that the target tissue can extend proximally between the first jaw 1502 and the second jaw 1504. When the first jaw 1502 and the second jaw 1504 are in the closed position, the tissue stopper 1564 is outside the upright wall 1524 of the channel mounting portion 1522 and the proximal anvil portion 1570 is located between the upright walls 1524. .. See FIG. 28.

Anvil concentric drive member The anvil assembly 1560 operably supports the anvil concentric drive member 1600 to operably drive the launch member 1620 through the end effector 1500. The anvil concentric drive member 1600 is centrally located, for example, within the anvil frame 1562 and may extend substantially over its length. The anvil concentric drive member 1600 in the illustrated embodiment includes an anvil drive shaft 1610 that includes a distal bearing lug 1611 and a proximal bearing lug 1612. The distal bearing lug 1611 is rotatably housed in a distal bearing housing 1580 supported in a bearing pocket of the anvil frame 1562. The proximal bearing lug 1612 is rotatably supported within the anvil assembly 1560 by a floating bearing housing 1582, which is movably supported within a bearing pocket 1574 formed in the proximal anvil portion 1570. See FIG. 27. The configuration of the proximal and distal bearing housings prevents or at least minimizes compressive forces that could otherwise buckle the anvil drive shaft 1610 under high force conditions. Can work to become. The anvil drive shaft 1610 further includes a driven launch gear 1614, a proximal threaded section or spiral section 1616, and a distal threaded section or spiral section 1618. In the illustrated configuration, the proximal threaded section 1616 has a first length "FL" and the distal threaded section 1618 has a distal length "DL" that is longer than the first length FL. doing. In at least one configuration, for example, the first length FL may be about 3-5 threads per 2.5 cm (1 inch), using only one acme thread lead. Well, the distal length DL is about 9 to 15 threads per 2.5 cm (1 inch), using 2-4 acme thread leads to get more power. good. However, the proximal threaded section 1616 and the distal threaded section 1618 may have other lengths. See FIG. 31. As can be seen in FIG. 26, the pitch of the distal threaded section 1618 is longer than the pitch of the proximal threaded section 1616. In other words, the leads of the distal threaded section 1618 are longer than the leads of the proximal threaded section 1616. In one configuration, the leads of the distal threaded section 1618 may be approximately twice as long as the leads of the proximal threaded section 1616. As can be seen in FIG. 31, a dead space 1617 may be provided between the proximal threaded section 1616 and the distal threaded section 1618. In at least one example, the anvil drive shaft 1610 may be made integrally from extruded gearstock.

To facilitate the assembly of various anvil components, the anvil assembly 1560 includes an anvil cap 1563 that can be attached to the anvil frame 1562 by welding, snap mechanism, etc. In addition, the anvil assembly 1560 is a pair of anvil plates that may include various patterns of staple molding pockets or molding pockets on the bottom surface corresponding to the staple placement in the surgical staple cartridge 1550 supported within the elongated channel 1520. Alternatively, it includes a staple molded plate 1568. The stapled plate 1568 can be made of metal or similar material and welded to or otherwise attached to the anvil frame 1562. In other configurations, a single anvil plate with slots for accommodating launching members may also be used. Such anvil plates or combinations of plates can work to improve the overall stiffness of the anvil assembly. The anvil plate may be, for example, flat and may have "imprinted" staple molded pockets or molded pockets therein.

FIG. 29 shows a form of launching member 1620 including a body portion 1622 in which a knife nut portion 1624 is formed or otherwise mounted. The knife nut portion 1624 is configured to be received on the anvil drive shaft 1610. Distal threaded nodules 1626 and proximal threaded nodules 1628 configured to engage the proximal threaded section 1616 and the distal threaded section 1618 are formed in the knife nut portion 1624. The distal threaded nodules 1626 are separated from the proximal threaded nodules 1628 for the length of the dead space 1617, so that when the knife nut portion 1624 extends over the dead space 1617, the distal threaded nodules 1626 are distal. Screw-engaged with the threaded section 1618, and the proximal screw nodul 1628 screw-engages with the proximal threaded section 1616. In addition, the anvil engagement tab 1630 projects laterally from the outer portion of the opposite knife nut 1624 and is oriented to engage the corresponding staple molded plate 1568 attached to the anvil frame 1562. The launch member 1620 further comprises a channel engagement tab 1632, which outer side of the body portion 1622 to engage each portion of the elongated channel 1520, as discussed in more detail below. It protrudes from the part. The launching member 1620 also includes a tissue cutting surface 1634.

As a result of the anvil drive shaft 1610 rotating in the first rotational direction, the launching member 1620 moves axially from the start position (FIG. 35) to the end position (FIG. 32). Similarly, as a result of the anvil drive shaft 1610 rotating in the second rotational direction, the launching member 1620 retracts axially from the end position to the start position again. The anvil drive shaft 1610 eventually acquires rotational motion from the proximal drive shaft 1120, which operably interfaces with the primary transfer shaft 1104. See again in FIGS. 16-18, the proximal drive gear 1110 is mounted on the primary transfer shaft 1104 and meshes with and engages with the power driven gear 1122 mounted on the proximal end of the proximal drive shaft 1120. Is supported. The proximal drive shaft 1120 is rotatably supported within the power shaft support tube 1124 and has a power bevel gear 1126 attached to the distal end. See FIG. As shown above, the illustrated interchangeable surgical tool assembly 1000 includes a joint 1702 that facilitates joint movement of the surgical end effector 1500. In at least one embodiment as shown in FIG. 30, the articulated joint 1702 comprises a range of motion shaft 1704 mounted at the distal end of the external spine tube 1402 of the elongated shaft assembly. Specifically, the external spine tube 1402 includes a pair of distally projecting swivel tabs 1404, 1406, which swivel tabs are the shaft axis "SA-" defined by the elongated shaft assembly 1400. The range of motion "AA" across the "SA" is attached to the corresponding end of the range of motion shaft 1704 as defined by the range of motion shaft 1704.

Still referring to FIG. 30, the power bevel gear 1126 meshes and engages with a centrally located power transmission gear 1128, which is rotatably pivotally supported on the articulated motion shaft 1704. There is. The primary rotary drive system 1100 of the illustrated embodiment further includes a distal power shaft 1130, which is a distal driven gear 1132 attached to its proximal end by a screw or other fastener 1133. Has. The distal power shaft 1130 may also be referred to herein as a rotary power drive shaft. The distal driven gear 1132 meshes with and engages with a centrally located power transmission gear 1128. Next, with reference to FIGS. 31 and 32, a distal drive gear 1134 is attached to the distal end of the distal power shaft 1130. The distal drive gear 1134 is configured to mesh and engage with the driven launch gear 1614 on the anvil drive shaft 1610 when the anvil assembly 1560 is in the closed position shown in FIGS. 31 and 32. The anvil drive shaft 1610 is said to be "separated and separate" from the distal power shaft 1130. That is, for example, at least in the illustrated configuration, the anvil drive shaft 1610 is not coaxially aligned with the distal power shaft 1130 and does not form part of the distal power shaft 1130. In addition, the anvil drive shaft 1610 is movable relative to the distal power shaft 1130, for example, when the anvil assembly 1560 is moved between the open and closed positions. FIG. 31 shows the anvil assembly 1560 in the closed position and the launch member 1620 in the pre-launch position. As can be seen in this figure, the distal threaded nodules 1626 of the knife nut 1624 of the launching member 1620 are engaged with the distal threaded portion 1618 so that the rotation of the anvil drive shaft 1610 is at the end position shown in FIG. The launching member 1620 will be driven (launched). Further details regarding the operation of the launching member 1620 are shown below.

Opening and Closing System In the illustrated configuration, the anvil assembly 1560 is closed by advancing the closure tube 1410, which is part of the elongated shaft assembly 1400, distally. As can be seen in FIGS. 27 and 31-35, the closing tube 1410 includes a female threaded closing nut 1412, which is with a closing thread segment 1136 formed on the distal power shaft 1130. It is configured to engage with screws. FIG. 33 shows the anvil assembly 1560 in the open position. As discussed above, the proximal bearing lug 1612 is rotatably supported within the anvil assembly 1560 by the floating bearing housing 1582, and the floating bearing housing moves into the bearing pocket 1574 formed in the proximal anvil portion 1570. Be supported as much as possible. Bearing springs 1584 are pivotally supported on the distal power shaft 1130 and are configured to exert urging forces on the bearing housing 1582 during the opening and closing of the anvil assembly 1560. Such urging forces act to push the anvil assembly 1560 into the open position. In at least one configuration, the bearing spring 1584 includes, for example, an assembly of plates 1586 made from 17-4, 416 or 304 series stainless steel, which plates are laminated to each other by further annealed stainless steel material. It has a hole 1588 through which it receives the distal power shaft 1130. See FIG. 36.

As shown above, the anvil trunnion pin 1572 is received within a vertically oriented swivel slot 1526, which swivel slot is for the elongated channel 1520 and further supported in the surgical staple cartridge 1550. It is formed on the upright wall 1524 of the elongated channel 1520 so as to give the anvil assembly 1560 the ability to move perpendicular to. Such movement of the anvil assembly 1560 with respect to the elongated channel 1520 may serve to adapt to the various thicknesses of tissue clamped in between. For that purpose, in the illustrated example, the surgical end effector 1500 further comprises an anvil spring assembly 1590 for controlling the size of the tissue gap between the staple molded plate 1568 and the upper surface of the surgical staple cartridge 1550. I'm out. As best seen in FIG. 27, the anvil spring assembly 1590 in the illustrated example includes a bearing mount 1592 mounted between the upright walls 1524 of the elongated channel 1520. As can be seen in FIGS. 27 and 33, the bearing mount 1592 has a somewhat U-shaped bearing cavity 1594, and is this bearing cavity formed on the shaft bearing 1138 and the distal power shaft 1130? Alternatively, it is configured to operably accept the bearing retaining flange 1140 attached to it. Such a configuration serves to rotatably support the distal power shaft 1130 within the proximal end portion or channel mounting portion 1522 of the elongated channel 1520. Two spring tabs 1596 extend from the bearing mount 1592 and are oriented to exert a downward urging force on the proximal anvil portion 1570. See FIG. 32. Such urging forces act to urge the proximal anvil portion 1570 downwards, whereby the anvil trunnion pins 1572 are urged downwards within their corresponding vertical swivel slots 1526, and the anvil assembly 1560 Allows it to move vertically and adapt to different thicknesses of tissue. When the anvil assembly 1560 is closed, the target tissue captured between the anvil assembly 1560 and the surgical staple cartridge 1550 results in compression of the cartridge body 1552 and the staples supported therein. Alternatively, the fasteners will be compressed through the tissue to form forming contacts with the lower staple forming plate 1568 of the anvil assembly 1560. Depending on the placement of the fastener staples within the staple cartridge 1550, the staples may be formed into several separate lines that penetrate the staple cartridge body and the clamped tissue. For example, there may be a total of six staple lines (three staple lines on each side of the central area through which the launching member 1620 can pass). In at least one configuration, for example, staples on one line can be offset or staggered from staples on adjacent lines.

As can be seen in FIG. 33, when the anvil assembly 1560 is in the open position, the closing thread segment 1136 on the distal power shaft 1130 is still in screw engagement with the closing nut 1412. When in the open position, the launching member 1620 is located in the nearest or starting position on the proximal threaded portion 1616 of the anvil drive shaft 1610. As can be seen in FIG. 33, when in its proximal starting position, the launch member channel engagement tab 1632 dispels the channel ledge 1528 formed in the elongated channel 1520 and the launch member 1620 opens with the anvil assembly 1560. It can be made possible to turn to a position. When in that position (also referred to as the "fully open position"), the driver launch gear 1614 may still remain in contact with the distal drive gear 1134, but is not engaged. Therefore, the rotation of the distal power shaft 1130 does not result in the rotation of the anvil drive shaft 1610.

To initiate the closure process, the distal power shaft 1130 is rotated in the first rotational direction. This initial rotation of the distal power shaft 1130 moves the closure tube 1410 in the distal DD by screw engagement between the closing thread segment 1136 on the distal power shaft 1130 and the female threaded closing nut 1412. As the closure tube 1410 moves distally, the closure tab 1414 formed at the distal end of the closure tube 1410 contacts the proximal anvil portion 1570 and transitions to cam contact with its proximal anvil portion. The anvil assembly 1560 is swiveled to the initial closed position. Further rotation of the distal power shaft 1130 results in the distance of the closing tube 1410 until the closing tube reaches the "fully closed" position where the female threaded closing nut 1412 is disengaged from the closing thread segment 1136. It will cause a position shift. When in that position, for example, the female threaded closing nut 1412 is distal to the closing thread segment 1136, and further rotation of the distal power shaft 1130 in the first rotation direction leads to the movement of the closing tube 1410. It does not work. The closing spring 1416 acts to urge the closing tube 1410 distally to keep the female threaded closing nut 1412 disengaged from the threaded engagement with the closing thread segment 1136.

When the anvil assembly 1560 is moved to the closed position, the driven launch gear 1614 on the anvil drive shaft 1610 engages with the distal drive gear 1134 on the distal power shaft 1130. Further rotation of the distal power shaft 1130 in the first rotation direction therefore results in rotation of the anvil drive shaft 1610, which causes the launch member 1620 to move distally over the proximal threaded portion 1616. .. As a result of the anvil drive shaft 1610 continuing to rotate in the first rotation direction, distal movement of the launching member 1620 will occur. FIG. 34 shows the position of the launch member 1620 just before the distal threaded nodule 1626 and the distal threaded portion 1618 of the launch drive shaft engage. FIG. 31 shows the position of the launching member 1620 after the distal threaded nodule 1626 first screwed into the distal threaded portion 1618 of the anvil drive shaft 1610. When in that position, the anvil engagement tab 1630 on the launch member 1620 engages with the corresponding stapled plate 1568 attached to the anvil frame 1562, and the channel engagement tab 1632 is the corresponding ledge on the elongated channel 1520. Engages with 1528 to maintain the desired spacing between the anvil assembly 1560 and the elongated channels 1520.

As the distal power shaft 1130 continues to rotate in the first direction of rotation, the anvil drive shaft 1610 will also rotate. Now that the distal threaded nodules 1626 are engaged with the distal threaded portion 1618 of the anvil drive shaft 1610, the launching member 1620 is screw engaged with the launching member 1620 with the proximal threaded portion 1616 of the anvil drive shaft 1610. It will move at a "launch speed" that is faster than the "pre-launch speed" that moves while it is. This speed difference is due to the difference in thread leads of the proximal and distal threaded portions 1616, 1618. As the launch member 1620 moves distally through the end effector 1500, the tissue cutting surface 1634 travels between the staple molding plates 1568 and cuts the tissue clamped between the anvil assembly 1560 and the surgical staple cartridge 1550. .. In this way, the tissue is first stapled as the anvil assembly 1560 is moved to the fully closed position. The tissue is then cut as the launching member is advanced distally through the end effector 1500. In this way, the staple forming process can be "separated and distinguished" from the tissue cutting process.

FIG. 32 shows the position of the launch member 1620 at or near the end launch position. When the launch member 1620 reaches an end launch position that can be determined, for example, by a sensor, encoder, etc. (not shown), the distal power shaft 1130 can be rotated in a second rotational direction or "backward direction". The anvil drive shaft 1610 is also rotated in the opposite direction. The rotation of the anvil drive shaft 1610 in the second rotation direction causes the launching member 1620 to move proximally to the position shown in FIG. As can be seen in FIG. 35, the closing tube 1410 includes a closing tube reset spring 1418 extending distally from the lug 1413 on the closing nut 1412. The launching member 1620 is formed with a reset tab 1636 extending proximally, which contacting the closing tube reset spring 1418 when the launching member 1620 returns to the starting position and the closing tube reset spring. It is configured to apply a compressive force in the proximal direction to the spring. Such a proximal compressive force acts to push the closing tube 1410, more specifically the female threaded closing nut 1412, against the closing thread segment 1136 on the distal power shaft 1130, and thus the closing nut. The screw engages again with the closing screw segment 1136 on the distal power shaft 1130. As the distal power shaft 1130 continues to rotate in the second direction of rotation, the interaction between the closing screw segment 1136 and the closing nut 1412 moves the closing tube 1410 to the proximal side, so that the closing tab 1414 is proximal. It moves away from the cam contact with the anvil portion 1570, which allows the bearing spring 1584 to push the anvil assembly 1560 into the open position (FIG. 33). The tissue accommodated between the anvil assembly 1560 and the elongated channel 1520 may also act to push the anvil assembly 1560 into an open position from which the tissue can be removed.

Range of Motion System As shown above, the illustrated example includes a range of motion system 1700, which is a joint of a surgical end effector 1500 centered on the range of motion axis AA across the shaft axis SA. It facilitates exercise. In the illustrated example, the surgical end effector 1500 can also be selectively rotated distally to the joint 1702 about the shaft axis SA, as represented by arrow 1703 in FIG. Is. In the illustrated example, the range of motion system 1700 is actuated by a second rotational drive system 320 within the handle assembly 20. As discussed above, the interchangeable surgical tool assembly 1000 includes a secondary rotary drive system 1220 configured to operably interface with a second rotary drive system 320 on the handle assembly. In the illustrated configuration, the secondary rotation drive unit 1220 includes a portion of the range of motion system 1700. In the illustrated example, the range of motion system 1700 includes a joint drive shaft 1706 rotatably supported on a power shaft support tube 1124. As shown above, the proximal drive shaft 1120 rotatably extends through the power shaft support tube 1124. In the illustrated configuration, the proximal drive shaft 1120 is coaxially aligned with the shaft axis SA. The power shaft support tube 1124 is configured such that the joint drive shaft 1706 is not aligned coaxially with the shaft axis SA. In other words, the joint drive shaft 1706 has a joint drive shaft axis "ADA" that deviates from the shaft axis SA when the joint drive shaft 1706 is mounted on the power shaft support tube 1124. .. See FIG. Such a configuration assists in forming a relatively small, nested gear configuration in the vicinity of the joint 1702, as can be seen in FIGS. 38-42. In the illustrated configuration, for example, a proximal joint driven gear 1708 is attached to the proximal end of the joint drive shaft 1706. See FIG. The proximal joint driven gear 1708 is configured to mesh and engage with the secondary drive gear 1206 mounted on the distal end of the secondary transfer shaft 1204. The rotation of the secondary transfer shaft 1204 and the secondary drive gear 1206 results in the rotation of the proximal joint driven gear 1708 and the rotation of the joint drive shaft 1706. A distal joint drive gear 1710 is attached to the distal end of the joint drive shaft 1706. The distal joint drive gear 1710 is supported by engaging and engaging with the channel joint gear 1538 formed on the channel mounting fixture 1530.

More specifically, with reference to FIGS. 30 and 37, in the illustrated example, the channel mounting fixture 1530 comprises a disc-shaped body portion 1532 formed with a lower shaft mounting tab 1534 and an upper shaft mounting tab 1536. There is. The range of motion shaft 1704 extends through the corresponding holes of the lower and upper shaft mounting tabs 1536, 1534 attached to the swivel tabs 1404, 1406 of the external spine tube 1402. Such a configuration serves to allow the channel mounting fixture 1530 to rotate about the range of motion axis AA with respect to the external shaft spine tube 1402. The channel joint gear 1538 is formed on the lower shaft mounting tab 1534 and remains meshed and engaged with the distal joint drive gear 1710. Here, with reference to FIG. 27, in the illustrated example, the channel mounting portion 1522 of the elongated channel 1520 includes an upright proximal wall 1523 having a mounting hub 1525 projecting proximally from it. A shaft hole 1527 configured to allow the distal power shaft 1130 to extend through it extends through a mounting hub 1525 and an upright proximal wall 1523. In the illustrated example, the channel mounting fixture 1530 is frictionally mounted onto the mounting hub 1525 to complete the coupling of the end effector 1500 to the articulated joint 1702. See FIG.

30, 38 and 39 best show the operation of the joint 1702. As a result of the joint drive shaft 1704 being rotated in the first rotational direction by the second rotational drive system 320, the surgical end effector 1500 is rotated or articulated at a joint motion angle 1711 (FIG. 39) with respect to the shaft axis SA. Will be done. In at least one example, the range of motion angle 1711 can be, for example, 0 ° to 90 °. As a result of the joint drive shaft 1704 rotating in the opposite direction of rotation, the surgical end effector 1500 results in joint movement in the opposite direction of joint movement. When the surgical end effector 1500 is articulated to the desired orientation, the power to the second rotational drive system 320 (and finally to the secondary rotational drive system 1200) is cut off. Friction between the components (ie gears) of the secondary rotational drive system 1200 and between the components (ie gears) of the joint motion system 1700 acts to hold the surgical end effector 1500 in joint motion orientation. In an alternative configuration, however, the gears 306 and 326 may be locked in place. For example, when the gear 252 engages with these gears, the shifting mechanism that engages the gear 252 with the gear 306 can unlock. This can be achieved by a simple cam surface that disengages the locking means as the gear 252 moves and engages.

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

In the illustrated example, the tertiary drive system 1300 is configured to operably interface with the end effector rotary locking system 1310. In at least one embodiment, the end effector rotary locking system 1310 comprises a rotary locking disc 1320 including a disc-shaped body 1322 having a hollow mounting stem 1324 projecting from the end effector rotary locking system 1310. As can be seen in FIG. 30, the mounting stem 1324 extends through the shaft hole 1527 of the mounting hub 1525. The distal end of the mounting stem 1324 includes an annular groove 1326, which is configured to receive an inwardly extending fastener flange 1598 formed on the bearing housing 1592 of the anvil spring assembly 1590. ing. The proximally opposed surface of the disc-shaped body 1322 of the rotary locking disc 1320 has a plurality of lock detents 1328 arranged radially on it. The lock detent 1328, in at least one form, is arranged to be frictionally engaged by a lock member with a lock lug 1332 formed on a lock gear 1330 pivotally supported on the articular motion shaft 1704. See FIGS. 43 and 44. As can be seen in these figures, the lock gear 1330 is supported by engaging and engaging with the drive gear 1432 of the locking gear assembly 1430. As a result of the tertiary actuating shaft 1302 being actuated by the tertiary drive system 1300, the locking gear assembly 1430 will rotate. As a result of the locking gear assembly 1430 operating, the lock gear 1330 will rotate about the joint motion shaft 1704. When the lock lug 1332 on the lock gear 1330 is engaged with the lock detent 1328, not only the end effector 1500 but also the rotating locking disc 1320 is prevented from rotating about the shaft axis SA. For example, the lock lug 1332 acts to engage with the corresponding lock detent 1328 by friction, compressing the rotary locking disc 1320 and further frictionally engaging with the body portion 1532 of the channel mounting fixture 1530. Such frictional engagement between these two components acts to prevent not only the elongated channel 1520 but also the locking disc 1320 from rotating about the shaft axis SA. FIG. 43 shows a lock lug 1332 that locks and engages with one of the lock detents 1328, and FIG. 44 shows a lock lug 1332 that is in a non-locking orientation so that the lock disc 1320 freely rotates about the shaft axis SA. Shown.

In the illustrated embodiment of the interchangeable surgical tool assembly 1000, the rotation of the end effector 1500 about the shaft axis SA is controlled by a remote rotation dial 1340 rotatably supported on the nozzle frame 1020. The remote rotating dial 1340 operably interfaces with the adjustable resistor mounting assembly 1350 mounted within the nozzle frame 1020. As can be seen in FIG. 23, for example, the remote rotating dial 1340 includes a plurality of scallops 1341 around it and is accessible on both sides of the nozzle frame 1020. Such a configuration may allow the user to hang the fingers of the same hand holding the handle assembly 20 on the remote rotation dial 1340 to rotate the remote rotation dial, or the remote rotation dial may be of the user. The other hand may be hung in the same way. With reference to FIGS. 18, 20 and 21, the control resistor mounting assembly 1350 includes a hollow mounting hub 1352, which receives the corresponding mounting bulkhead 1028 formed on the nozzle frame 1020. It has an annular groove portion 1354 for the purpose. In at least one configuration, the mounting hub 1352 includes an annular holding detent 1356, which holds the remote rotating dial 1340 on the hollow mounting hub 1352 while simultaneously holding the remote rotating dial 1340 relative to the hollow mounting hub. Is configured to allow the rotation of the. The adjustable resistor mounting assembly 1350 includes a flange portion 1358 extending radially, on which the flange portion supports an assembly of stationary contacts 1360. See FIG. The flange portion 1358 is received in the control cavity 1342 of the remote rotation dial 1340. A rotary contact assembly 1344 is mounted within the control cavity 1342 and is configured to interface the stationary contact 1360 when the remote rotary dial 1340 is rotated over the control resistor mounting assembly 1350. The control resistor mounting assembly is wired to the tool circuit board 1060 or otherwise communicates with the tool circuit board.

In at least one configuration, rotation of the surgical end effector 1500 around the shaft axis SA is initiated by rotating the remote rotation dial 1340. In at least one configuration, the control system or CPU 224 is configured to rotate the surgical end effector 1500 in the same direction of rotation as the remote rotation dial 1340 is rotated. The initial rotation of the remote rotation dial 1340 causes the control system or CPU 224 in the handle assembly 20 to activate a third axial drive system 400 in the handle assembly 20. Specifically, the control system or CPU 224 activates the solenoid 402, resulting in axial movement of the third actuator member 410. The axial movement of the third actuator member 410 results in an axial movement of the tertiary actuating shaft or locking control rod 1302 operably coupled thereto. Axial movement of the locking control rod 1302 results in rotation of the locking gear assembly 1430. Rotation of the locking gear assembly 1430 causes the lock gear 1330 to rotate to the unlocked position (FIG. 44). The control system or CPU 224 then activates the first rotary drive system 300. It is possible that the rotary locking disc 1320 can rotate about the shaft axis SA because the lock lug 1332 has rotated and is disengaged from the corresponding lock detent 1328 on the rotary locking disc 1320. The reader will understand. However, friction between the rotating locking disc 1320 and the mounting hub 1525 on the channel mounting portion 1522 can temporarily prevent the surgical end effector 1500 from rotating.

The operation of the first rotational drive system 300 results in the rotational drive motion being applied to the first drive socket 302, which is because the shifter solenoid 260 is not activated and the shifter spring 166 is the shifter gear 250. Is urged to engage with the first driven gear 306 on the first drive socket 302. See FIGS. 6 and 7. The rotation of the first drive socket 302 results in the rotation of the primary transfer shaft 1104 that operably engages with the first drive socket 302. The rotation of the primary transfer shaft 1104 results in the rotation of the proximal drive gear 1110 attached to the primary transfer shaft 1104. Since the proximal drive gear 1110 meshes with and engages with the power driven gear 1122 attached to the proximal drive shaft 1120, the proximal drive shaft 1120 is also rotated. See FIG.

As shown here in FIG. 30, the rotation of the proximal drive shaft 1120 will eventually result in the rotation of the distal driven drive gear 1132 attached to the distal power shaft 1130. The rotation of the distal driven gear 1132 results in the rotation of the distal power shaft 1130. The frictional force between the distal power shaft 1130 and the rotary locking disc 1320, the frictional force between the bearing housing 1592 and the distal power shaft 1130 and the rotary locking disc 1320, and the closing nut 1412 and distal of the closing tube 1410. The sum of the frictional forces with the closing thread segment 1136 on the power shaft 1130 (“second friction amount”) is between the mounting hub portion 1525 of the elongated channel 1520 and the channel mounting fixture 1530. It is larger than the sum of the frictional force and the frictional force between the rotary locking disc 1320 and the channel mounting fixture 1530 (“first friction amount”), and the elongated channel 1520 and the closing tube 1410 are on the shaft axis. It is possible to rotate with the distal power shaft 1130 with respect to the channel mounting fixture 1530 around the SA. In one configuration, for example, the rotational position of the remote rotary dial 1340 determines the rotational position of the distal power shaft 1130 and ultimately the surgical end effector 1500 by the control system or CPU 224. When the user places the surgical end effector 1500 at a desired rotation position about the shaft axis SA and interrupts the rotation of the remote rotation dial 1340, the control system or CPU 224 controls the first rotation drive system 300 and the third rotation drive system 300. Power supply to the axial drive system 400 is stopped. In at least one embodiment, the solenoid 402 is "spring-pushed" and thus, when deactivated, its spring component urges the third drive actuator member 410 to the distal side, resulting in locking control. Proximal movement of rod 1302 will occur. Such axial movement of the locking control rod 1302 results in rotation of the lock gear 1330, thereby holding and engaging the lock lug 1332 with the corresponding lock detent 1328 on the rotating locking disc 1320, thereby the surgical end effector. Lock 1500 to its rotational orientation. Thus, if power is lost to the handle assembly 20, more specifically to the third drive system 400, the solenoid spring will move the end effector rotary locking system 1310 in a locking orientation, thereby slender shaft. Prevents rotation of the surgical end effector 1500 with respect to assembly 1400. As can be understood from the discussion above, a third axial drive system 400 to unlock the end effector locking system 1310 when the replaceable surgical tool assembly 1000 is operably coupled to the handle assembly 20. Is used, and a first rotational drive system 300 is used to rotate the surgical end effector 1500 with respect to the elongated shaft assembly 1400. The reader will understand that such rotation of the surgical end effector 1500 is completely distal to the joint 1702. Therefore, the external spine tube 1402 and the joint 1702 remain stationary during the rotation process.

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

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

In one configuration, the first control button 272 and the second control button 274 may be used to control the movement of the range of motion system 1700. For example, the control button 272 may be used to initiate the joint movement of the surgical end effector 1500 to the right (arrow “R” in FIG. 1) about the joint movement axis AA. When the first control button 272 is activated, the control system or CPU 224 activates the shifter solenoid 260 of the rotary drive selector system 240 to mesh and engage with the second driven gear 326 on the second drive socket 322. The shifter gear 250 is moved in this way. The control system 224 or the CPU then activates the motor 200 in the direction of rotation required for the joint movement system 1700 to joint the surgical end effector to the right (arrow R), the second rotation drive system 320. Add rotation motion to. In one configuration, the amount of pressing or acting force applied to the control button may dictate the speed at which the motor rotates. In addition to or instead, the clinician may also press rocker switch 206 to change the rotational speed of the motor. When the surgical end effector 1500 is articulated to the desired position, the user ceases operation of the first control button 270 (and rocker switch 206). When the control button 270 is disabled, the control system or CPU 224 disables the shifter solenoid 260. The spring component of the shifter solenoid 260 moves the shifter gear 250 to mesh and engage with the first driven gear 306 on the first drive socket 302. Therefore, further operation of the motor 200 results in the operation of the first rotary drive unit 300. The operation of the second control button 274 operates in the same manner, but causes the motor 200 to rotate so that the range of motion system 1700 joints the surgical end effector 1500 to the left (arrow L in FIG. 1). become.

As discussed above, the surgical end effector 1500 may also be rotated about the shaft axis with respect to the joint 1702. To initiate rotation of the surgical end effector 1500, the clinician rotates the remote rotation dial 1340 in the direction of rotation that he intends to rotate the surgical end effector 1500. The rotation of the remote rotation dial 1340 causes the control system or CPU 224 to activate the third axial drive system 400. Specifically, the solenoid 402 is actuated to axially move the third drive actuator member 410 and the locking control rod 1302 in the proximal direction. To disengage the lock lug 1332 from the corresponding lock detent 1328 of the rotating locking disc 1320 as the locking control rod 1302 moves proximally, the gear rack 1308 causes the locking gear assembly 1430 to rotate the lock gear 1330. do. See FIGS. 41 and 42. The control system or CPU maintains the solenoid 402 in its working orientation and then activates the motor 200 to make a first rotational motion in the direction required to rotate the surgical end effector 1500 in the desired rotational direction. Add to rotary drive system 300. The operation of the first rotational drive system 300 results in the rotation of the distal drive shaft 1130, resulting in the rotation of the surgical end effector 1500 around the shaft axis SA. When the surgical end effector 1500 is rotated to the desired position, the clinician's rotation of the remote rotation dial 1340 is interrupted. The control system or CPU 224 then deactivates the motor 200 and the solenoid 402. The spring component of the solenoid 402 then urges a third drive actuator member 410 and a locking control rod 1302 to a distal position, whereby the lock gear 1330 has a lock lug 1332 that rotates the locking disc 1320 and corresponds to a lock detent 1328. Will be rotated in the opposite direction so that it engages with. The surgical end effector 1500 is locked in its rotational position.

In at least one configuration, the third button 276 may include a "home state" button that communicates with the control system or CPU 224 to return the surgical end effector 1500 to the home state, in which the surgical end effector 1500 is surgical. The end effector does not move joints and is rotated again in the initial rotational orientation. For example, when the third button 276 is activated, the CPU unlocks the end effector rotary locking system 1310 by activating the solenoid 402 to disengage the lock lug 1332 from the rotary locking disk 1320. The first rotational drive system 300 may then be activated to allow the surgical end effector to rotate again to the starting rotational position. The solenoid 402 is then deactivated and the lock lug 1332 is reengaged with the rotary locking disc to lock the surgical end effector 1500 in its rotational orientation. The control system or CPU 224 may then activate the shifter solenoid 260 to engage the shifter gear 250 with the second driven gear 326 on the second drive socket 322. Once the second rotational drive system 320 is ready to operate, the control system or CPU 224 can then activate the motor 200 to return the surgical end effector 1500 to the non-joint motion position.

When the surgical end effector 1500 is rotated and / or articulated to the desired configuration, it interrupts the operation of the articulation system 1700 and interrupts the rotation of the remote rotation dial 1340, resulting in the motor 200. Will be operably engaged with the first rotary drive system 300 in the manner discussed herein. The clinician may then operate the surgical end effector 1500 to place the target tissue between the anvil assembly 1560 and the surgical staple cartridge 1550. The clinician may initiate the closure and launch process by activating rocker switch 206. Upon activation of the rocker switch 206, the control system or CPU 224 may actuate the motor 200 so that the motor applies rotational control motion to the first rotational drive system 300 in a first rotational direction. The rotation of the first rotary drive system 300 causes the distal power shaft 1130 to rotate and initiate the closure process in the manner described above. When the anvil assembly 1560 is completely closed, the control system or CPU 224 shuts down the motor 200 and provides the clinician with instructions (sound, vibration, display screen notification, etc.) that the anvil is completely closed. Can be done. This can occur whether or not the rocker switch 206 is in the activated state. Then, when the clinician desires the launching member to cut the stapled target tissue during the closure process, the clinician then reactivates the rocker switch 206 to start the motor, as described above. The launching member may be driven distally through the end effector in this manner. The rocker switch 206 may be configured such that the speed at which the motor rotates is proportional to the distance at which the rocker switch is pressed or otherwise actuated. In other configurations, the control system or CPU 224 does not have to stop the motor between the closing sequence and the firing sequence. Various forms of sensors and / or encoders can be used to monitor the position of the launching member during the firing process. When the launch member reaches the end position, the direction of rotation of the motor is reversed by the control system or CPU 224 until the launch member returns to the start position where the anvil assembly 1560 is urged to the open position in the manner described above. NS.

40A and 40B allow the end effector to be selectively articulated and rotated in various ways as described herein, while mounting on it from the circuit board 1060 within the tool mounting module portion 1010. An exemplary configuration for supplying an electrical signal to a robot end effector is shown. As can be seen in these figures, conductors 1401A, 1401B extend along the outside of the outer spine tube 1402 of the elongated shaft assembly. Conductors 1401A and 1401B extend from the tool mounting module 1010 along the spine tube 1402 and enter hole 1531 of the channel mounting fixture 1530. Loops 1403 may be provided on the conductors 1401A, 1401B to provide a sufficient amount of slack to the conductors in order to adapt to the joint movement of the end effector centered on the joint joint 1702. The conductor 1401A extends into the channel mounting fixture 1530 and is fitted with the proximal facing contact 1405A. Similarly, the conductor 1401B extends into the channel mounting fixture 1530 and is fitted with the proximal facing contact 1405B. These contacts 1405A and 1405B correspond to conductive tracks 1325A and 1325B mounted on the distal surface 1323 of the disc-shaped body 1322 of the rotary locking disc 1320, respectively. When assembled together, the contacts 1405A make rotational electrical contact with the track 1325A and the contacts 1405B make rotational electrical contact with the track 1325B. Such a configuration allows relative rotation of the channel mounting fixture 1530 and the rotating locking disc 1320 and facilitates electrical contact between the conductors 1401A, 1401B and the tracks 1325A, 1325B. End effector conductors 1327A and 1327B are attached to tracks 1325A and 1325B, respectively, and extend through the hollow mounting stem 1324 of the rotary locking disc 1320. The end effector conductors 1327A, 1327B can then be attached to sensors, lights, etc. in the end effector. Such a configuration serves to facilitate joint movement and rotation of the end effector and to power the end effector from the tool mounting module 1010.

While many of the surgical instrument systems described herein are powered by electric motors, the surgical instrument systems described herein can operate in any suitable manner. In various cases, the surgical instrument system described herein can be operated, for example, by a manually operated trigger. In certain cases, the motors disclosed herein may comprise a portion of a robotic control system. In addition, any of the end effectors and / or tool assemblies disclosed herein can be used with robotic surgical instrument systems. US Patent Application Nos. 13 / 118,241, named "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", the current US Patent Application Publication No. 2012/02987719 further describes, for example, some examples of robotic surgical instrument systems. It is disclosed in detail.

The surgical instrument system described herein has been described in connection with the deployment and deformation of staples, but the embodiments described herein are not limited thereto. Various embodiments are also conceivable in which fasteners other than staples, such as clamps or tacks, are deployed. In addition, various embodiments have been conceived that utilize any suitable means for sealing the tissue. For example, end effectors according to various embodiments may include electrodes configured to heat and seal the tissue. Also, for example, end effectors according to certain embodiments can apply vibrational energy to seal the tissue.

The entire disclosure below is incorporated herein by reference.
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Although various devices have been described herein in the context of specific embodiments, modifications and modifications to those embodiments may be implemented. Also, although the material is disclosed for a particular component, other materials may be used. Further, according to various embodiments, a single component may be replaced by a plurality of components, or a plurality of components may be replaced by a single component in order to perform a given function. .. The above description and the following claims are intended to include all such amendments and changes.

The devices disclosed herein can be designed to be discarded after a single use, or can be designed to be used multiple times. However, in either case, the device can be readjusted for reuse after at least one use. The readjustment may include, but is not limited to, any combination of steps including, but not limited to, a device disassembly step followed by a cleaning or replacement step of a particular part of the device, followed by a device reassembly step. Specifically, the reconditioning equipment and / or surgical team may disassemble the device, and after cleaning and / or replacing certain parts of the device, the device may be reassembled for subsequent use. Can be done. Those skilled in the art will appreciate that readjustment of the device can utilize a variety of techniques for disassembly, cleaning / replacement, and reassembly. The use of such techniques, and the resulting readjusted devices, are all within the scope of the present invention.

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

Although the present invention has been described as having a representative design, the present invention may be further modified within the spirit and scope of the present disclosure. Accordingly, this application shall include any modification, use, or adaptation of the invention that uses its general principles.

All patents, publications, or other disclosures that are incorporated herein by reference in whole or in part are existing definitions, statements, or other disclosures in which the incorporated material is described in this disclosure. Incorporated herein only to the extent that it is consistent with the content. As such, and to the extent necessary, the disclosures expressly set forth herein shall supersede any contradictory statements incorporated herein by reference. Any document that is incorporated herein by reference, but is inconsistent with existing definitions, descriptions, or other disclosed documents described herein, or parts thereof, is incorporated and existing. It shall be incorporated only to the extent that there is no contradiction with the disclosed content.

[Implementation mode]
(1) Surgical instruments
With the housing assembly
With a motor assembly operably supported within the housing assembly,
With at least one rotational drive system configured to selectively engage and disengage with the motor assembly.
It ’s a bailout system,
A bailout drive train supported by the housing assembly and configured to selectively engage and disengage with the at least one rotational drive system.
A bailout handle assembly that is selectively movable between a retracted position and an actuating position within the housing assembly, wherein the at least one rotational drive system is said when the bailout handle assembly is in said retracted position. The bailout drive train is operably engaged with the at least one rotational drive system when it is held operably engaged with the motor assembly and the bailout handle assembly is in said operating position. A surgical instrument, including a bailout handle assembly, and a bailout system.
(2) The housing assembly can be operated between a closed position where the bailout handle assembly is completely confined within the housing assembly at the retracted position and an open position where the bailout handle assembly is operational. The surgical instrument according to embodiment 1, further comprising a bailout access panel.
(3) The surgical instrument according to embodiment 2, wherein the bailout access panel is detachably attached to the housing assembly.
(4) When the bailout access panel is in the closed position, the bailout access panel reliably holds the at least one rotational drive system operably engaged with the motor assembly and said. The surgical instrument according to embodiment 2, which prevents the bailout drive train from operably engaging with the motor assembly.
(5) The at least one rotary drive system is
With a system drive shaft rotatably supported by the housing assembly,
A first position of the driven bevel gear in which the driven bevel gear engages with the drive bevel gear of the motor assembly, and a second position in which the driven bevel gear disengages from the meshing engagement with the drive bevel gear. With a driven bevel gear that is axially movable on the system drive shaft,
A drive system urging member for urging the driven bevel gear to the second position, wherein a portion of the bailout access panel is the driven bevel gear when the bailout access panel is in the closed position. To the drive system urging member, which is configured to urge the first position.
2. The surgical instrument according to embodiment 2.

(6) The bailout drive train is
A bailout drive shaft that operably interfaces with the bailout handle assembly so that rotational motion is applied to the bailout drive shaft by manual operation of the bailout handle assembly.
With the bailout driven gear on the system drive shaft,
A bail-out drive gear in which the bail-out drive gear does not engage with the bail-out driven gear in a non-operating position and the bail-out drive gear engages with the bail-out driven gear. A bailout drive gear that is axially movable on the bailout drive shaft with and from an operating position.
An implementation comprising a bailout urging member configured to urge the bailout drive gear to engage and engage with the bailout driven gear when the bailout access panel is in the open position. The surgical instrument according to aspect 5.
(7) The bail-out access panel is configured to urge the bail-out drive gear when the bail-out access panel is in the open position to disengage it from meshing engagement with the bail-out driven gear. The surgical instrument according to embodiment 6.
(8) The surgical instrument according to embodiment 2, further comprising a bailout handle urging member for urging the bailout handle assembly to an operating position when the bailout access panel is in the open position. ..
(9) The surgical instrument according to embodiment 8, wherein the bailout handle assembly is configured to add a rotational motion to the bailout drive shaft when a manually generated ratchet motion is applied to it.
(10) Surgical instrument
A housing assembly with an access panel that can be operated between open and closed positions,
A motor assembly that is operably supported by a portion of the housing assembly and
With at least one rotational drive system supported by the housing assembly and configured to selectively engage and disengage with the motor assembly.
When operated while the access panel is being operated to the open position, the at least one rotational drive system is disengaged from the motor assembly and a rotational motion is manually applied to the at least one rotational drive system. Surgical instruments, including means for adding.

(11) Surgical instrument
A handle assembly configured to be operably attached to a surgical tool assembly,
With the motor assembly operably supported by the handle assembly,
With at least one rotational drive system operably supported by the handle assembly and configured to selectively engage and disengage with the motor assembly.
It ’s a bailout system,
A bailout drive train supported by the handle assembly and configured to selectively engage and disengage with the at least one rotational drive system.
A bailout actuator assembly that is selectively movable between a retracted position and an actuating position within the handle assembly, wherein the at least one rotational drive system is said when the bailout actuator assembly is in said retracted position. The bailout drive train is operably engaged with the at least one rotational drive system when it is held operably engaged with the motor assembly and the bailout actuator assembly is in the actuating position. With a bailout actuator assembly, with a bailout system,
Surgical instruments equipped with.
(12) The handle assembly can be operated from a closed position where the bailout actuator assembly is completely confined within the handle assembly at the retracted position and an open position where the bailout actuator assembly can be manually actuated. The surgical instrument according to embodiment 11, further comprising an out-access panel.
(13) The surgical instrument according to embodiment 12, wherein the bailout access panel is detachably attached to the handle assembly.
(14) When the bailout access panel is in the closed position, the bailout access panel reliably holds the at least one rotational drive system operably engaged with the motor assembly and said. 12. The surgical instrument according to embodiment 12, which prevents the bailout drive train from engaging operably with the motor assembly.
(15) The at least one rotary drive system is
With a system drive shaft rotatably supported by the handle assembly,
A first position of the driven bevel gear in which the driven bevel gear engages with the drive bevel gear of the motor assembly, and a second position in which the driven bevel gear disengages from the meshing engagement with the drive bevel gear. With a driven bevel gear that is axially movable on the system drive shaft,
A drive system urging member for urging the driven bevel gear to the second position, wherein a portion of the bailout access panel is the driven bevel gear when the bailout access panel is in the closed position. To the drive system urging member, which is configured to urge the first position.
12. The surgical instrument according to embodiment 12.

(16) The bailout drive train is
A bailout drive shaft that operably interfaces with the bailout actuator assembly so that rotational motion is applied to the bailout drive shaft by manual operation of the bailout actuator assembly.
With the bailout driven gear on the system drive shaft,
A bail-out drive gear in which the bail-out drive gear does not engage with the bail-out driven gear in a non-operating position and the bail-out drive gear engages with the bail-out driven gear. A bailout drive gear that is axially movable on the bailout drive shaft with and from an operating position.
An implementation comprising a bailout urging member configured to urge the bailout drive gear to engage and engage with the bailout driven gear when the bailout access panel is in the open position. The surgical instrument according to aspect 15.
(17) The bailout access panel is configured to urge the bailout drive gear when the bailout access panel is in the open position to disengage it from meshing engagement with the bailout driven gear. The surgical instrument according to embodiment 16.
(18) The surgical instrument according to embodiment 12, further comprising a bailout actuator urging member for urging the bailout actuator assembly to an operating position when the bailout access panel is in the open position. ..
(19) The surgical instrument of embodiment 18, wherein the bailout actuator assembly is configured to add rotational motion to the bailout drive shaft when a manually generated ratchet motion is applied to it.
(20) The at least one rotary drive system is
With a system drive shaft rotatably supported by the handle assembly,
A first position of the driven bevel gear in which the driven bevel gear engages with the drive bevel gear of the motor assembly, and a second position in which the driven bevel gear disengages from the meshing engagement with the drive bevel gear. With a driven bevel gear that is axially movable on the system drive shaft,
A drive system urging member for urging the driven bevel gear to the second position, wherein a portion of the bailout access panel is the driven bevel gear when the bailout access panel is in the closed position. To the drive system urging member, which is configured to urge the first position.
A first rotational drive system configured to add a first rotational drive motion to the surgical tool assembly coupled to the handle assembly.
A second rotational drive system configured to add a second rotational drive motion to the surgical tool assembly coupled to the handle assembly.
A rotary drive selector system that operably interfaces with the system drive shaft to selectively operably engage the first and second rotary drive systems with the system drive shaft.
12. The surgical instrument according to embodiment 12.

Claims (6)

It ’s a surgical instrument,
With the housing assembly
With a motor assembly operably supported within the housing assembly,
With at least one rotational drive system configured to selectively engage and disengage with the motor assembly.
It ’s a bailout system,
A bailout drive train supported by the housing assembly and configured to selectively engage and disengage with the at least one rotational drive system.
A bailout handle assembly that is selectively movable between a retracted position and an actuating position within the housing assembly, wherein the at least one rotational drive system is said when the bailout handle assembly is in said retracted position. The bailout drive train is operably engaged with the at least one rotational drive system when it is held operably engaged with the motor assembly and the bailout handle assembly is in said operating position. , With a bailout handle assembly, with a bailout system ,
The housing assembly can be operated between a closed position in which the bailout handle assembly is completely confined within the housing assembly in said retracted position and an open position in which the bailout handle assembly is operational. Including an access panel
The at least one rotary drive system
With a system drive shaft rotatably supported by the housing assembly,
A first position of the driven bevel gear in which the driven bevel gear engages with the drive bevel gear of the motor assembly, and a second position in which the driven bevel gear disengages from the meshing engagement with the drive bevel gear. With a driven bevel gear that is axially movable on the system drive shaft,
A drive system urging member for urging the driven bevel gear to the second position, wherein a portion of the bailout access panel is the driven bevel gear when the bailout access panel is in the closed position. To the drive system urging member, which is configured to urge the first position.
Surgical instruments equipped with. The surgical instrument according to claim 1 , wherein the bailout access panel is detachably attached to the housing assembly. When the bailout access panel is in the closed position, the bailout access panel reliably holds the at least one rotational drive system operably engaged with the motor assembly and the bailout drive. train is prevented from operably engaged with the motor assembly, surgical instrument according to claim 1. The bailout drive train
A bailout drive shaft that operably interfaces with the bailout handle assembly so that rotational motion is applied to the bailout drive shaft by manual operation of the bailout handle assembly.
With the bailout driven gear on the system drive shaft,
A bail-out drive gear in which the bail-out drive gear does not engage with the bail-out driven gear in a non-operating position and the bail-out drive gear engages with the bail-out driven gear. between a working position forming a is movable in the axial direction on the bail-out drive shaft, and a bail-out drive gear,
A claim comprising a bailout urging member configured to urge the bailout drive gear to engage and engage with the bailout driven gear when the bailout access panel is in the open position. Item 1. The surgical instrument according to item 1. The bailout access panel is configured to urge the bailout drive gear when the bailout access panel is in the open position to disengage it from meshing engagement with the bailout driven gear. , The surgical instrument according to claim 4. It ’s a surgical instrument,
With the housing assembly
With a motor assembly operably supported within the housing assembly,
With at least one rotational drive system configured to selectively engage and disengage with the motor assembly.
It ’s a bailout system,
A bailout drive train supported by the housing assembly and configured to selectively engage and disengage with the at least one rotational drive system.
A bailout handle assembly that is selectively movable between a retracted position and an actuating position within the housing assembly, wherein the at least one rotational drive system is said when the bailout handle assembly is in said retracted position. The bailout drive train is operably engaged with the at least one rotational drive system when it is held operably engaged with the motor assembly and the bailout handle assembly is in said operating position. , With a bailout handle assembly, with a bailout system,
The housing assembly can be operated between a closed position in which the bailout handle assembly is completely confined within the housing assembly in said retracted position and an open position in which the bailout handle assembly is operational. Including an access panel
Further provided with a bailout handle urging member for urging the bailout handle assembly to the operating position when the bailout access panel is in the open position.
The bailout handle assembly is a surgical instrument configured to add rotational motion to a bailout drive shaft when manually generated ratchet motion is applied to it.

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