JP7098619B2 - Joint locking mechanism for locking the end effector in the range of motion in response to the activation of the jaw closure system - Google Patents

Description

The present invention relates to surgical instruments and, in various situations, to surgical 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 an embodiment of an interchangeable surgical tool assembly operably coupled to an embodiment of a handle assembly. It is an exploded view of a part of the handle assembly and the interchangeable surgical tool assembly of FIG. FIG. 2 is a perspective view of an embodiment of the interchangeable surgical tool assembly shown in FIGS. 1 and 2, with some omitted for clarity. FIG. 3 is a perspective view of the proximal portion of an embodiment of the interchangeable surgical tool assembly shown in FIGS. 1-3, with some omitted for clarity. It is an exploded view of the proximal part of the interchangeable surgical tool assembly of FIGS. 1-4. It is an exploded view of the distal part of the interchangeable surgical tool assembly of FIGS. 1-5. Demonstrates the use of an embodiment of an interchangeable surgical tool assembly for performing a medical procedure known as inferior anterior resection in the human pelvic region. FIG. 7 is a top view of a portion of the interchangeable surgical tool assembly shown in FIG. Another top view of the interchangeable surgical tool assembly shown in FIG. 8, some of which are shown in cross section. 9 is a partial perspective view of the distal portion of the interchangeable surgical tool assembly of FIG. FIG. 10 is a cross-sectional view of the interchangeable surgical tool assembly of FIG. 10 taken along line 11-11 of FIG. FIG. 3 is a partial perspective view of a portion of another interchangeable surgical tool assembly. FIG. 3 is a cross-sectional end view of a shaft assembly portion of another interchangeable surgical tool embodiment. FIG. 3 is a cross-sectional end view of a shaft assembly portion of another interchangeable surgical tool embodiment. FIG. 3 is a top sectional view of a portion of an embodiment of an interchangeable surgical tool in a range of motion configuration. It is a top view of a part of another surgical end effector and an elongated shaft assembly mechanism in a position where the surgical end effector is not jointly moved (solid line) and a position where the joint is moved (virtual line). FIG. 3 is a perspective view of a portion of an end effector of an interchangeable surgical tool that uses an anvil cap to cover part of a parking area within the end effector. Another perspective view of a portion of the surgical end effector of FIG. 16 with the anvil cap omitted for clarity. FIG. 16 is a side view of the surgical end effector of FIG. 16 in which the anvil is in an open configuration. FIG. 18 is a cross-sectional side view of the surgical end effector of FIG. FIG. 18 is a cross-sectional side view of the surgical end effector of FIG. 18 during the initiation of the anvil closure process. Another cross-sectional side view of the surgical end effector of FIGS. 18 and 19, with the anvil in a completely closed position. Another cross-sectional side view of the surgical end effector of FIG. 20 after the launching member has advanced distally from the launching member resident area. FIG. 3 is a perspective view of an embodiment of a distal closure member. FIG. 2 is a side view of a portion of an interchangeable surgical tool assembly using the distal closure member of FIG. 21 in which the anvil of the surgical end effector portion is in a completely closed position. Another side view of a portion of the interchangeable surgical tool assembly of FIG. 22 with the distal closure member in the initial open position. Another side view of a portion of the interchangeable surgical tool assembly of FIG. 22 with the distal closure member in another open position. Another side view of a portion of the interchangeable surgical tool assembly of FIG. 22 with the anvil in a fully open position. It is a perspective view of the embodiment of another distal closure member. It is a side view of the embodiment of another anvil. FIG. 2 is a partial cross-sectional side view of another interchangeable surgical tool assembly using the distal closure member of FIG. 26 and the anvil embodiment of FIG. 27, in which the anvil is in a completely closed position. Another partial cross-sectional side view of the interchangeable surgical tool assembly of FIG. 28, in which the anvil is in a fully open position. It is a perspective view of the embodiment of another distal closure member. FIG. 30 is a partial cross-sectional side view of another replaceable surgical tool assembly using the distal closure member embodiment of FIG. 30, with its anvil in a fully open position. FIG. 3 is a partial cross-sectional side view of another replaceable surgical tool assembly with the anvil in a fully closed position. Another partial cross-sectional side view of the interchangeable surgical tool assembly of FIG. 32, in which the anvil is in a fully open position. It is a side view of a part of another interchangeable surgical tool assembly in which the anvil is in a completely closed position. Another side view of a portion of the interchangeable surgical tool assembly of FIG. 34, in which the anvil is in a fully open position. It is a side view of a part of another interchangeable surgical tool assembly in which the anvil is in a completely closed position. Another side view of a portion of the interchangeable surgical tool assembly of FIG. 36, in which the anvil is in a partially open position. It is a side view of a part of another interchangeable surgical tool assembly in which the anvil is in a completely closed position. Another side view of a portion of the interchangeable surgical tool assembly of FIG. 38, in which the anvil is in a partially open position. FIG. 3 is a bottom perspective view of an embodiment of a coming or thread assembly. In the top view of a portion of an embodiment of a surgical end effector with an unlaunched surgical staple cartridge mounted inside, its cumming assembly in the starting position, and in an unlocked engagement with the launcher locking member. be. The surgical end of FIG. 41 having an improperly unlaunched surgical staple cartridge mounted internally, its cumming assembly in the starting position, and the launcher lock in the lock engagement with the launcher. It is a top view of a part of an embodiment of an effector. FIG. 3 is an exploded perspective view of a portion of an embodiment of an anvil, launcher, thread assembly, and launcher lock embodiment of another interchangeable surgical tool assembly. FIG. 4 is a partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 43, with the launching member omitted for clarity. Distal portion of the interchangeable surgical tool assembly of FIG. 44, in which the unlaunched surgical staple cartridge is properly seated in the surgical end effector, the anvil is in the open position, and the launching member is in the starting position. It is another partial sectional view. FIG. 4 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 45, with the anvil in the fully closed position and the launching member in the initial launching position. FIG. 45 is another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 45, in which the anvil is in a completely closed position and the launcher is advanced further distally within the surgical end effector. In another partial cross-section of the distal portion of the interchangeable surgical tool assembly of FIG. 47, where the anvil is in a fully closed position and the launcher is retracted back to the starting position just before it contacts the launcher lock. be. Another partial cross-section of the distal portion of the interchangeable surgical tool assembly of FIG. 48, in which the anvil is in a fully closed position and the launcher is retracted back to the starting position after first contact with the launcher lock. It is a figure. Another partial cross-sectional view of the distal portion of the interchangeable surgical tool assembly of FIG. 49, in which the anvil is in a fully closed position and the launcher is retracted back to the starting position. FIG. 3 is a side sectional view of a portion of an embodiment of another interchangeable surgical tool assembly in which a non-launched surgical staple cartridge is loaded into a surgical end effector and the launching member is in the starting position or configuration. FIG. 5 is another side sectional view of an embodiment of the interchangeable surgical tool assembly of FIG. 51 after the launch member has begun to advance distally through the surgical end effector. FIG. 5 is another side sectional view of an embodiment of the interchangeable surgical tool assembly of FIGS. 51 and 52 while retracting and returning the launch member to the starting position. FIG. 5 is another side sectional view of an embodiment of the interchangeable surgical tool assembly of FIGS. 51-53 after the launch member has been further retracted towards the starting position. FIG. 5 is another side sectional view of an embodiment of the interchangeable surgical tool assembly of FIGS. 51-54 after the launch member has been fully retracted and returned to the starting position. FIG. 3 is an exploded perspective view of a portion of a launching member, a thread assembly, a launching member, and a launching member locking member of another interchangeable surgical tool assembly embodiment. Implementation of the interchangeable surgical tool assembly of FIG. 56, in which the surgical end effector anvil is in the open position prior to installing the unlaunched surgical staple cartridge within the surgical end effector and the launching member is in the starting position. It is a side sectional view of a part of a form. FIG. 57 is another side sectional view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 57, in which an unlaunched surgical staple cartridge is installed within a surgical end effector and the anvil is in a closed position. FIG. 58 is a top sectional view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 58, wherein the launch member lock is in a disengaged configuration with respect to the launch member. FIG. 5 is another side sectional view of a portion of an embodiment of the interchangeable surgical tool assembly of FIGS. 58 and 59 after the launching member first advances distally. FIG. 5 is another side sectional view of a portion of an embodiment of the interchangeable surgical tool assembly of FIGS. 58-60 while retracted back to the starting position. FIG. 61 is a top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. Another part of an embodiment of the interchangeable surgical tool assembly of FIGS. 58-62, after the launcher has been fully retracted and returned to the starting position and is in a lock-engaged state with the launcher lock. It is a side sectional view. It is an exploded perspective view of a part of an embodiment of a joint joint and a joint lock of another embodiment of an interchangeable surgical tool assembly. It is a perspective view of the embodiment of the lock spring assembly of the embodiment of the joint lock of FIG. 64. It is a top view of the embodiment of the end effector mounting assembly of the embodiment of the interchangeable surgical tool assembly of FIG. 64. FIG. 6 is a top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 64 in which the surgical end effector is in a non-range of motion configuration. Another top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 67 while first applying range of motion to a joint. FIG. 68 is a bottom view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. Another bottom view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 69, in which the surgical end effector is in a range of motion. It is an exploded perspective view of a part of an embodiment of a joint joint and a joint lock of another embodiment of an interchangeable surgical tool assembly. It is a top view of the embodiment of the end effector mounting assembly of the embodiment of the interchangeable surgical tool assembly of FIG. 71. FIG. 7 is a top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 71 in which the surgical end effector is in a non-range of motion configuration. FIG. 7 is a partial cross-sectional view of a portion of the articulated lock embodiment of FIG. 73 taken along line 74-74 of FIG. Another top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 73 while first applying range of motion to a joint. Another top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 75, in which the surgical end effector is in a range of motion and the joint lock is unlocked. Another top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 75, wherein the surgical end effector is in a range of motion and the joint lock is locked. It is an exploded perspective view of a part of an embodiment of a joint joint and a joint lock of another embodiment of an interchangeable surgical tool assembly. FIG. 7 is a top view of a portion of an embodiment of the interchangeable surgical tool assembly of FIG. 78, in which the surgical end effector is in a non-range of motion configuration. FIG. 9 is a side sectional view of a portion of the interchangeable surgical tool assembly of FIG. 79 taken along line 80-80 of FIG. 79. FIG. 8 is another side sectional view of a portion of the interchangeable surgical tool assembly of FIG. 80 during the initial application of range of motion to a joint lock. FIG. 8 is another side sectional view of a portion of the interchangeable surgical tool assembly of FIG. 81 in which the joint is locked in place by the joint lock. It is an exploded perspective view of a part of an embodiment of a spine assembly, a joint joint, and a joint lock of another embodiment of an interchangeable surgical tool assembly. FIG. 83 is a top view of the distal end of the spine assembly and part of the joint locking mechanism of the embodiment of the interchangeable surgical tool assembly of FIG. It is an exploded perspective view of a part of an embodiment of a spine assembly, a joint joint, and a joint lock of another embodiment of an interchangeable surgical tool assembly. FIG. 85 is another exploded perspective view of the spine assembly of the interchangeable surgical tool assembly of FIG. 85, and a portion of the joint joint and joint lock. FIG. 8 is a top sectional view of the interchangeable surgical tool assembly of FIG. 85, in which the surgical end effector is in a non-joint motion configuration. FIG. 8 is another top sectional view of the interchangeable surgical tool assembly of FIG. 87, in which the surgical end effector is in a range of motion and the joint lock is unlocked. Another top sectional view of the interchangeable surgical tool assembly of FIG. 88, in which the surgical end effector is in a range of motion and the joint lock is locked. It is an exploded perspective view of a part of an embodiment of a spine assembly, a joint joint, and a joint lock of another embodiment of an interchangeable surgical tool assembly. FIG. 9 is a top sectional view of the interchangeable surgical tool assembly of FIG. 90, in which the surgical end effector is in a non-joint motion configuration. Another top sectional view of the interchangeable surgical tool assembly of FIG. 91, in which the surgical end effector is in a range of motion and the joint lock is unlocked. FIG. 9 is a partial cross-sectional view of the joint lock of FIG. 92 taken along lines 93-93 of FIG. Another top sectional view of the interchangeable surgical tool assembly of FIG. 91, in which the surgical end effector is in a range of motion and the joint lock is locked. FIG. 9 is a partial cross-sectional view of the joint lock of FIG. 94 taken along lines 95-95 of FIG. It is a perspective view of a part of an embodiment of a joint motion stroke amplifier. FIG. 96 is a cross-sectional end view of a shaft assembly of an embodiment of an interchangeable surgical tool assembly comprising the joint motion stroke amplifier of FIG. 96. It is a top view of a part of the embodiment of the joint motion stroke amplifier of FIG. 96 in the non-actuated configuration. Another top view of a portion of the joint motion stroke amplifier of FIG. 98A after axial joint motion is applied in the first axial direction. Another top view of a portion of the range of motion stroke amplifier of FIG. 98A after another axial range of motion has been applied in the second axial direction. FIG. 3 is a top sectional view of a portion of a shaft assembly of an embodiment of an interchangeable surgical tool assembly, comprising another embodiment of a range of motion stroke amplifier in a non-actuated configuration. Another top sectional view of the shaft assembly and range of motion stroke amplifier of FIG. 99A after axial joint motion has been applied in the first axial direction. FIG. 3 is a top sectional view of a portion of a shaft assembly of an embodiment of another interchangeable surgical tool assembly, comprising another embodiment of a range of motion stroke amplifier in a non-actuated configuration. Another top sectional view of the shaft assembly and joint motion stroke amplifier of FIG. 99C after the axial joint motion in the first axial direction has been applied. It is an exploded perspective view of a channel and a staple cartridge. FIG. 3 is an elevation view of the channel and staple cartridge of FIG. 100. FIG. 10 is a cross-sectional elevation view of the channel and staple cartridge of FIG. 100 taken across the plane shown in FIG. 101. It is an exploded perspective view of a channel and a staple cartridge. It is an elevation view of the staple cartridge of FIG. 103. FIG. 10 is a cross-sectional elevation view of the channel and staple cartridge of FIG. 103 taken across the plane shown in FIG. 104. It is an exploded elevation view of a channel and a staple cartridge. FIG. 106 is an elevation view of the channel and staple cartridge of FIG. 106, showing the staple cartridge installed entirely within the channel. It is an exploded elevation view of a channel and a staple cartridge. FIG. 108 is an elevation view of the channel and staple cartridge of FIG. 108, showing the staple cartridge installed entirely within the channel. FIG. 10 is an elevation view of the staple cartridge of FIG. 106 and the channel of FIG. 108 showing a staple cartridge imperfectly installed in the channel. It is a perspective view of a part of a staple cartridge. It is a perspective view of a part of a staple cartridge. It is a perspective view of an end effector. A table of identification displays for various types of end effectors is shown. A table of identification displays for various types of end effectors is shown.

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. do not have.

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 15 / 386, 185, Title of Invention "SURGICAL STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLES THEREOF",
-US Patent Application No. 15 / 386,221, Title of Invention "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS",
-US Patent Application No. 15 / 386,209, Title of Invention "SURGICAL END EFFECTORS AND FIRING MEMBERS THEREOF",
-US Patent Application No. 15 / 386,198, title of invention "LOCKOUT ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL AS SEMBLEES", and-US Patent Application No. 15 / 386,240, title of invention "SURGICAL END" FIRING MEMBERS THE REFOR ".

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 15 / 385,939, title of invention "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN",
-US Patent Application No. 15 / 385,941, title of invention "SURGICAL TOOL ASSEMBLES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEEN CLOSURE SYSTEMS WITH CLOSE STROKERATION
-US Patent Application No. 15 / 385,943, Title of Invention "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
-US Patent Application No. 15 / 385,950, title of invention "SURGICAL TOOL ASSEMBLES WITH CLOSE STROKE REDUCTION FEATURES",
-US Patent Application No. 15 / 385,945, title of invention "STAPLE CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN",
-US Patent Application No. 15 / 385,946, title of invention "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
-US Patent Application No. 15 / 385,951, Title of Invention "SURGICAL INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW OPENING DISTANCE",
-US Patent Application No. 15 / 385,953, Title of Invention "METHODS OF STAPLING TISSUE",
-US Pat.
-US Patent Application No. 15 / 385,955, title of invention "SURGICAL END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS",
-US Patent Application No. 15 / 385,948, title of invention "SURGICAL STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS",
-US Patent Application No. 15 / 385,956, Title of Invention "SURGICAL INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES",
-US Patent Application No. 15 / 385,958, title of invention "SURGICAL INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTION UNIRESS AN UNSPENTS AN UNESPENTS AN UNESPENT BUS The name is "STAPLECARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES THEREIN".

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 15 / 385,896, title of invention "METHOD FOR RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT",
-US Patent Application No. 15 / 385,898, title of invention "STAPLE FORMING POCKET ARRANGEMENT TO ACCOMMODETE DIFFERENT TYPES OF STAPLES",
-US Patent Application No. 15 / 385,899, title of invention "SURGICAL INSTRUMENT COMPRISING IMPROVEED JAW CONTROLL",
-US Patent Application No. 15 / 385,901, title of invention "STAPLE CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS DEFINED THEREIN",
-US Patent Application No. 15 / 385,902, Title of Invention "SURGICAL INSTRUMENT COMPRISING A CUTTING MEMBER",
-US Patent Application No. 15 / 385,904, Invention title "STAPLE FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND / OR SPENT CARTRIDGE LOCKOUT",
-US Patent Application No. 15 / 385,905, title of invention "FIRING ASSEMBLY COMPRISING A LOCKOUT",
-US Patent Application No. 15 / 385,907, title of invention "SURGICAL INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A FIRING ASSEMBLY LOCKOUT",
-US Patent Application No. 15 / 385,908, invention name "FIRING ASSEMBLY COMPRISING A FUSE", and-US Patent Application No. 15 / 385,909, invention name "FIRING ASSEMBLY COMPRISING A MULTIPLE FUSE" ..

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 15 / 385,920, title of invention "STAPLE FORMING POCKET ARRANGEMENTS",
-US Patent Application No. 15 / 385,913, title of invention "ANVIL ARRANGEMENTS FOR SURGICAL STAPLERS",
-US Patent Application No. 15 / 385,914, title of invention "METHOD OF DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES WITH THE SAME SURGICAL STAPLING INSTRUMENT"
-US Patent Application No. 15 / 385,893, Invention title "BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS",
-US Patent Application No. 15 / 385,929, title of invention "CLOSE MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS WITH SEPARATE AND DISTINCT CLOSE", FIRING TYPE
-US Patent Application No. 15 / 385,911, title of invention "SURGICAL STAPLERS WITH INDEPENDENTLY ACTUATABLE CLOSEING AND FIRING SYSTEMS",
-US Patent Application No. 15 / 385,927, title of invention "SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES",
-US Patent Application No. 15 / 385,917, title of invention "STAPLE CARTRIDGE COMPRISING STAPLES WITH DFFFERENT CLAMPING BREADTHS",
-US Patent Application No. 15 / 385,900, title of invention "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND POCKET SIDEWALLS",
-US Pat.
-US Patent Application No. 15 / 385,915, title of invention "FIRING MEMBER PIN ANGLE",
-US Patent Application No. 15 / 385,897, Invention title "STAPLE FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE GROOVES",
-US Patent Application No. 15 / 385,922, title of invention "SURGICAL INSTRUMENT WITH MULTIPLE FAIRURE RESPONSE MODES",
-US Patent Application No. 15 / 385,924, title of invention "SURGICAL INSTRUMENT WITH PRIMERY AND SAFETY PROCESSORS",
-US Patent Application No. 15 / 385,912, title of invention "SURGICAL INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND INCLUDE SPECARDATE AND DISTINT CLOSUS" AND
-US Patent Application No. 15 / 385,910, title of invention "ANVIL HAVING A KNIFE SLOT WIDTH",
-US Patent Application No. 15 / 385,903, title of invention "CLOSER MEMBER ARRANGEMENTS FOR SURGICAL INSTRUMENTS", and-US Patent Application No. 15 / 385,906, title of invention "FIRING MEMBER PIN CONFIXURATIONS".

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Pat.
-US Patent Application No. 15 / 386,192, Title of Invention "STEPPED STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES",
-US Patent Application No. 15,386,206, title of invention "STAPLE CARTRIDGE WITH DEFORMABLE DRIVER RETITION FEATURES",
-US Pat.
-US Patent Application No. 15 / 386,222, title of invention "SURGICAL STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING FEATURES", and-US Patent Application No. 15 / 386, 236, title of invention "CONGENT UNITS FOR SURGICAL STAPLING INSTRUMENTS ".

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Pat.
-US Patent Application No. 15 / 385,889, title of invention "SHAFT ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRATION SYSTEM FOR USE WITH A MOTORIZED SURGICAL INSTRUMENT"
-US Pat.
-US Patent Application No. 15 / 385,891, title of invention "SHAFT ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEM"
-US Patent Application No. 15 / 385,892, title of invention "SURGICAL SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION STATE TO ARTICULATE AN END EFFECTOR OFSTER"
-US Patent Application No. 15 / 385,894, invention name "SHAFT ASSEMBLY COMPRISING A LOCKOUT", and-US Patent Application No. 15 / 385,895, invention name "SHAFT ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION".

The applicant of this application owns the following US patent applications filed December 21, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 15 / 385,916, title of invention "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15 / 385,918, Invention title "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15 / 385,919, title of invention "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15 / 385,921, title of invention "SURGICAL STAPLE CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES",
-US Patent Application No. 15 / 385,923, title of invention "SURGICAL STAPLING SYSTEMS",
-US Patent Application No. 15 / 385,925, title of invention "JAW ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A FIRING MEMBER IN A SURGICAL END EFRECTOR UNISTER
-US Patent Application No. 15 / 385,926, title of invention "AXIALLY MOVABLE CLOSE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS TO JAWS OF SURGICAL INSTRUMENTS",
-US Patent Application No. 15 / 385,928, title of invention "PROTEXTIVE COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEEN A MOVABLE JAW AND ACTUATOR SHAFT OF A SURGICAL INST"
-US Patent Application No. 15 / 385,930, title of invention "SURGICAL END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR OPENING AND CLOSEING END EFFECTOR JAWS"
-US Patent Application No. 15 / 385,932, title of invention "ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT ARRANGEMENT",
-US Patent Application No. 15 / 385,933, title of invention "ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE LINKAGE DISTAL OF AN ARTICULATION LOCK",
-US Patent Application No. 15 / 385,935, title of invention "LATERRALLY ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR OF A SURGICAL INSTRUMENT The name of "ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE AMPLIFICATION FEATURES".

The applicant of this application owns the following US patent applications filed June 24, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 15 / 191,775, Invention title "STAPLE CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES",
-US Patent Application No. 15 / 191,807, Invention title "STAPLING SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES",
-US Patent Application No. 15 / 191,834, title of invention "STAMPED STAPLES AND STAPLE CARTRIDGES USING THE SAME",
-US Patent Application No. 15 / 191,788, invention name "STAPLE CARTRIGGE COMPRISING OVERDRIVEN STAPLES", and-US Patent Application No. 15 / 191,818, invention name "STAPLE CARTRIGGE COMPRISING OFFSET LONGITUDINAL".

The applicant of this application owns the following US patent applications filed June 24, 2016, the entire contents of which are incorporated herein by reference, respectively:
-US Design Patent Application No. 29 / 569,218, Title of Invention "SURGICAL FASTENEER",
-US Design Patent Application No. 29 / 569,227, Title of Invention "SURGICAL FASTENEER",
-US Design Patent Application No. 29 / 569,259, invention name "SURGICAL FASTENEER CARTRIDGE",-US Design Patent Application No. 29 / 569,264, invention name "SURGICAL FASTENEER CARTRIDGE".

The applicant of the present application owns the following patent applications filed on April 1, 2016, the entire contents of which are incorporated herein by reference, respectively:
-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 / 089,262, title of invention "ROTARY POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT SYSTEM",
-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 / 089,296, title of invention "INTERCHANGE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT ASH"
-US Patent Application No. 15 / 089,258, title of invention "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 MEMHANISM",
-US Patent Application No. 15 / 089,335, title of invention "SURGICAL STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS",
-US Patent Application No. 15 / 089,339, Title of Invention "SURGICAL STAPLING INSTRUMENT",
-US Patent Application No. 15 / 089,253, Invention title "SURGICAL STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES HAVING DEFFERENT HEIGHTS",
-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 MODIFICATION 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 applicants of this application also own US patent applications filed December 31, 2015, as specified below, the entire contents of which are incorporated herein by reference, respectively:
-US Pat.
-US Patent Application No. 14 / 984,525, title of invention "MECHANIMSS FOR COMPENSATING FOR DRIVETRAIN FAIRURE IN POWERED SURGICAL INSTRUMENTS", and-US Patent Application No. 14 / 984,552, title of invention "SURGICAL" AND MOTOR CONTROL CIRCUITS ".

The applicant of this application also owns a US patent application filed February 9, 2016, as specified below, the entire contents of which are incorporated herein by reference, respectively:
-US 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 MEMHANISM 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 DRIVEEN 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" REDUCTION ARRANGEMENTS ".

The applicant of the present application also owns a US patent application filed February 12, 2016 specified below, the entire contents of which are incorporated herein by reference, respectively:
-US Pat.
-US Pat.
-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 "MECHANMISS FOR FAIRURE IN POWERED SURGICAL INSTRUMENTS ".

The applicant of this application owns the following patent applications filed June 18, 2015, the entire contents of which are incorporated herein by reference, respectively:
-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 MEMBERTOR PORT"
-US Patent Application No. 14 / 742,885, title of invention "DUAL ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", and-US Patent Application No. 14 / 742,876, title of invention "PURST" FOR ARTICULATABLE SURGICAL INSTRUMENTS ".

The applicant of this application owns the following patent applications filed on March 6, 2015, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 14 / 640,746, Invention Title "POWERED SURGICAL INSTRUMENT", Currently US Patent Application Publication No. 2016/0256184,
-US Patent Application No. 14 / 640,795, Invention Title "MULTIPLE LEVEL THRESSHOLDS TO MODEFIY OPERATION OF POWERED SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/02561185,
-US Patent Application No. 14 / 640,832, title of invention "ADAPTIVE TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR MULTIPLE TISSUE TYPES", currently US Patent Application Publication No. 2016/02564
-US Patent Application No. 14 / 640,935, title of invention "OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TOMESURE TISSUE COMPRESSION", now US Patent Application Publication No. 2016/0256071.
-US Patent Application No. 14 / 640,831, title of invention "MONITORING SPEED CONTROLL AND PRECISION INCREMENTING OF MOTOR FOR FOR POWERED SURGICAL INSTRUMENTS", currently US Patent Application Publication No. 2016/0256153,
-US Patent Application No. 14 / 640,859, Invention title "TIME DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY, CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES", currently published in US No. 16/06
-US Patent Application No. 14 / 640,817, Invention Title "INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/0256186,
-US Patent Application No. 14 / 640,844, title of invention "CONTROL TECHNIQUES AND SUB-PROCESSOR COUNTAINED WITHIN MODULAR SHAFT WITH SELECT CONTROLL PROCESSING PRO.
-US Patent Application No. 14 / 640,837, Invention Title "SMART SENSORS WITH LOCAL SIGNAL PROCESSING", Currently US Patent Application Publication No. 2016/0256163,
-US Patent Application No. 14 / 640,765, Invention Title "SYSTEM FOR DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A SURGICAL STAPLER", now US Patent Application Publication No. 2016/0256160,
-US Patent Application No. 14 / 640,799, title of invention "SIGNAL AND POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT", now US Patent Application Publication No. 2016/0256162, and-US Patent Application No. 14/640, No. 780, the title of the invention "SURGICAL INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING", currently US Patent Application Publication No. 2016/0256161.

The applicant of this application owns the following patent applications filed on February 27, 2015, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 14 / 633,576, Invention title "SURGICAL INSTRUMENT SYSTEM COMPRISING AN INSTECTION STATION", now US Patent Application Publication No. 2016/0249919,
-US Patent Application No. 14 / 633,546, title of invention "SURGICAL APPARATUS CONFIGURED TO ASSESS WHERTHER A PERFORMANCE PARAMETER OF THE SURGICAL APPARATUS IS WITHINNA
-US Patent Application No. 14 / 633,560, Invention title "SURGICAL CHARGING SYSTEM THAT CHARGES AND / OR CONDITIONS ONE OR MORE BATTERIES", now US Patent Application Publication No. 2016/0249910,
-US Patent Application No. 14 / 633,566, Invention Title "CHARGING SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A BATTERY", now US Patent Application Publication No. 2016/0249918,
-US Patent Application No. 14 / 633,555, Invention title "SYSTEM FOR MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED", now US Patent Application Publication No. 2016/0249916,
-US Patent Application No. 14 / 633,542, Invention title "REINFORCED BATTERY FOR A SURGICAL INSTRUMENT", now US Patent Application Publication No. 2016/0249908,
-US Patent Application No. 14 / 633,548, Invention Title "POWER ADAPTER FOR A SURGICAL INSTRUMENT", Currently US Patent Application Publication No. 2016/0249909,
-US Patent Application No. 14 / 633,526, Invention Title "ADAPTABLE SURGICAL INSTRUMENT HANDLE", Currently US Patent Application Publication No. 2016/0249945,
-US Patent Application No. 14 / 633,541, title of invention "MODULAR STAPLING ASSEMBLY", now US Patent Application Publication No. 2016/0249927, and-US Patent Application No. 14 / 633,562, title of invention " SURGICAL APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER ”, currently US Patent Application Publication No. 2016/0249917.

The applicant of this application owns the following patent applications filed on December 18, 2014, the entire contents of which are incorporated herein by reference, respectively:
-US Patent Application No. 14 / 574,478, title of invention "SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MENS FOR ADJUSTING THE FIRING STORKE
-US Patent Application No. 14 / 574,483, Invention Title "SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS", Currently US Patent Application Publication No. 2016/0174969,
-US Patent Application No. 14 / 575,139, Invention Title "DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS", now US Patent Application Publication No. 2016/0174978,
-US Patent Application No. 14 / 575,148, title of invention "LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLEES WITH ARTICULATABLE SURGICAL END EFFECTORS", currently US Patent Application Publication No. 2016/017
-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 RELATIVE TO ,
-US Patent Application No. 14 / 575,143, Invention Title "SURGICAL INSTRUMENTS WITH IMPROVEED CLOSE ARRANGEMENTS", Currently US Patent Application Publication No. 2016/0174983,
-US Patent Application No. 14 / 575,117, title of invention "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS", now US Patent Application Publication No. 4975 /
-US Patent Application No. 14 / 575,154, Invention title "SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS", now US Patent Application Publication No. 973/16/
-US Patent Application No. 14 / 574,493, title of invention "SURGICAL INSTRUMENT ASSIMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM", now US Patent Application Publication No. 2016/0174970, and-US Patent Application No. 14 / 574,500. , The title of the invention "SURGICAL INSTRUMENT ASMEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM", currently US Patent Application Publication No. 2016/0174971.

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, respectively:
-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, title of invention "MULTRIPLE 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 ASSEMBLEES FOR SURGICAL INSTRUMENTS", Currently US Patent No. 9,326,767,
-US Patent Application No. 13 / 782,481, Invention title "SENSOR STRAIGHTEND END EFFECTOR DURING REMOVAL THROUGH TROCAR", now US Patent No. 9,468,438,
-US Patent Application No. 13 / 782,518, Invention Title "CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMEMENT PORTIONS", Presently US Patent Application Publication No. 2014/0246475,
-US Patent Application No. 13 / 782,375, title of invention "ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEFREES OF FREEDOM", now US Patent No. 9,398,911, and-US Patent Application No. 13 / 782,536. No., the name of the invention "SURGICAL INSTRUMENT SOFT STOP", currently US Pat. No. 9,307,986.

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, respectively:
-US Patent Application No. 13 / 803,097, Invention Title "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE", now 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 No. 9,332,987,
-US Patent Application No. 13 / 803,053, Invention Title "INTERCHANGE SHAFT ASSEMBLIES 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 POSTIONING 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, title of invention "ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS", currently US Patent No. 9,351,726,
-US Patent Application No. 13 / 803,130, invention title "DRIVE TRAIN CONTROLL ARRANGEMENTS FOR MODELAR SURGICAL INSTRUMENTS", now US Patent No. 9,351,727, and-US Patent Application No. 13 / 803,159. , The title of the invention "METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT", currently 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, title of invention "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, respectively:
-US Patent Application No. 14 / 226,106, Invention Title "POWER MANAGEMENT CONTOROL SYSTEMS FOR SURGICAL INSTRUMENTS", Currently US Patent Application Publication No. 2015/0272582,
-US Patent Application No. 14 / 226,099, Invention Title "STERILIZETION VERIFICATION CIRCUIT", Currently US Patent Application Publication No. 2015/0272581,
-US Patent Application No. 14 / 226,094, Title of Invention "VERIFICATION OF NUMBER OF BATTERY EXCHANGE / PROCEDURE 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 CONTROLL", now US Patent Application Publication No. 2015/0272574,
-US Patent Application No. 14 / 226,075, Invention Title "MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHANBLE SHAFT ASSEMBLES", now US Patent Application Publication No. 2015/0272579,
-US Patent Application No. 14 / 226,093, Invention title "FEEDBACK ALGORTITHMS 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 ADAPTATION", Currently US Patent Application Publication No. 2015/0272571,
-US Patent Application No. 14 / 226,071, Invention title "SURGICAL INSTRUMENT CONTROLL CIRCUIT HAVING A SAFETY PROCESSOR", now US 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. 2015/0277471,
-US Patent Application No. 14 / 226,076, Invention Title "POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROECTION", now US Patent Application Publication No. 2015/0280424,
-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, respectively:
-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 INTERGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION", now 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 INTERPRETTION", currently US Patent Application Publication No. 2016/0066909,
-US Patent Application No. 14 / 479,110, Invention Title "POLARITY OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE", Currently US Patent Application Publication No. 2016/0066915,
-US Patent Application No. 14 / 479,098, Invention Title "SMART CARTRIDGE WAKE UP OPERATION AND DATA RETITION", Currently US Patent Application Publication No. 2016/0066911,
-US Patent Application No. 14 / 479,115, Invention Title "MULTRIPLE MOTOR CONTROLL FOR POWERED MEDICAL DEVICE", Currently US Patent Application Publication No. 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, respectively:
-US Patent Application No. 14 / 248,590, Invention Title "MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS", now US Patent Application Publication No. 2014/03059887,
-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. 3059/20
-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 the US
-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. 2014/03059191,
-US Patent Application No. 14 / 248,584, title of invention "MODULAR MOTOR DRIVERN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHOFTS WITH FORM
-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. 2014/0305990, 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, respectively:
-US Provisional Patent Application No. 61 / 812,365, Title of Invention "SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR",
-US Provisional Patent Application No. 61 / 812,376, Invention Title "LINEAR CUTTER WITH POWER",
-US Provisional Patent Application No. 61 / 812,382, Title of Invention "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 CONTOR", and-US provisional patent application No. 61 / 812,372, title of invention "SURGICAL". MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR ".

Numerous specific details are described to provide a complete understanding of the overall structure, function, manufacture, and use of embodiments, as described in the specification and shown in the accompanying drawings. Well-known behaviors, components, and elements are not described in detail to avoid obscuring the embodiments described herein. The reader is aware that the embodiments described and illustrated herein are non-limiting examples and therefore the particular structural and functional details disclosed herein may be representative and exemplary. You will understand. Modifications and changes can be made to it 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 form of include, such as“ includes ”and“ inclusion ”), and“ contain ”(any form of content, such as“ context ”and“ connecting ”) are open-ended concatenations. It is a verb. As a result, a surgical system, device, or device that "equipped", "has", "contains", or "contains" one or more elements comprises one or more of them. Have, but are not limited to having only one or more of them. Similarly, an element of a system, device, or device that "includes", "has", "contains", or "contains" one or more features has one or more of these features. Have, but are not limited to having only one or more of them.

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. It will be further appreciated that for convenience and clarity, spatial terms such as "vertical", "horizontal", "top", and "bottom" may be used for drawings herein. 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 surgery. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in many surgical procedures and applications, including those associated with, for example, open surgery. By reading "forms for carrying out the invention" herein, the reader may read that the various instruments disclosed herein are incisions or punctures formed in the 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 of these instruments, the end effector part, can be inserted directly into the patient's body, or inserted through an access device with a passage of action that allows the end effector and elongated shaft of the surgical instrument to be advanced. You can also do it.

The surgical staple system can include a shaft and an end effector extending from the shaft. The end effector includes a first jaw and a second jaw. The first jaw 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 conceived. 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 other embodiments are also conceivable in which the first jaw is pivotable with respect to the second jaw. Will be done. The surgical staple system further comprises a joint that is configured to allow the end effector to rotate, ie, 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 conceivable.

The staple cartridge includes a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal and distal ends. In use, the staple cartridge is positioned on the first side of the tissue to be stapled and the anvil is positioned on the second side of the tissue. The anvil is moved towards the staple cartridge to compress and clamp the tissue against the deck. Subsequently, staples detachably stored in the cartridge body can be subsequently 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. Staple cavities and other arrangements of 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 firing 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. .. Drivers can be moved between their unlaunched positions and their launched positions by threads. The thread is mobile between the proximal position adjacent to the proximal end and the distal position adjacent to the distal end. The thread slides under the driver and has multiple ramps configured to lift the driver, on which the staples are supported and towards the anvil.

In addition to the above, the thread is moved distally by the launcher. The launcher 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 the launching member. 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. As the launch member is advanced distally, the first and second cams 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 tissue trapped 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.

FIG. 1 shows an embodiment of an interchangeable surgical tool assembly 1000 operably coupled to a motor driven handle assembly 500. The interchangeable surgical tool assembly 1000 can also be effectively used with a tool-driven assembly of a robot-controlled or automated surgical system. For example, the surgical tool assembly disclosed herein is in US Pat. No. 9,072,535, which is incorporated herein by reference in its entirety, under the title of the invention "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS". It can be used with a variety of robotic systems, instruments, components, and methods, such as, but not limited to, those disclosed. The handle assembly 500, as well as the tool-driven assembly of the robot system, may also be referred to herein as a "control system" or "control unit".

FIG. 2 shows the attachment of the replaceable surgical tool assembly 1000 to the handle assembly 500. The handle assembly 500 may include a handle housing 502 that includes a pistol grip portion 504 that can be gripped and manipulated by the clinician. The handle assembly 500 may further include a frame 506 that operably supports a plurality of drive systems. For example, the frame 506 can operably support a "first" or closed drive system, generally referred to as 510, which is operably attached or coupled to the handle assembly 500. It can be used to apply opening and closing movements to the interchangeable surgical tool assembly 1000. In at least one form, the closed drive system 510 may include an actuator in the form of a closed trigger 512 pivotally supported by a frame 506. Such a mechanism allows the clinician to operate the closure trigger 512 so that when the clinician grips the pistol grip portion 504 of the handle assembly 500, the closure trigger 512 is placed in the starting or "non-actuated" position. Can be easily pivoted from to the "actuated" position, more specifically to the fully compressed or fully actuated position. In various forms, the closed drive system 510 further includes a closed link gimmick assembly 514 that is pivotally coupled to or otherwise operably interfaced with the closed trigger 512. As described in more detail below, in the illustrated example, the closed link gimmick assembly 514 includes lateral mounting pins 516 that facilitate attachment to the corresponding drive system on the surgical tool assembly. During use, to activate the closure drive system 510, the clinician presses the closure trigger 512 towards the pistol grip portion 504. In more detail in US Patent Application No. 14 / 226,142, which is incorporated herein by reference in its entirety, the title of the invention, "SURGICAL INSTRUMENT COMPRISING A SENSOR SYSTEM" (currently US Patent Application Publication No. 2015/0272575). As described, when the clinician has fully pressed the closure trigger 512 to reach a "complete" closure stroke, the closure drive system 510 is configured to fully press or lock the closure trigger 512 to the fully activated position. To. If the clinician wishes to unlock the closed trigger 512 and urge it to the non-activated position, the clinician simply activates the closed release button assembly 518, which returns the closed trigger 512 to the non-activated position. Is possible. The close-closed button assembly 518 may also be configured to interact with various sensors communicating with the microcontroller 520 in the handle assembly 500 to track the position of the close-closed trigger 512. Further details regarding the configuration and operation of the closed-closed button assembly 518 can be found in US Patent Application Publication No. 2015/0272575.

In at least one form, the handle assembly 500 and the frame 506 are configured to exert axial or firing motion to the corresponding portion of the interchangeable surgical tool assembly attached to it, as used herein. Another drive system, called the drive system 530, can be operably supported. As described in more detail in US Patent Application Publication No. 2015/0272575, the launch drive system 530 can use an electric motor 505 located within the pistol grip portion 504 of the handle assembly 500. In various embodiments, the motor 505 may be, for example, a brushed DC drive motor having a maximum rotation speed of about 25,000 RPM. In another mechanism, the motor 505 may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor 505 may be powered by a power source 522, which may in one form include a removable power pack. The power pack can support multiple lithium ions (“LI”) or other suitable batteries inside. A large number of batteries that can be connected in series can be used as the power source 522 for the handle assembly 500. In addition, the power supply 522 may be replaceable and / or rechargeable.

The electric motor 505 is configured to drive a drive member 540 that can move in the longitudinal direction in the distal direction and the proximal direction in the axial direction according to the polarity of the motor. For example, when the motor 505 is driven in a certain rotational direction, the drive member 540 that can move in the longitudinal direction is driven axially in the distal direction "DD". When the motor 505 is driven in the opposite rotational direction, the drive member 540 that is movable in the longitudinal direction is driven axially in the proximal direction "PD". The handle assembly 500 may include a switch 513 that may be configured to reverse the polarity applied to the motor 505 by the power supply 522 or to control the motor 505 in another way. The handle assembly 500 may also include a sensor or a plurality of sensors (not shown) configured to detect the position of the drive member 540 and / or the direction in which the drive member 540 is being moved. The operation of the motor 505 can be controlled by a firing trigger 532 pivotally supported on the handle assembly 500. The firing trigger 532 can be pivoted between the non-actuated position and the actuated position. The firing trigger 532 can be urged to a non-actuated position by a spring (not shown) or other urging mechanism so that when the clinician releases the firing trigger 532, the firing trigger 532 springs or attaches. It can be pivoted to a non-actuated position by the force configuration or returned in another way. In at least one form, the firing trigger 532 may be positioned "outside" the closing trigger 512, as described above. As discussed in US Patent Application Publication No. 2015/0272575, the handle assembly 500 may include a firing trigger safety button (not shown) to prevent accidental activation of the firing trigger 532. .. When the closure trigger 512 is in the non-actuated position, the safety button is housed within the handle assembly 500, the clinician cannot easily touch the safety button, and the safety position prevents the firing trigger 532 from activating. The safety button cannot be moved to and from the firing position where the firing trigger 532 can be fired. When the clinician presses the closure trigger 512, the safety button and the firing trigger 532 can be pivoted downwards, which can then be manipulated by the clinician.

In at least one embodiment, the drive member 540, which is movable in the longitudinal direction, is a tooth rack formed on the drive member 540 to mesh with and engage with a corresponding drive gear mechanism (not shown) that interfaces with the motor 505. (Not shown) may be provided. Further details regarding these features can be found in US Patent Application Publication No. 2015/0272575. At least one form is a manually actuated "emergency withdrawal" configured to allow the clinician to manually retract the longitudinally movable drive member 540 if the motor 505 becomes unusable. Includes more assemblies. The emergency withdrawal assembly may include a lever or an emergency withdrawal handle assembly housed within the handle assembly 500 under the releasable door 550. The lever is manually pivoted to ratchet engage with the teeth of the drive member 540. Therefore, the clinician can manually retract the drive member 540 by ratcheting the drive member 540 in the proximal direction "PD" using the emergency withdrawal handle assembly. US Patent Application Publication No. 12 / 249,117, the entire disclosure of which is incorporated herein by reference, the title of the invention "POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM" 0088970) discloses an emergency withdrawal mechanism and other components, mechanisms, and systems that can also be used with the tool assembly 1000.

Referring now to FIGS. 5 and 6, the interchangeable surgical tool assembly 1000 includes a shaft mounting portion 1300 operably attached to the elongated shaft assembly 1400. A surgical end effector 1100 with an elongated channel 1102 configured to operably support a surgical staple cartridge 1150 inside is operably attached to an elongated shaft assembly 1400. See FIGS. 3 and 6. The surgical end effector 1100 may further include anvil 1130 pivotally supported for elongated channel 1102. The elongated channel 1102 in which the staple cartridge 1150 is installed, and the anvil 1130 may also be referred to as the "joe" of the end effector. The interchangeable surgical tool assembly 1000 can be configured to releasably hold the surgical end effector 1100 at the desired joint motion position about the range of motion axis BB across the shaft axis SA. Joint joints 1200 and joint locks 1210 (FIGS. 3 and 6) may be further included. Many details regarding the structure and operation of the joint lock 1210 are incorporated herein by reference in its entirety, US Patent Application Publication No. 13 / 803,086, title of the invention "ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK". , Can be found in the current US Patent Application Publication No. 2014/0263541. Further details regarding the joint lock 1210 are incorporated herein by reference in its entirety. It can also be found in "SECONDARY CONSTRAINT".

As can be seen in FIGS. 5 and 6, the shaft mounting portion 1300 has a proximal housing or nozzle 1301 composed of nozzle portions 1302 and 1304, and the assembled nozzle portions 1302 and 1304 with clasps, lugs, screws and the like. Includes an actuator wheel portion 1306 configured to be coupled. In the illustrated embodiment, the interchangeable surgical tool assembly 1000 can be utilized to close and / or open the anvil 1130 to the elongated channel 1102 of the surgical end effector 1100, as discussed in more detail below. Further includes a closed assembly 1406. In addition, the exemplary interchangeable surgical tool assembly 1000 includes a spine assembly 1500 that operably supports the joint lock 1210. The spine 1500 first slidably supports the launcher assembly 1600 in and secondly extends around the spine assembly 1500 or is otherwise movably supported by the spine assembly 1500. It is configured to slidably support the closed assembly 1406.

In the mechanism illustrated, the surgical end effector 1100 is operably connected to the elongated shaft assembly 1400 by a joint 1200, the joint motion joint 1200 centering on the joint motion axis BB across the shaft axis SA. It facilitates the selective joint movement of the surgical end effector 1100. See FIG. As seen in FIGS. 5 and 6, the spine assembly 1500 slidably supports the proximal joint motion driver 1700 that operably interfaces with the joint lock 1210. The joint lock 1210 is supported on a distal frame segment 1560 that further comprises a portion of the spine assembly 1500. As seen in FIG. 6, the distal frame segment 1560 comprises a distal spine extension 1562 pivotally connected to the elongated channel 1102 by an end effector mounting assembly 1230. In one mechanism, for example, the distal end 1563 of the distal frame segment 1560 has a spine mounting pin 1564 formed on it. The spine mounting pin 1564 is adapted to be pivotally received within the spine mounting hole 1234 formed within the end effector mounting assembly 1230. See FIG.

Referring again to FIG. 6, in an exemplary embodiment, the proximal joint motion driver 1700 has a distal end 1702 configured to operably engage the joint lock 1210. The joint lock 1210 includes a joint frame 1212 that is pivotally coupled or pinned to a distal joint motion link 1710 that is also configured to be pivotally attached to the end effector mounting assembly 1230. Specifically, as seen in FIG. 6, the distal end 1712 of the distal articular motor link 1710 is pivotally received within the corresponding articular motor hole 1236 within the end effector mounting assembly 1230. Includes constructed joint motion pins 1714. The distal range of motion link 1710 is slidably supported by the distal spine extension 1562. The end effector mounting assembly 1230 extends through the lateral mounting holes 1231 within the end effector mounting assembly 1230 and is received within the channel or jaw mounting holes 1106 provided at the proximal end 1103 of the elongated channel 1102. It is attached to the proximal end 1103 of the elongated channel 1102 by a spring pin connector 1235. The spine mounting pin 1564 defines the range of motion BB across the shaft axis SA. Such a mechanism promotes the pivotal movement (ie, range of motion) of the surgical end effector 1100 centered on the range of motion BB with respect to the spine assembly 1500. As mentioned above, further details regarding the operation of the joint lock 1210 and the joint frame 1212 can be found in US Patent Application No. 13 / 803,086, current US Patent Application Publication No. 2014/0263541.

In various situations, the spine assembly 1500 further comprises an intermediate spine segment 1510 attached to the distal frame segment 1560 of the joint lock 1210. The spine assembly 1500 has only one facing notch 1535 (shown in FIG. 5) for receiving the corresponding mounting lugs 1308 (shown in FIG. 4) protruding inward from each of the nozzle portions 1302 and 1304. ) Further comprises a proximal spine mounting segment 1530 including a proximal end portion 1532. Such a mechanism facilitates rotation of the proximal spine assembly 1500 about the shaft axis SA by rotating the nozzle 1301 about the shaft axis SA. The interchangeable surgical tool assembly 1000 includes a chassis 1800 that rotatably supports the shaft assembly 1400. The proximal end portion 1532 of the proximal spine mounting segment is rotatably supported within the central shaft hole 1801 formed within the chassis 1800. See FIG. In one mechanism, for example, the proximal end portion 1532 is mounted on a spine bearing (not shown), or otherwise supported in a spine bearing mounted within the chassis 1800. Has a thread 1533. Such a mechanism facilitates the rotatable attachment of the spine assembly 1500 to the chassis 1800 so that the spine assembly 1500 can be selectively rotated with respect to the chassis 1800 about the shaft axis SA.

Closing assembly 1406 includes an elongated proximal closing member 1410 and a distal closing member 1430. In the mechanism illustrated, the proximal closure member 1410 includes a hollow tubular member slidably supported on the spine assembly 1500. Therefore, the proximal closure member 1410 may also be referred to herein as a "proximal closure tube". Similarly, the distal closure member 1430 may also be referred to as a "distal closure tube". Primarily with reference to FIG. 5, the interchangeable surgical tool assembly 1000 includes a closed shuttle 1420 slidably supported within the chassis 1800 so that it can be moved axially with respect to the chassis 1800. In one embodiment, the closure shuttle 1420 includes a pair of proximal overhang hooks 1421 configured to be attached to lateral mounting pins 516 (FIG. 2) attached to the closure link mechanism assembly 514 of the handle assembly 500. Thus, when the hook 1421 is hooked onto the lateral mounting pin 516, the actuation of the closure trigger 512 results in axial movement of the closure shuttle 1420 and ultimately the closure assembly 1406 on the spine assembly 1500. Closing springs (not shown) can also be pivotally supported on the closing sleeve 1406 and serve to urge the closing assembly 1406 to the proximal "PD", where the surgical tool assembly 1000 handles the handle assembly 500. When operably connected to, it can serve to pivot the closure trigger 512 to the non-actuated position. In use, the closure assembly 1406 is translated distally (direction DD) to close the jaws 1130 and 1102, for example, in response to the activation of the closure trigger 512.

The closed link gimmick assembly 514 may also be referred to herein as a "closed actuator", and the closed link gimmick assembly 514 and the closed shuttle 1420 may be collectively referred to herein as a "closed actuator assembly". The proximal end 1412 of the proximal closure member 1410 is connected to the closure shuttle 1420 so as to rotate relative to the closure shuttle 1420. For example, the U-connector 1424 is inserted into the annular slot 1414 at the proximal end 1412 of the proximal closure member 1410 and retained in the vertical slot 1422 of the closure shuttle 1420. See FIG. Such a mechanism serves to attach the proximal closure member 1410 to the closure shuttle 1420 for axial movement with the closure shuttle 1420, while the closure assembly 1406 rotates about the shaft axis SA with respect to the closure shuttle 1420. Enables.

As mentioned above, the exemplary interchangeable surgical tool assembly 1000 includes a joint joint 1200. As seen in FIG. 6, the upper and lower protrusions (tangs) 1415, 1416 project distally from the distal end of the proximal closure member 1410 and are movably connected to the distal closure member 1430. As further seen in FIG. 6, the distal closure member 1430 includes upper and lower protrusions 1434, 1436 that project proximally from its proximal end. The proximal closure member 1410 and the distal closure member 1430 are integrally connected by an upper double pivot link 1220. The upper double pivot link 1220 includes proximal and distal pins that engage the corresponding holes in the upper protrusions 1415, 1434 of the proximal closure member 1410 and the distal closure member 1430, respectively. The proximal closure member 1410 and the distal closure member 1430 are also integrally connected by the lower double pivot link 1222. The lower double pivot link 1222 includes proximal and distal pins that engage the corresponding holes in the lower protrusions 1416 and 1436 of the proximal closure member 1410 and the distal closure member 1430, respectively. As discussed in more detail below, the distal and proximal axial translations of the closed assembly 1406 result in the opening and closing of the anvil 1130.

The interchangeable surgical tool assembly 1000 shown in FIGS. 1-6 includes a surgical end effector 1100 capable of unidirectional joint movement about the joint movement axis BB. As mentioned above, the range of motion axis BB is defined by spine mounting pins 1564 that are rotatably received within the spine mounting holes 1234 formed within the end effector mounting assembly 1230. In the mechanism illustrated, the spine mounting holes 1234 may be transversely axially aligned with the shaft axis SA. In other mechanisms, the spine mounting holes 1234 may be slightly laterally offset from the shaft axis. In the illustrated example, the range of motion BB crosses and intersects the shaft axis SA. The illustrated example operably interfaces with the end effector mounting assembly 1230 and interfaces with a single distal joint motion link 1710 (via the joint lock 1210) that adds joint motion to the proximal joint motion drive. Use only vessel 1700. For example, by advancing the distal joint motion link 1710 distally, the surgical end effector 1100 articulates in a single "first" joint motion direction. In one mechanism, for example, the surgical end effector 1100 may be selectively articulated from a position where the first joint is not in motion, and the surgical end effector 1100 may have a joint angle of about 110 degrees (1100). After the surgical end effector 1100 leaves the trocar and enters the patient), it is axially aligned with the shaft assembly 1400 (for insertion through the trocar or other access opening). Other joint angle arrangements can also be achieved.

As seen in FIG. 7, for example, the interchangeable surgical tool assembly 1000 may be suitable for use in connection with a medical procedure known as inferior anterior resection "LAR". Such procedures generally involve removal of lesions in the colon. For example, this procedure may include removing blood vessels and lymph nodes associated with this part of the intestine. The surgeon then rejoins the remaining colon and the rest of the rectum (this can be referred to as anastomosis). One challenge that surgeons commonly encounter during this procedure involves placing the end effector deep enough into the pelvic area to complete the procedure. FIG. 7 shows the desired position of the surgical end effector 1100 within the patient's pelvis 400 upon resection of the patient's colon 410. The line BTL in FIG. 7 may indicate the migration limits commonly brought about by the patient's pelvic bone structure and related tissues. In the mechanism illustrated, the surgical tool assembly 1000 uses an "asymmetric" proximal closure member 1410 configured to provide additional clearance and maneuverability for the surgical tool assembly 1000 within its area. ..

As seen in FIG. 7, in one example, the proximal closure member 1410 of the shaft assembly 1400 includes an elongated proximal end portion 1417 and an elongated distal end portion 1411 extending from the proximal end portion 1417. As seen in FIGS. 7-9, an asymmetric cutout or notch region 1418 is provided at the distal end portion 1411 of the proximal closure member 1410, for example to promote greater clearance between the shaft assembly 1400 and the pelvic structure. It is provided in. In at least one example, the notch region 1418 extends over the distal end portion 1411. In such a mechanism, the axial length of the distal end portion is shorter than the axial length of the proximal end portion 1417.

Referring now to FIG. 11, in the illustrated example, the proximal end portion 1417 has an uninterrupted or "continuous" "proximal" perimeter or perimeter shape 1417P. At least a portion of the distal end portion 1411 has a discontinuous or interrupted "distal" perimeter or lateral perimeter shape 1411P. As further seen in FIG. 9, for example, the distal spine extension 1562 has a similar notch region 1568 therein. Also, the intermediate spine segment 1510 may also have an asymmetric notch 1516 in it that coincides with the notch regions 1418 and 1568. See FIGS. 10 and 11. Such a mechanism may allow the clinician to position the shaft assembly 1400 and the surgical end effector 1100 in the position shown in FIG. 7 within the pelvic region. In the mechanism illustrated, for example, the joint angle AA may be about 110 degrees. Thus, such a mechanism may provide the clinician with the ability to position the surgical end effector 1100 deeper in the pelvic region compared to other tools and end effector mechanisms. In the mechanism illustrated, the notch regions 1418, 1516, 1568 are located from there on the opposite side of the shaft axis SA where the end effector 1100 joints (eg, in the direction of the joint movement DA). However, in other mechanisms it is conceivable that the notch regions 1418, 1516, 1568 are provided from there on the same side of the shaft axis SA where the surgical end effector is articulated.

In one embodiment, as the proximal closure member 1410 moves axially on the spine assembly 1500, the proximal closure member 1410 is kept axially aligned on the spine assembly 1500 and also has an end effector jaw. Opposing closure alignment members 1413 are used to delay or prevent buckling of shaft components during joint movement and closure of 1130 and 1102. In one mechanism, for example, a pair of diametrically opposed alignment pins 1413 are attached to the proximal closure member 1410 and extend inward from the proximal closure member 1410 to the intermediate spine segment 1510 and distal. Slidably received in the corresponding alignment slots 1514, 1566 in the spine extension 1562, respectively. See FIGS. 10 and 11. As further seen in FIG. 11, the distal spine extension 1562 may have a recessed region 1567 for receiving a downwardly projecting lug portion 1518 formed underneath the intermediate spine segment 1510. .. Such a mechanism may function to interlock the intermediate spine segment 1510 and the distal spine extension 1562 together to some extent laterally, thereby causing any lateral deflection between these components. Can function to resist doing. FIG. 12 shows the upper and lower protrusions 1415 and the lower protrusions 1416, wherein the proximal closure member 1410'can function to limit any tendency of the upper and lower protrusions 1415, 1416 to spread apart during use. It shows an alternative proximal closure member 1410'that is identical to the proximal closure member 1410 described above, except that it includes a connector bridge 1419 extending in between.

FIG. 13 is configured to prevent or limit the proximal closure member 1410'' from opening in the directional OD when the lateral load LL is applied laterally to the shaft assembly 1400 in the notch region. It shows another mechanism that was done. The proximal closure member 1410 ″ may be identical to the proximal closure member 1410, except for the differences described herein. As seen in FIG. 13, the proximal closure member 1410 ″ further comprises a pair of inwardly projecting, somewhat diametrically opposed bending tabs 1425. One bend tab 1425 is slidably received in the corresponding axially extending slot 1519 and the other bend tab 1425 is in the corresponding axial slot 1569 in the distal spine extension 1562. Slidably accepted. Such a mechanism slidably interlocks the proximal closure member 1410'' on the spine assembly 1500', thereby opening the proximal closure member 1410'' when a lateral load LL is applied. It plays a role in resisting (in the OD direction). FIG. 14 shows an alternative mechanism that is somewhat L-shaped and uses a bend tab 1425' that is slidably received within the corresponding L-shaped slots 1514'and 1569'.

As mentioned above, the interchangeable surgical tool assembly 1000 further includes a launcher assembly 1600 supported for axial movement within the spine assembly 1500. In the illustrated embodiment, the launch member assembly 1600 includes a proximal launch shaft segment 1602 and a distal dissection or distal launch bar 1620. The launch member assembly 1600 may also be referred to herein as a "second shaft" and / or a "second shaft assembly". As seen in FIG. 5, the proximal launch shaft segment 1602 projects proximally from its proximal end and mounts the launch shaft within a longitudinally movable drive member 540 supported within the handle assembly 500. Includes a proximal mounting lug 1604 configured to be operably received within the cradle 542. See FIG.

Referring again to FIG. 5, the distal end 1606 of the proximal launch shaft segment 1602 has a longitudinal slot 1608 configured to receive a tab (not shown) on the proximal end of the distal launch bar 1620. include. The longitudinal slots 1608 and proximal ends of the distal launch bar 1620 may be sized and configured to allow relative movement between them and may also include a sliding joint 1622. The sliding joint 1622 may move the proximal firing shaft segment 1602 without moving the distal firing bar 1620, or at least substantially without moving it, during the operation of the joint movement. Once the end effector 1100 is suitably oriented, the proximal launch shaft segment 1602 is advanced distally until the proximal end wall of slot 1608 contacts a tab on the distal launch bar 1620 to launch the distal launch. The bar 1620 can be advanced to fire the surgical staple cartridge 1150 located within the elongated channel 1102. As further seen in FIG. 5, the intermediate spine segment 1510 includes a channel 1512 for slidably supporting the proximal launch shaft segment 1602 in. To facilitate assembly of the proximal launch shaft segment 1602 and the spine assembly 1500, the upper spine cover 1527 may be engaged with the intermediate spine segment 1510 to encapsulate these portions of the launch member assembly 1600. good.

FIG. 15 shows the surgical end effector 1100 in the range of motion. As seen in FIGS. 15 and 6, the central support member 1614 laterally supports the distal launch bar 1620 as it bends to adapt to the joint movement of the surgical end effector 1100. Used to provide. In one embodiment, the distal pivot pin 1615 projects from the distal end of the central support member 1614 and is received in the spine mounting hole 1234 of the end effector mounting assembly 1230. The proximal pivot pin 1616 is received in the elongated slot 1569 of the distal spine extension 1562. In addition, the central support member 1614 includes a passage 1618 that provides lateral support to the distal launch bar 1620 when the surgical end effector 1100 is in joint motion. Further details regarding the central support member and the alternative knife bar support mechanism are disclosed in US Patent Application No. 15 / 019,245, which is incorporated herein by reference in its entirety.

FIG. 15A shows an alternative joint 1200'that facilitates joint movement of the surgical end effector 1100 centered on the joint movement axis BB across the shaft axis SA defined by the elongated shaft assembly 1400'. The articulated joint 1200'is operably attached to the elongated shaft assembly 1400'. In the illustrated example, the surgical end effector 1100 is selectively articulated to one side of the shaft axis SA. The direction of such joint movement is represented by the arrow LD. Similar to the above embodiment, the end effector mounting assembly 1230 is pivotally attached to the proximal end 1103 of the elongated channel 1102 of the surgical end effector 1100. The end effector mounting assembly 1230 is pivotally attached to the distal spine extension 1562 of the distal frame segment 1560 of the elongated shaft assembly 1400'. Similar to the above embodiments, the distal frame segment 1560 is a proximal joint motion driver 1700 (Figure) that operably interfaces with a source of joint motion and receding motion, as described in detail herein. The joint lock 1210 (FIG. 6) activated by 6) can be operably supported. In the example shown in FIG. 15A, the end effector mounting assembly 1230 is pivotally attached to the distal spine extension 1562 by a distal support link 1570. In one mechanism, for example, the end effector mounting assembly 1230 is pinned to the distal end 1572 of the distal support link 1570 by a joint motion pin 1580 defining the joint motion axis BB. The proximal end 1574 of the distal support link 1570 is attached to the distal end 1563 of the distal spine extension 1562 with which axial and pivotal movements occur.

As further seen in FIG. 15A, the proximal end 1574 of the distal support link 1570 is slidably and pivotally received in the proximal mounting pin 1578 attached to the distal spine extension 1562. Includes axial slots 1576 dimensioned to. Such a mechanism allows the surgical end effector 1100 to have selective pivotal movement (range of motion) centered on the joint movement axis BB with respect to the distal frame segment 1560, and some restricted axial movement. Therefore, it serves to connect to the distal frame segment 1560. In the mechanism illustrated, the joint movement is applied to the surgical end effector 1100 by a distal joint movement link 1710 that is pivotally coupled to or otherwise operably interfaced with the joint lock 1210. Due to the axial movement of the distal joint motion link 1710 to the proximal PD (restricted to move axially along one side of the shaft axis SA), the surgical end effector 1100 is surgically From the position where the end effector 1100 is axially aligned on the shaft axis SA to the position where the joint movement is performed on the left side of the shaft axis SA (represented by a virtual line in FIG. 15A) in the left direction LD. Joint movement. Axial movement of the distal articulation link 1710 to the distal DD causes the surgical end effector 1100 to move from the articulated position to the non-actuated position (arrow RD). In one mechanism, when the surgical end effector 1100 reaches the inactive position, it contacts the distal end 1563 of the distal spine extension and prevents it from moving further to the right RD. A stop member or stop forming portion 1232 is formed in the end effector mounting assembly 1230 or is otherwise attached to the end effector mounting assembly 1230. Such a joint mechanism may provide improved joint locomotion and closure stability.

In addition to the above, the interchangeable surgical tool assembly 1000 includes a clutch assembly 1640 that can be configured to selectively and releasably connect the proximal joint motion drive 1700 to the launch member assembly 1600. .. In one embodiment, the clutch assembly 1640 includes, in at least one embodiment, a rotary lock assembly with a lock collar or lock sleeve 1650 positioned around the launcher assembly 1600. The lock sleeve 1650 is the engagement position where the lock sleeve 1650 connects the proximal joint motion drive 1700 to the launch member assembly 1600 and the proximal joint motion drive 1700 is not operably coupled to the launch member assembly 1600. It is configured to be rotated to and from the disengagement position. Distal movement of the launcher assembly 1600 can move the proximal joint motion driver 1700 distally when the lock sleeve 1650 is in its engaged position, correspondingly to the launcher assembly 1600. Proximal movement of the proximal joint motion driver 1700 can be moved proximally. When the lock sleeve 1650 is in its disengaged position, the movement of the launcher assembly 1600 is not transmitted to the proximal joint motion drive 1700, so that the launcher assembly 1600 is independent of the proximal joint motion driver 1700. Can be moved. Under various circumstances, the proximal joint motion driver 1700 is held in place by the joint lock 1210 when the proximal joint motion driver 1700 is not moved proximally or distally by the launcher assembly 1600. Can be done.

Primarily with reference to FIGS. 4 and 5, the lock sleeve 1650 is cylindrical, or at least substantially, including a longitudinal opening 1652 configured to receive the proximal launch shaft segment 1602 of the launch member assembly 1600. Is equipped with a cylindrical body. The lock sleeve 1650 also has two diametrically opposed inward locking protrusions 1654 and a second outward locking member 1656 formed on it. The lock protrusion 1654 may be configured to selectively engage the proximal launch shaft segment 1602 of the launch member assembly 1600. More specifically, when the lock sleeve 1650 is in its engaging position, the lock overhang 1654 is positioned within the drive notch 1603 provided within the proximal launch shaft segment 1602, thereby providing a distal push force. And / or proximal tensile force may be transmitted from the launcher assembly 1600 to the lock sleeve 1650. When the lock sleeve 1650 is in its engaging position, the second locking member 1656 is received within the drive notch 1704 defined within the proximal joint motion drive 1700, thereby being added to the lock sleeve 1650. Pushing force and / or proximal tensile force may be transmitted to the joint motion driver 1700. In practice, the launcher assembly 1600, lock sleeve 1650, and proximal joint motion driver 1700 move together when the lock sleeve 1650 is in its engaged position. On the other hand, when the lock sleeve 1650 is in its disengagement position, the lock protrusion 1654 cannot be positioned within the drive notch 1603 of the proximal launch shaft segment 1602 of the launch member assembly 1600, resulting in a distal. Pushing and / or proximal tensile forces cannot be transmitted from the launcher assembly 1600 to the lock sleeve 1650. Correspondingly, the distal pushing force and / or the proximal tensile force cannot be transmitted to the proximal joint motion driver 1700. Under these circumstances, the launcher assembly 1600 may be slid proximally and / or distally to the lock sleeve 1650 and the proximal joint motion driver 1700.

The clutch assembly 1640 further includes a switch drum 1630 that interfaces with the lock sleeve 1650. Further details regarding the operation of the switch drum 1630 and the lock sleeve 1650 can be found in US patent applications 13 / 803, 086 and 15 / 019, 196, respectively, which are incorporated herein by reference in their entirety. be able to. The switch drum 1630 may further comprise an opening 1632 defined therein that extends at least partially in the circumferential direction, the opening 1632 having a circumferential mounting portion extending from the nozzle portions 1302, 1304. The 1305 can be accepted to allow relative rotation between the switch drum 1630 and the proximal nozzle 1301 but not translation. See FIG. When the nozzle 1301 rotates to the point where the mount reaches the end of these corresponding openings 1632 in the switch drum 1630, the switch drum 1630 rotates about the shaft axis SA as a result. As the switch drum 1630 rotates, the lock sleeve 1650 eventually moves between its engaged and disengaged positions. Thus, in essence, the nozzle 1301 comprises the joint motion drive system as the launch drive system in various ways as described in more detail in US Patent Application Nos. 13 / 803,086 and 15 / 019,196. It may be used to operably engage and disengage.

In the mechanism illustrated, the switch drum 1630 includes an L-shaped slot 1636 extending within the distal opening 1637 of the switch drum 1630. The distal opening 1637 receives the lateral switch pin 1639 of the shifter plate 1638. In one embodiment, the shifter plate 1638 is a longitudinal slot provided within the lock sleeve 1650 to facilitate axial movement of the lock sleeve 1650 when engaged with the proximal joint motion driver 1700 (not shown). ) Is accepted. Further details regarding the operation of the shifter plate and shift drum mechanism are incorporated herein by reference in its entirety, US Patent Application No. 14 / 868,718, filed September 28, 2015, title of the invention. It can be found in "SURGICAL STAPLING INSTRUMENT WITH SHAFT RELEASE, POWERED FIRING AND POWERED ARTICULATION".

Also, in the illustrated embodiment, the switch drum 1630 includes a magnet support arm 1665 that supports a magnet or other sensor mechanism, and the magnet or other sensor mechanism is operably mounted on the chassis 1800 as a slip ring assembly 1660. It is configured to operably interface with the Hall effect sensor 1662 that interfaces with. The slip ring assembly 1660 conducts power from, for example, the interchangeable surgical tool assembly 1000 and / or from the interchangeable surgical tool assembly 1000, and / or sends signals to the interchangeable surgical tool assembly 1000 components, and / Or the interchangeable surgical tool assembly 1000 is configured to transfer back to the microcontroller 520 (FIG. 2) in the handle assembly 500 or the robot system controller. Further details regarding the slip ring assembly 1660 and the accompanying connectors are provided in US Patent Application Nos. 13 / 803, 806 and 15/019, 196, respectively, which are incorporated herein by reference in their entirety, as well as. It can be found in US Patent Application No. 13 / 800,067, which is incorporated herein by reference in its entirety, in the title of the invention "STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM" (current US Patent Application Publication No. 2014/0263552). can. The magnets (s) supported on the magnet support arm 1665, in cooperation with the Hall effect sensor 1662 or other sensor mechanism, detect the rotational position of the switch drum 1630 and transmit that information to the microcontroller 520. The microcontroller 520 may serve to provide instructions (s) to the user in various ways as described in the incorporated references described above. Other sensor mechanisms may be used.

Referring again to FIGS. 2 and 5, the chassis 1800 is formed on the chassis 1800 and fitted to be received within the corresponding dovetail slot 507 formed within the distal end portion of the frame 506 of the handle assembly 500. Also includes at least one, preferably two tapered attachment portions 1802. As further seen from FIG. 2, a shaft mounting lug 1607 is formed at the proximal end of the proximal launch shaft segment 1602. As described in more detail below, when the replaceable surgical tool assembly 1000 is coupled to the handle assembly 500, the shaft mounting lug 1607 is a launch shaft formed at the distal end of a longitudinally movable drive member 540. Accepted by the mounting cradle 542. See FIG.

The interchangeable surgical tool assembly 1000 uses a latch system 1810 for detachably connecting the interchangeable surgical tool assembly 1000 to the frame 506 of the handle assembly 500. As seen in FIG. 5, for example, in at least one embodiment, the latch system 1810 includes a locking member or lock yoke 1812 movably coupled to chassis 1800. In an exemplary embodiment, for example, the lock yoke 1812 has a U-shape and includes two downwardly extending legs 1814. Each leg 1814 is formed on top with a pivot lug (not shown) adapted to be received by the corresponding hole 1816 formed in the chassis 1800. Such a mechanism facilitates pivotally mounting the lock yoke 1812 to chassis 1800. The lock yoke 1812 includes two proximally projecting lock lugs 1818 configured to releasably engage the corresponding lock detents or grooves 509 within the distal end of the frame 506 of the handle assembly 500. But it may be. See FIG. In various forms, the lock yoke 1812 is proximally urged by a spring or urging member 1819. Operation of the lock yoke 1812 may be achieved by a latch button 1820 slidably mounted on the latch actuator assembly 1822 mounted on the chassis 1800. The latch button 1820 may be urged proximally to the lock yoke 1812. The lock yoke 1812 can be moved to the unlocked position by urging the latch button 1820 distally, which further pivots the lock yoke 1812 to the distal end of the frame 506. Retentively disengages from engagement with. When the lock yoke 1812 is "retentively engaged" with the distal end of the frame 506, the lock lug 1818 is retentively seated in the corresponding lock detent or groove 509 within the distal end of the frame 506. ing.

In the mechanism illustrated, the lock yoke 1812 comprises at least one, preferably two lock hooks 1824 adapted to contact the corresponding lock lug portion 1426 formed on the closed shuttle 1420. When the closure shuttle 1420 is in the inactive position, the lock yoke 1812 is pivoted distally to unlock the replaceable surgical tool assembly 1000 from the handle assembly 500. When in this position, the lock hook 1824 does not contact the lock lug portion 1426 on the closed shuttle 1420. However, when the closed shuttle 1420 is moved to the working position, the lock yoke 1812 is prevented from pivoting to the unlocked position. In other words, if the clinician attempts to pivot the lock yoke 1812 to the unlocked position, or, for example, carelessly such that the lock yoke 1812 could otherwise be pivoted distally. The lock hook 1824 on the lock yoke 1812 comes into contact with the lock lug 1426 on the closed shuttle 1420 to prevent the lock yoke 1812 from moving to the unlocked position if it hits or touches. See FIG. Further details regarding the latch system can be found in US Patent Application Publication No. 2014/0263541.

The attachment of the replaceable surgical tool assembly 1000 to the handle assembly 500 will now be described with reference to FIG. To initiate the coupling process, the clinician will install the chassis 1800 of the replaceable surgical tool assembly 1000 so that the tapered mounting portion 1802 formed on the chassis 1800 is aligned with the dovetail slot 507 of the frame 506. It may be located above or adjacent to the distal end of the frame 506. The clinician then moves the surgical tool assembly 1000 along the installation axis IA perpendicular to the shaft axis SA to align the tapered attachment portion 1802 with the corresponding dovetail receiving slot 507 at the distal end of the frame 506. It may be seated in an "operably engaged" state. In doing so, the shaft mounting lugs 1606 on the proximal launch shaft segment 1602 are also housed in the cradle 542 of the drive member 540 that is longitudinally movable, with some of the lateral mounting pins 516 on the closing link gimmick assembly 514. , Seated in the corresponding hook 1421 of the closed shuttle 1420. As used herein, the term "operable engagement" in the context of two components means that the two components are fully engaged with each other, thereby adding actuating motion. Means that the intended actions, functions, and / or procedures can be performed.

Referring again to FIGS. 11 and 15, the distal firing bar 1620 may include a laminated beam structure comprising at least two beam layers. Such beam layers include, for example, stainless steel bands interconnected by welding or pinning together, for example, at their proximal ends and / or at other locations along their length. But it may be. In an alternative embodiment, the distal ends of the bands are not integrally connected so that when the end effectors are in range of motion, the laminates or bands are allowed to spread relative to each other. Such a mechanism allows the distal firing bar 1620 to be flexible enough to adapt to the joint movement of the end effector. Various other suitable laminated knife bar mechanisms are disclosed in US Patent Application No. 15 / 019,245. As further seen in FIG. 4, the central support member 1614 provides lateral support to the distal launch bar 1620 as the distal launch bar 1620 bends to adapt to the joint movement of the surgical end effector 1100. Used to bring. Further details regarding the central support member and the alternative knife bar support mechanism are disclosed in US Patent Application No. 15 / 019,245.

After the interchangeable surgical tool assembly 1000 is operably coupled to the handle assembly 500 (FIG. 1), the clinician can operate the surgical tool assembly 1000 as follows. As mentioned above, when the closed drive system 510 is in its non-actuated position (ie, the closed trigger 512 is not activated), the torsion spring 1642 is the clutch assembly 1640, more specifically the switch pin 1639 and the lock. The sleeve 1650 is urged to the joint movement position. When in this mode, the magnets (s) in the magnet support arm 1665, in cooperation with the Hall effect sensor 1662 or other sensor mechanism, indicate that the surgical tool assembly 1000 is in joint motion mode 520. Can be shown in. When the clinician activates the launch trigger 532, the motor drives the proximal launch shaft segment 1602 distally. However, as mentioned above, the sliding joint 1622 facilitates the movement of the proximal launch shaft segment 1602 without, or at least substantially, without moving the distal launch bar 1620. Since the lock sleeve 1650 is operably engaged with the proximal launch shaft segment 1602 and the proximal joint motion driver 1700 is engaged with the lock sleeve 1650, the activation of the proximal launch shaft segment 1602 causes the proximal joint. A distal movement of the motion drive 1700 is provided. Distal movement of the proximal joint motion driver 1700 causes the surgical end effector 1100 to jointly move around the joint motion axis BB. During this time, the clinician can further partially close the jaws of the surgical end effector 1100 by partially pressing the closure trigger. Such a mechanism facilitates axial movement of the proximal closure member 1410 without automatically shifting the clutch assembly 1640 to firing mode. This feature may allow the clinician to use the jaws to grip and manipulate the tissue before clamping it onto the target tissue.

Once the clinician has articulated the surgical end effector 1100 in the desired position and the jaws are positioned in the desired orientation with respect to the target tissue, the clinician releases the firing trigger 532, which is the proximal firing shaft segment 1602 and The motor drive motion of the proximal joint motion drive 1700 is interrupted. The joint lock 1210 locks the proximal joint motion driver 1700 to that position to prevent further joint motion of the surgical end effector 1100. The clinician can clamp the target tissue between the jaws by pushing the closure trigger 512 down to the fully pressed position. Such an action moves the proximal closure member 1410 distally. This distal movement of the proximal closure member 1410 causes the shifter plate 1638 to rotate the lock sleeve 1650 to a disengagement position with the proximal launch shaft segment 1602. When in this position, the lock protrusion 1654 disengages from the drive notch 1603 in the proximal launch shaft segment 1602. Therefore, the proximal launch shaft segment 1602 can move axially without moving the lock sleeve 1650 and the proximal joint motion driver 1700. When the proximal closure member 1410 is moved distally to the fully actuated position (by pressing the closure trigger 512), the proximal closure member 1410 and the distal closure member 1430 move distally to the jaw 1130. Close 1102. When in this position, the closure drive system 510 within the handle assembly 500 can be locked and the clinician can release the closure trigger 512. Once the clutch assembly 1640 is moved to this firing mode, the magnet or other sensor in the magnet support arm 1665 or other portion communicates with the Hall effect sensor 1662 to indicate the location of the clutch assembly 1640 to the microcontroller 520.

The microcontroller 520 provides the clinician with instructions on the location of the distal launch bar 1620 as the distal launch bar 1620 advances distally through the target tissue clamped between the end effector jaws. May be good. Once the launch member or knife member attached to the distal launch bar 1620, more specifically the distal launch bar 1620, has advanced to the full launch position, the microcontroller 520 uses a sensor mechanism to provide the launch member assembly 1600. The position of a portion can be detected and then the motor can be reversed to retract the distal launch bar 1620 to its starting position. This action may be automatic, or the clinician may need to press the firing trigger 532 during the retreat process. Once the distal launch bar 1620 has been fully retracted to its starting position, the microcontroller 520 has the distal launch bar 1620 fully retracted, unlocking the closure trigger 512 and deactivating the closure assembly 1406. The clinician can be instructed that it is possible to return to the position and thereby move the jaw to the open position.

In one embodiment, the elongated channel 1102 is substantially C-shaped with two upright side wall portions 1104. The anvil 1130 includes an anvil body 1132 and an anvil mounting portion 1134. The anvil mounting portion 1134 comprises a pair of anvil mounting wall portions 1136 separated by slots 1138 (FIG. 6). As mentioned above, the end effector mounting assembly 1230 extends through the lateral mounting holes 1231 in the end effector mounting assembly 1230 and receives into the channel mounting holes 1106 provided in the sidewall 1104 of the elongated channel 1102. It is pivotally attached to the proximal end 1103 of the elongated channel 1102 by a spring pin connector 1235. Each anvil mounting wall 1136 has an anvil trunnion 1137 projecting from it so that each anvil trunnion 1137 is rotatably received within the corresponding anvil mounting hole 1107 of the proximal end 1103 of the elongated channel 1102. It has been adapted. As seen in FIGS. 16 and 17, each channel sidewall 1104 may have a vertical slot or relieved area 1108 corresponding to each anvil mounting hole 1107, the vertical slot or relieved area 1108. It allows the anvil tranion 1137 to be dropped vertically into each slot 1108 for ease of assembly. The anvil trunnion defines the pivot axis PA, and around the pivot axis PA, the anvil 1130 is selectively pivotable with respect to the elongated channel 1102. In various embodiments, the pivot axis PA traverses the shaft axis SA. See FIG.

The elongated channel 1102 is configured to operably support the surgical staple cartridge 1150 therein. The surgical staple cartridge 1150 includes a cartridge body 1151 defining a deck surface 1152 facing the staple forming lower surface 1133 of the anvil body 1132. The cartridge body 1151 has an elongated slot 1154 extending through the cartridge body 1151 to allow passage of a launching member 1670 attached to the distal end of the distal firing bar 1620. The cartridge body 1151 has a plurality of anvil pockets 1156 arranged linearly in series on both sides of the elongated slot 1154. See FIG. A staple driver that operably supports one or more surgical staples or fasteners on top is housed in these pockets 1156. Position the target tissue so that when the target tissue is stapled between the staple-forming lower surface 1133 of the anvil body 1132 and the staple cartridge deck surface 1152, the tissue to be cut is stapled on each side of the cutting line. It is necessary to. To avoid positioning the target tissue proximal to the recent staple or fastener, the anvil 1130 may include two downwardly extending tissue stops 1140. See FIG. The tissue stop 1140 serves to prevent the target tissue from reaching excessively proximal between the anvil 1130 and the surgical staple cartridge 1150 when extending downward beyond the cartridge deck surface 1152.

Further referring to FIGS. 18 and 19, in the illustrated embodiment, the anvil mounting wall portion 1136 is somewhat elongated and extends proximally. In one embodiment, one or both of the anvil mounting wall portions 1136 includes an opening limiter 1139 (FIG. 18) formed therein, the opening limiter 1139 in contact with the end effector mounting assembly 1230 and the anvil 1130. Is configured to prevent excessive opening. See FIG. Such an anvil opening limiter 1139 can prevent the anvil 1130 from being excessively loosened and loosened on the elongated channel 1102. In addition, the opening limiter 1139 prevents the anvil 1130 from opening to a position where the tissue stopper 1140 extends above the cartridge deck surface 1152. When this happens, it may be possible for the tissue to extend excessively proximally between the anvil 1130 and the surgical staple cartridge 1150, and it may be cut but not stapled. be. Such a mechanism can also serve to prevent the anvil from being overly loosened and perceived as loose with respect to the elongated channel.

Referring again to FIG. 17, the anvil mounting portion 1134 defines a launching member “stationary area” 1141 that accommodates the launching member 1670 when the launching member 1670 is in the starting (unlaunched) position. In the illustrated mechanism, at least a portion of the stationed area 1141 is proximal to the pivot axis. See, for example, FIG. Such a mechanism can reduce the negative moment arm resulting from the tissue clamped between the anvil 1130 and the surgical staple cartridge 1150 supported within the elongated channel 1102. In one embodiment, the anvil cap or cover 1142 is attached to the anvil mounting portion 1134 and is closed for contact by a distal cumming ramp or surface 1440 formed on the distal end 1431 of the distal closure member 1430. The front surface 1143 is provided. See FIG. 20. In one mechanism, the anvil cap 1142 includes a pair of downwardly extending legs 1144 configured to snap into engagement with a mounting lug 1145 formed on the anvil mounting wall 1136. As seen in FIG. 16, for example, the anvil cap 1142 extends distally to extend between the anvil mounting walls 1136 and cover the launching member 1670 when it is within the launching member resident area 1141. Includes the existing transition portion 1146. The transition portion 1146 extends between the anvil mounting wall portions 1136 and forms a transition from the pre-closed surface 1143 and the anvil cam surface 1147 formed on the anvil mounting portion 1134. In addition, the anvil cap 1142 provides a pinch point that could otherwise be present between the anvil mounting portion 1134 and the distal end 1431 of the distal closure member 1430 when the anvil 1130 is in its fully open position. Can be minimized.

Here, the operation of the closure process used in this embodiment will be described with reference to FIGS. 18A, 19, and 20A. In the mechanism illustrated, the anvil body 1132 defines the upper anvil surface 1135. As seen in FIG. 18A, the cam region or cam surface 1147 formed on the anvil mounting portion 1134 gradually transitions to the upper anvil surface 1135. More specifically, in the mechanism illustrated, the cam surface 1147 comprises two surface portions, a proximal cam surface portion 1147P and a distal cam surface portion 1147D. In at least one example, the proximal cam surface portion 1147P extends from the proximal end of the anvil body 1132 to the distal cam surface portion 1147D. The distal cam surface portion 1147D extends from the proximal cam surface portion 1147P to the upper anvil surface 1135. In one mechanism, the proximal cam surface portion 1147P may have a slightly steeper angle than the distal cam surface portion 1147D. In other mechanisms, the cam surface on the anvil mounting portion may comprise one continuous cam surface oriented with respect to the outer surface at a single cam angle.

As seen in FIG. 19, the distal closure member 1430 has a distal end surface 1431 formed on its distal end. The distal cumming surface 1440 extends at an obtuse cam angle CA with respect to the distal end surface 1431. In the mechanism illustrated, the distal closure member 1430 comprises a distal closure tube having an outer surface 1433 and an inner surface 1435 defining a cross-sectional thickness CT in between. The distal end surface 1431 comprises a portion of the cross-sectional thickness CT. The distal cumming surface 1440 extends from the distal end surface 1431 of the distal closure member 1430 to the medial surface 1435. The initial cam region 1437 includes lines of intersection or intersections between the distal end surface 1431 and the distal cumming surface 1440.

FIG. 18A shows a distal closing member 1430 in the starting position where the anvil 1130 is in the open position. As seen in FIG. 18A, the distal cumming surface 1440 is in contact with the pre-closed surface 1143 on the anvil cap 1142. To initiate the closure process, the distal closure member 1430 is axially advanced in the distal DD. When the initial cam region 1437 and / or the distal end surface 1431 first contacts the cam surface 1147 (proximal cam surface portion 1147P), an initial closing motion or initial closing force ICF is applied to it. See FIG. This initial closing force ICF is perpendicular or perpendicular to the proximal cam surface portion 1147P. Continuous axial advancement of the distal closure member 1430 causes the distal cumming surface 1440 to come and engage with the cam surface 1147 (distal cam surface 1147D), providing a closure force CF essentially parallel to the shaft axis SA. In essence add. See FIG. 20A.

In the above embodiment, the anvil mounting wall portion 1136 may have a length somewhat longer than the anvil mounting configuration used by other anvil mechanisms. The elongated anvil mounting wall portion 1136 serves to allow the pivot axis to be located relatively close to the range of motion defined by the joint joint 1200. This mechanism facilitates the establishment of a longer initial moment arm MAI (FIG. 19) between the pivot axis PA and the initial closing force ICF. Such a mechanism also facilitates the position of the pivot axis PA to be slightly closer to the bottom of the elongated channel 1102 compared to other anvil / channel mounting mechanisms. Therefore, in the mechanism shown, the distance between the pivot axis PA and the axis to which the closing force CF is applied is somewhat larger than the other mechanisms (larger moment arms). This mechanism can also result in the establishment of a larger closing force CF compared to other anvil mounting mechanisms. Thus, the anvil mounting mechanism of the illustrated embodiment can provide a greater mechanical closure effect than is generally achievable with other anvil mounting mechanisms. Another advantage that can be obtained by the above example is that the placement of at least a portion of the launcher stationing area 1141 proximal to the pivot axis PA is added to the anvil by the tissue clamped between the anvil and the cartridge. It can help reduce the "negative" moment arm.

Referring now to FIGS. 21-25, the distal closure member 1430 is formed with at least one, preferably two positive jaw opening hooks or tabs 1442. The tab 1442 may also be referred to herein as a "primary positive jaw opening tab". In one embodiment, the positive jaw opening tab is formed integrally with the distal closing member 1430. For example, the positive jaw opening tab 1442 is cut out from the wall of a tubular structure that includes a distal closure member 1430. Each of the positive jaw opening tabs 1442 includes an upwardly projecting hook portion 1444, the hook portion 1444 having a rounded cumming end 1445 formed therein, and the cumming end 1445 downward from the anvil body portion 1132. It is configured to come and engage with the extending, corresponding anvil opening inclined surface 1148. FIG. 22 shows the positions of the anvil 1130 and the distal closure member 1430 when the anvil 1130 is in the closed orientation. FIG. 23 shows the start of the opening process, where the distal closure member 1430 has begun to recede into the proximal PD. As can be seen in FIG. 23, the cumming end 1445 is first in contact with the anvil opening inclined surface 1148. FIG. 24 shows the anvil 1130 in the partially open position and FIG. 25 shows the anvil 1130 in the fully open position. As seen in FIG. 25, the cumming end 1445 is on the bottom end 1149 of the anvil opening inclined surface and holds the anvil 1130 in a fully open position. The use of such features on the distal closure member to achieve opening from a fully closed position to a fully open position of the anvil may be referred to herein as a "positive jaw opening" feature. Other suitable positive jaw opening mechanisms are disclosed in US Patent Application No. 14 / 742,925, the title of the invention "SURGICAL END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS", which is incorporated herein by reference in its entirety. ing.

26-29 show an alternative distal closure member 1430'using a secondary positive jaw opening tab 1448 configured to work with a secondary jaw opening feature 1160 formed on anvil mounting wall 1136. Is shown. See FIGS. 16, 17, and 27. As seen in FIG. 26, the secondary positive jaw opening tab 1448 contacts the secondary jaw opening feature 1160 on the anvil 1130 when the distal closure tube or member 1430'is moved in the proximal direction PD. Can be cut into the wall of the distal closure tube or member 1430'and bent inward so that FIG. 29 shows an anvil 1130 in a fully open position. When the distal closure member 1430'is moved proximally, the primary positive jaw opening tab 1442 cams up to the corresponding anvil opening slope 1148 on the anvil 1130 to pivot the anvil. And start to open. Then, during the closing process, the secondary positive jaw opening tab 1448 in the distal closing member 1430'contacts the secondary jaw opening feature 1160 formed on the anvil mounting wall 1136 to position the anvil 1130 in a fully open position. Further support to move to. As seen in FIG. 26, the secondary positive jaw opening tab 1448 generally follows the contour of the distal closure tube 1430'.

FIG. 30 shows an alternative distal closure member 1430'where the secondary positive jaw opening tab 1448 is formed integrally with the wall of the distal closure tube 1430', but the distal closure tube or When the member 1430'is moved in the proximal direction PD, it extends inward in the proximal direction so as to contact the secondary jaw opening feature 1160 on the anvil 1130. FIG. 31 shows an anvil 1130 in a fully open position. Thus, these primary and secondary anvil opening or jaw opening features open to the anvil as the distal closure member moves from the fully actuated position corresponding to the fully closed position of the anvil to the non-actuated position corresponding to the fully open position of the anvil. It can function to add exercise sequentially. In such a mechanism, when the distal closure tube 1430'is moved proximally, the primary positive jaw opening tab 1442 cams the anvil and places it in an "almost open" position. The secondary positive jaw opening tab 1448 serves to ensure that the anvil is moved to its fully open position when the distal closure member returns to its inactive position.

32 and 33 show an alternative secondary, including a proximal anvil extension 1162 in which the anvil mounting wall 1136 works with the corresponding secondary anvil urging spring 1164 to urge the anvil to an open position. A positive jaw opening mechanism is shown. As the distal closure member 1430 is moved proximally, the primary positive jaw opening tab 1442 cams and lifts the corresponding anvil opening slope 1148 on the anvil 1130 to pivot and open the anvil. In addition, the secondary anvil urging spring 1164 applies urging force to the proximal anvil extension 1162 to further assist in moving the anvil 1130 to the fully open position. In conventional jaw opening mechanisms, there is a "lag time" between the activation of the jaw opening system (eg, the firing trigger) and the ongoing opening of the jaw. In the above embodiment, the secondary anvil urging spring 1164 is located proximal to the pivot axis PA, around which the anvil is pivoted with respect to the elongated channel. Such a mechanism not only increases the urging (opening) motion to the anvil, but in other cases, the initial retract of the closing member and the closing member adds a sufficient amount of opening motion to the anvil to make the anvil. It can serve to minimize the occurrence of any "dead world" that can occur between the point at which it actually begins to move to the open position.

FIGS. 34 and 35 show an alternative distal closing member 1430 ″ with a positive jaw urging member 1450 on top of each of the positive jaw opening tabs 1442. The positive jaw urging member 1450 can form a leaf spring mechanism formed of metal or the like, and the anvil opening inclined surface on the anvil 1130 when the distal closing member 1430'' is moved to the proximal direction PD. It works to apply additional opening force to the 1148. FIG. 34 shows the anvil 1130 in the fully closed position and FIG. 35 shows the anvil 1130 in the fully open position. 36 and 37 show an alternative distal closing member 1430 ″ with another form of positive jaw urging member 1452 on each of the positive jaw opening tabs 1442. The positive jaw urging member 1452 may have a somewhat V-shaped shape or may be formed of spring steel or the like. FIG. 36 shows the anvil 1130 in the fully closed position and FIG. 37 shows the anvil 1130 in the partially open position as the distal closure member 1430 ″ first moves in the proximal direction. The positive jaw urging member 1452 functions to ensure that the anvil 1130 is lifted against the distal closing member 1430 ″ from the start of the opening process.

38 and 39 show an alternative distal closure member 1430'' where the positive jaw opening tabs 1442 are respectively lifted from the start of the opening process to the distal closure member 1430''. It has a flexible portion 1454 on top that functions to ensure that. The flexible portion 1454 may include rubber or similar material formed on the hook portion 1444 of the positive jaw opening tab 1442. In other mechanisms, the portion 1454 may not be formed from the flexible material, but instead may be formed from a hardened material to prevent wear on the positive jaw opening tab 1442. FIG. 38 shows an anvil 1130 in a completely closed position and FIG. 39 shows an anvil 1130 in a partially open position. Such a flexible mechanism and a urging member mechanism urge the closing member cam mechanism to open the anvil while the closing member cam mechanism maintains a camming engagement with the cam inclined surface on the anvil to activate the closing system (anvil). Can serve to minimize any deadline lag that occurs between (for opening) and the actual opening of the anvil. Such a configuration can also serve to establish a solid cumming surface that allows the user to negate anvil clogging by manipulating the closure trigger.

Next, with reference to FIGS. 40-42, the launching member 1670 is configured to operably interface with a thread or cam assembly 1120 operably supported within the body 1151 of the surgical staple cartridge 1150. The cam assembly 1120 is slidably displaced within the surgical staple cartridge body 1151 from a proximal start position adjacent to the proximal end 1153 of the cartridge body 1151 to an end position adjacent to the distal end 1155 of the cartridge body 1151. Is. The cartridge body 1151 operably supports a plurality of staple drivers (not shown) aligned in rows on each side of a centrally located slot 1154. The centrally located slot 1154 allows the launching member 1670 to pass through and cut the tissue clamped between the anvil 1130 and the surgical staple cartridge 1150. The driver is associated with a corresponding pocket 1156 that is open through the upper deck surface 1152 of the cartridge body 1151. Each staple driver supports one or more surgical staples or fasteners (not shown) on it. Therefore, the plurality of surgical staples are arranged in lines or rows located on both sides of slot 1154. The cam assembly 1120 includes a plurality of slanted or wedge-shaped cams 1122, each cam 1122 corresponding to a particular line of fastener or driver located on the side surface of slot 1154. When the launching member 1670 is launched or driven distally, the launching member 1670 also drives the cam assembly 1120 distally. As the launch member 1670 moves distally through the surgical staple cartridge 1150, the tissue cutting mechanism 1676 cuts the tissue clamped between the anvil 1130 and the surgical staple cartridge 1150, and the cam assembly 1120 is in the cartridge. Drives the driver upwards, which drives the corresponding staples or fasteners to form contact with the anvil 1130.

In these embodiments where the launching member comprises a tissue cutting surface or tissue cutting mechanism, the launching member is erroneous unless an unlaunched or new staple cartridge is properly supported within the elongated channel 1102 of the surgical end effector 1100. It may be desirable to configure the elongated shaft assembly in such a way as to prevent it from moving forward. For example, if there are no staple cartridges and the launcher is advanced distally through the end effector, the tissue is cut but not stapled. Similarly, if a used staple cartridge (ie, a staple cartridge from which at least some of the staples have already been fired) is present in the end effector and the firing member is advanced, the tissue can be severed. , Staples may not be perfect, if at all. It will be clear that the occurrence of such a phenomenon can lead to undesired catastrophic consequences during surgical procedures. US Pat. No. 6,988,649, Invention title "SURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT", US Pat. No. 7,044,352, Invention title "SURGICAL STAPLING INSTRUMENT , U.S. Pat. No. 7,380,695, title of invention "SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MEMHANISM FOR PREVENTION OF FIRING", and U.S. patent application No. 14 / 742, 933 Each of "WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FOR PRIVENTING FIRING SYSTEM ACTION WHEN A CARTRIDGE IS SPENT OR MISSING" discloses various launching member lockout mechanisms that can be used. Each of these references is incorporated herein by reference in its entirety.

An "unfired", "unused", "new", or "new" surgical staple cartridge 1150 is defined herein in which the surgical staple cartridge 1150 is properly loaded into an end effector. Sometimes it means having all of the fasteners in their "launchable" position. When in that position, the cam assembly 1120 is in its starting position. The new surgical staple cartridge 1150 may be seated within the elongated channel 1102 and held therein by a snap mechanism on the cartridge body configured to hold onto the corresponding portion of the elongated channel 1102. FIG. 41 shows a portion of the surgical end effector 1100 with a new or unfired surgical staple cartridge 1150 seated therein. As can be seen in FIG. 41, the cam assembly 1120 is in the starting position. To prevent the launch system from being activated, more precisely, the launch member 1670 is far away through the end effector 1100 unless an unlaunched or new surgical staple cartridge is properly seated in the elongated channel 1102. To prevent driving in the direction, the exemplary interchangeable surgical tool assembly 1000 employs a launcher lockout system commonly designated as 1730, which in certain embodiments is the entire disclosure. US Pat. It can be similar to the lockout system disclosed in.

In the illustrated example, the launch member lockout system 1730 is such that the unused or unlaunched surgical staple cartridge 1150 is held in hold with the launch member 1670 when not properly seated in the elongated channel 1102. Includes the configured movable lock member 1732. The locking member 1732 comprises a pair of lateral spring arms 1733 interconnected by a central mount tab mechanism 1734. As seen in FIG. 41, each lateral spring arm 1733 is laterally offset from the shaft axis SA. When the lock member 1732 is installed, the mounting tab mechanism 1734 is configured to urge the lock member 1732 upward. In addition, the locking member 1732 is angled upward so that when the anvil 1130 is closed, it engages with the bottom surface of the corresponding anvil mounting wall 1136 on the anvil mounting portion 1134 to urge the locking member 1732 downward. Includes two lateral anvil spring arms 1736. The distal portion of each lateral spring arm 1733 terminates at a thread tab 1738 that is further laterally offset from the shaft axis SA, respectively. Each thread tab 1738 is oriented to contact the corresponding unlocking mechanism or thread boss 1124 formed on the proximal end portion 1121 of the cam assembly 1120. As seen in FIG. 40, for example, in the mechanism illustrated, the cam assembly 1120 has a central axis CA. The central axis CA is laterally aligned with the shaft axis SA when the thread assembly 1120 is in its starting position within a properly supported unlaunched staple cartridge within the elongated channel. As seen in FIG. 40, the thread bosses are laterally offset from the central axis CA (and finally the shaft axis SA) to define a central region 1123 between them. As the launching member is advanced distally through the end effector, the launching member contacts the cam assembly 1120 in the central region and drives the cam assembly 1120 distally through the cartridge body. In an alternative mechanism, only one lateral spring arm 1733 may be used, thus providing only one lateral thread tab 1738. In such a mechanism, only one corresponding thread boss 1124 is formed on the cam assembly 1120. In yet another mechanism, the locking member 1732 may have two lateral spring arms 1733, but only one of the lateral spring arms may include a thread tab 1738. In the mechanism illustrated, each proximally facing thread boss 1124 facilitates an easier interface between the thread boss 1124 and the lateral thread tab 1738 while installing the cartridge in the elongated channel. Includes an inclined surface 1127.

Each lateral spring arm 1733 internally comprises a lock notch configured to lock engage with a corresponding central lock lug 1674 extending laterally from the launch member body portion 1672. FIG. 41 shows the cam assembly 1120 in the starting position where the thread boss 1124 lifts the lock member 1732 and disengages from the lock engagement with the lock lug 1674. FIG. 42 shows an improper surgical staple cartridge 1150W installed in connection with the locking member 1732. As seen in FIG. 42, the cartridge 1150W has a cam assembly 1120W with a mechanism 1124W extending laterally, offset laterally from the central axis of the cam assembly, whereas the mechanism 1124W does not. The lock member 1732 is not in the unlocked engagement state with the thread tab 1738. Therefore, the cam assembly 1120W does not move the lock member 1732 to disengage from the lock engagement with the launch member 1670 even at its starting position.

In an alternative mechanism, the locking member is pressed to contact the corresponding portion of the thread of a properly loaded unfired cartridge (when the thread is in its proper firing position) to complete the electrical circuit. May be configured in. With such a mechanism, for example, the motor is inoperable when the circuit is open. In one mechanism, the locking member can also be mechanically engaged with the launching member in the manner described above, thereby facilitating both mechanical and electrical lockout mechanisms / functions.

FIGS. 43-50 show another launcher lockout system 1740 that may be used in connection with the various end effector embodiments disclosed herein. In this embodiment, the launcher lockout system 1740 is free to lock in a locked position where the launcher lock 1742 lock engages with the launcher 1670 and distally through the launcher 1670 through the surgical staple cartridge 1150. Includes a launcher lock 1742 supported for pivotal movement to and from an unlocked position forward. As seen in FIG. 43, the launch member lock 1742 includes a mounting portion 1743 having a pivot member 1744 projecting laterally from each side thereof. The pivot member 1744 is pivotally captured within a pivot notch 1238 provided underneath the end effector mounting assembly 1230. See FIG. 44. As seen in FIG. 44, the pivot member 1744 is rotatably captured in the pivot notch 1238 by the lower double pivot link 1222. As further seen in FIG. 43, the pair of hook arms 1746 extend distally from the mounting portion 1743. Each hook arm 1746 includes a lock notch 1748 formed underneath it configured to engage a corresponding one of the central lock lugs 1674 on the launcher 1670. The launch member lockout system 1740 is a pair of urging members in the form of a leaf spring or the like that engages with the corresponding anvil mounting wall portion 1136 on the anvil 1130 and the launcher lock 1742 to urge the launcher lock 1742 downward. 1749 is further included.

FIG. 45 shows a surgical end effector 1100 in a fully open position that occurs while anvil 1130 and elongated channel 1102 are loaded into an unused or unfired surgical staple cartridge 1150. When in the open position, the launcher 1670 is unable to advance distally due to a misalignment of at least the launcher portion and the corresponding passage in the anvil 1130. In addition, the instrument is configured to detect the location of the anvil and / or the configuration of other parts of the anvil closure system and prevent the launch system components from operating unless the anvil is in a fully enclosed position. Various sensor mechanisms can be adopted. As seen in FIG. 45, when in the open position, the hook arm 1746 is oriented in the non-actuated position, where each portion of the hook arm 1746 is received on the corresponding central lock lug 1674 of the launcher 1670. As a result, the lock notch 1748 is not in a position to engage the corresponding central lock lug 1674.

FIG. 46 shows an end effector after an unlaunched surgical staple cartridge 1150 with a thread assembly or cam assembly 1120 is properly installed in the elongated channel 1102 and the anvil 1130 is closed. In such a configuration, the urging member 1749 exerts a downward urging motion on the launching member lock 1742, where the launching member lock 1742 and the thread boss 1124 and the central lock lug 1674 on the launching member 1670. Are in contact. As further seen in FIG. 46, the thread boss 1124 on the thread assembly 1120 lifts the launch member lock 1742 upward, so that the lock notch 148 inside is locked to the central lock lug 1674 on the launch member 1670. It plays a role of removing from the case. Therefore, the launching member 1670 is free to move forward in the distal direction, as shown in FIG. 47. As seen in FIG. 47, the launching member lock 1742 is disengaged from engagement with the launching member 1670 and the thread assembly 1120, and the urging member 1749 pivots the launching member lock 1742 downward.

48-50 show the retreat of the launching member 1670. FIG. 48 shows the positions of the launching member 1670 and the launching member lock 1742 at the start of the retreat process. FIG. 49 shows the launching member after the tapered proximal end 1675 of the central lock lug 1674 contacts the angled surface on the distal end of the hook arm 1746 and pivots the hook arm 1746 upward (arrow U). The position of 1670 is shown. FIG. 50 shows the launching member 1670 in its fully retracted or starting position. As seen in FIG. 50, the hook arm 1746 is pivoted downward to a "pre-locked" position. When the locking member is in the pre-locked position, the launching member 1670 locks with a hook harms 1746 on which the central lock lug 1674 serves to prevent further distal advancement of the launching member 1670. It can be moved distally until engaged. Thus, in the illustrated example, the launcher lock 1742 will not be moved from the unlocked or non-working position to the working position unless the anvil is first moved to the closed position. In this context, the term "closed position" refers to a launcher lockout system, although the anvil can otherwise advance the launcher distally with respect to the cartridge and launcher, for example, internally. Means to be moved to a position where it cannot be advanced distally.

FIGS. 51-55 show another launcher lockout system 1750 that may be used in connection with the various end effector embodiments disclosed herein. In this embodiment, the launch member lockout system 1750 includes at least one launcher lock 1725 supported for translation along the lock axis LA across the shaft axis SA. In one example, the launcher lock 1752 corresponds to each of the anvil mounting wall portions 1136. In another example, only one launcher lock 1752 may be used. For clarity, only one launcher lock 1752 is shown in the figure. In the illustrated example, each launching member lock 1752 has an L-shape and a latch portion 1754. The launching member lock 1752 is movably pivotally supported on the corresponding mounting wall portion 1136 or the corresponding mounting rod 1751 mounted on the other portion of the anvil. The corresponding lock spring or urging member 1756 urges the launching member lock 1752 downward (arrow D in FIGS. 52 and 53). FIG. 51 shows a surgical end effector 1100 in which anvil 1130 and an elongated channel 1102 are in their fully closed position and an unused or unfired surgical staple cartridge 1150 is adequately supported therein. As seen in FIG. 51, each tapered end 1755 of the latch portion 1754 is engaged by a corresponding unlocking mechanism 1125 on the thread assembly 1120. The unlocking mechanism 1125 serves to vertically shift the latch portion 1754 so that the central lock lug 1674 on the launching member 1670 can pass under it. Therefore, the launching member 1670 is free to move forward in the distal direction. FIG. 52 shows the position of the launching member 1670 at the start of the firing process, with the launching member 1670 moving forward distally from the starting position. As can be seen in FIG. 52, the unlocking mechanism 1125 is no longer in contact with the latch portion 1754.

FIGS. 53-55 show the retreat of the launching member 1670. FIG. 53 shows the positions of the launching member 1670 and the launching member lock 1752 at the start of the retreat process. In FIG. 54, the tapered proximal end 1675 of the central lock lug 1674 contacts the angled surface of the latch portion 1754 or the tapered end 1755, shifting the launcher lock 175 vertically upwards (FIGS. 54 and 55). The position of the launching member 1670 after the arrow U) is shown. FIG. 55 shows the launching member 1670 in its fully retracted or starting position. As seen in FIG. 55, when the launch member lock 1752 is in the locked or bottom position and the launch member 1670 is moved distally, the central lock lug 1674 on the launch member 1670 is the corresponding launch. It comes into contact with the latch portion 1754 of the member lock 1752. When in that position, the launcher 1670 cannot advance distally. Since the launching member lock 1752 is attached to the anvil, when the anvil is in the open position, the launching member lock 1752 is not in the locked position and can prevent the launching member 1670 from advancing in the axial direction. Therefore, in order to activate the launcher lockout system 1750, the anvil 1130 must first be moved to the closed position. In this context, the term "closed position" refers to a launcher lockout system, although the anvil can otherwise advance the launcher distally with respect to the cartridge and launcher, for example, internally. Means to be moved to a position where it cannot be advanced distally.

56-63 show another launching member including a movable locking member 1762 configured to holdfully engage the launching member 1670 when the surgical staple cartridge 1150 is not properly seated in the elongated channel 1102. The lockout system 1760 is shown. The locking member 1762 is configured to holdfully engage the corresponding portion of the firing member when the thread assembly 1120 is not present inside the surgical staple cartridge 1150 at its starting position, in at least one lateral direction. A moving lock portion 1764 is provided. In the mechanism illustrated, the locking member 1762 employs two laterally moving locking portions 1764, each locking portion 1764 engaging a laterally extending portion of the launching member 1670.

In the illustrated embodiment, the locking member 1762 comprises a substantially U-shaped spring member, each laterally movable leg or locking portion 1764 extending from the central spring portion 1763, FIGS. 56, 59, and FIG. It is configured to move laterally as represented by the arrow "L" in 62. It will be understood that the term "lateral" refers to the direction across the shaft axis SA. The spring or locking member 1762 may be made of high strength spring steel or similar material. The central spring portion 1763 may include a proximally extending spring tab 1767 held within a notch 1240 in the end effector mounting assembly 1230. See FIG. 57. In the illustrated example, the spring tab 1767 functions to urge the locking member 1762 to the unlocked configuration when the anvil 1130 is in the open position. FIG. 57 shows anvil 1130 in an open position, ready for unfired or new cartridges to be installed in elongated channel 1102. As seen in FIG. 57, the mounting tab 1767 urges the locking member 1762 in the upward direction (arrow U). When in its unlocked position, the locking member 1762 is not in a position to prevent distal advancement of the launching member 1762. However, the instrument can use other sensors and lockout mechanisms to detect the location of the anvil and, in other cases, prevent the launch system from operating unless the anvil has been moved to the closed position.

FIG. 58 shows a portion of the surgical end effector 1100 after the unlaunched staple cartridge 1150 is loaded or properly supported in the elongated channel 1102 and the anvil 1130 has been moved to the closed position. .. When the anvil 1130 is moved to the closed position, the anvil mounting wall portion 1136 comes into contact with the corresponding laterally extending anvil tab 1766 formed on the locking member 1762. See FIG. 56. As a result, the anvil mounting wall portion 1136 serves to move the lock member 1762 from the disengagement position to the locked position, where the lock member 1762 is lock-engaged with the launch member 1670. In one embodiment, each laterally movable leg or locking portion 1764 of the locking member 1762 includes a locking window 1768 inside thereof. When the locking member 1762 is in the locked position, a central lock lug 1674 on each side surface of the launching member 1670 extends into the corresponding lock window 1768 and the launching member 1670 advances axially distally. Retainingly prevent.

As seen in FIG. 56, the thread or cam assembly 1120 includes an unlocking mechanism 1125 corresponding to each of the laterally movable locking portions 1764. In the mechanism shown, the unlocking mechanism 1125 is provided on or extends proximal to each of the central wedge cams 1122. In an alternative mechanism, the unlocking mechanism 1125 may include a proximal overhang portion of the corresponding wedge-shaped cam 1122. As seen in FIG. 59, when the thread assembly 1120 is in its starting position, the unlocking mechanism 1125 engages with the corresponding locking portion 1764 and corresponds to a direction across the shaft axis SA (arrow L). The lock portion 1764 is laterally urged. When the locking portions 1764 are in these unlocked orientations, the central lock lugs 1674 are not retentively engaged with their corresponding locking windows 1768. In these orientations, the launching member 1670 can be axially advanced (launched) in the distal direction. However, if the unfired surgical staple cartridge 1150 is not present in the elongated channel 1102 or the thread assembly 1120 is moved out of its starting position (this is because the cartridge is at least partially or completely fired). The locking portion 1764 bounces laterally and holds into engagement with the launching member 1670. When in the position shown in FIG. 58, the central lock lugs 1674 are received within their corresponding lock windows 1768 and are prevented from moving distally by the lockout stopper 1769. When in this position, the launcher 1670 cannot move distally.

FIG. 61 shows the launching member 1670 when it is retracted to its starting position or unlaunched position. When the tapered or tapered proximal end 1675 of the central lock lug 1674 contacts the used distal end 1765 of the movable lock portion 1764, the movable lock portion 1764 becomes the central lock lug, as shown in FIG. Each of the 1674s is laterally urged until it is completely re-accepted within the lock window portion 1768 of the lock portion 1764 (FIG. 63). When the launching member 1670 is fully retracted to the starting position shown in FIG. 63, the launching member 1670 is relocked in place by the locking member 1762 and another new cartridge is suitable for the elongated channel 1102 as described above. It is prevented from advancing distally until it is loaded into. When the anvil 1130 is opened, the spring tab 1767 re-urges the locking member 1762 to return it to the unlocked or pre-actuated position. Therefore, in order for the launcher lockout system 1760 to operate, the user must first move the anvil to the closed position. In this context, the term "closed position" refers to a launcher lockout system, although the anvil can otherwise advance the launcher distally with respect to the cartridge and launcher, for example, internally. Means to be moved to a position where it cannot be advanced distally.

FIGS. 64 to 70 show an alternative joint locking mechanism 1910 for locking the surgical end effector 1100'at a position where the joint movement is performed with respect to the shaft axis SA about the joint movement axis BB. In the illustrated example, the surgical end effector 1100'is pivotally coupled to the spine assembly 1500'. The spine assembly 1500'may be attached to chassis 1800 (FIG. 4) as described above. The distal end portion 1540 of the spine assembly 1500'is formed using a downwardly projecting joint motion pin 1542 that defines the joint motion axis BB. The range of motion pins 1542 are configured to be rotatably or pivotally received within the spine mounting holes 1254 provided in the mounting base 1252 of the end effector mounting assembly 1250. The end effector mounting assembly 1250 extends through the lateral mounting hole 1251 of the mounting assembly 1250 and is received in the channel mounting hole 1106 (FIG. 6) provided in the proximal end 1103 of the elongated channel 1102. It is attached to the proximal end 1103 of the elongated channel 1102 by a spring pin connector 1235 (FIG. 6).

Referring to FIGS. 64 and 65, in one embodiment, the joint locking mechanism 1910 defines a central pinhole 1924 and is a central spring body portion comprising lower release ring segments 1930 and 1932 and upper release ring segments 1940 and 1942. It comprises a lock spring assembly 1920, including 1922. The lock spring assembly 1920 is sized to be rotatably received within the spine mounting holes 1254 of the mounting base 1252. In one embodiment, the upper release stop portion 1256 and the lower release stop portion 1258 each project inward into the spine mounting hole 1254. The joint locking mechanism 1910 further includes a release pin assembly 1950 that includes an upper release arm 1952 and a lower release arm 1954. The release pin assembly 1950 is attached to the distal articular motor link 1960 pinned to the distal end of the distal articular motor link 1710'by the link pin 1962. The distal joint motion link 1710'is described herein to axially move the distal joint motion link 1710' distally and proximally depending on the direction of the desired joint motion. Can interface with the motor system. The bottom of the release pin assembly 1950 (not shown) is configured to be pivotally and slidably supported within a lower arched release pin slot 1260 formed within the end effector mounting assembly 1250. A second upper release arm slot 1270 is also formed within the end effector mounting assembly and is configured to movably accommodate the upper and lower release arms 1952 and 1954. As seen in FIG. 67, the upper balance forming portion 1272 is configured to project into the second upper release arm slot 1270 and operably interface with the upper release arm 1952. Similarly, the lower balance forming portion 1274 is configured to project into the second upper release arm slot 1270 and operably interface with the lower release arm 1954.

In the illustrated example, the range of motion pin 1542 is rotatably received within the central pinhole 1924 of the lock spring assembly 1920. In the lock spring assembly 1920, the upper release stop 1256 is received in the upper lock space 1941 formed between the upper release ring segments 1940 and 1942, and the lower release stop 1258 is with the lower release ring segments 1930 and 1932. It is received in the spine mounting holes 1254 of the end effector mounting assembly 1250 so as to be located within the lower lock space 1931 formed between them. FIG. 67 shows the surgical end effector 1100 in a non-joint position. As can be seen in FIG. 67, the upper release stop portion 1256 is abutting engaged with the upper release ring segment 1940. The lower release stop portion 1258 can also be abutted and engaged with the lower release ring segment 1932. Such a configuration holds the lock spring assembly 1920, which frictionally engages with the joint movement pin 1542, and holds the surgical end effector 1100 in a non-joint position.

FIG. 68 is a top view of the joint locking mechanism 1910 when the surgical end effector starts the joint movement to the right (arrow RD) about the joint movement axis. As seen in FIG. 68, the right joint movement process is initiated by axially advancing the distal joint movement link 1710'in the distal DD. As the distal articular motor link 1710'advance distally, the distal articular motor link 1960 moves the release pin assembly 1950 distally, thereby causing the upper release arm 1952 to move the end effector mounting assembly 1250. It is abutted and engaged with the upper balance forming portion 1272. Such contact between the upper balance forming portion 1272 and the upper release arm 1952 causes the upper release arm 1952 to contact the upper release ring segment 1942 to apply the right joint range of motion RAF. This movement causes the upper release ring segment 1942 to move counterclockwise CCW, thereby opening or expanding the lock spring assembly 1920 and disengaging it from frictional engagement with the joint motion pin 1542. FIG. 69 is a bottom view of the joint locking mechanism 1910 shown in FIG. 68. As seen in FIG. 69, the lower release stop portion 1258 abuts engages with the lower release ring segment 1930, thereby preventing the lower release ring segment 1930 from moving. As a result, the lock spring assembly 1920 expands to release the range of motion pins 1542. As the distal joint motion link 1710'advance further distally, the release pin assembly 1950 applies joint motion to the right RD to the surgical end effector mounting assembly 1250 and at the same time moves the lock spring assembly 1920. Disengage from lock engagement with joint motion pin 1542. See FIG. 70. To move the surgical end effector 1100 to the left, the distal joint movement link 1710'is moved proximally, which causes the release pin assembly to expand the lock spring assembly 1920 and the surgical end. Move the effector mounting assembly 1250 to the left in the opposite but similar manner. Therefore, as can be understood from the above description, the lock spring assembly includes a first locked or holding configuration in which the lock spring assembly 1920 frictionally engages with the joint motion pin 1542, and joint motion. The lock spring assembly 1920, together with the surgical end effector mounting assembly 1250, essentially comprises a spring assembly that is expandable from a second unlocked position that is freely pivoted around the joint motion pin 1542.

FIGS. 71-77 show an alternative joint locking mechanism 2010 for locking the surgical end effector 1100 at a position where the joint motion is performed with respect to the shaft axis SA about the joint motion axis BB. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500'. The spine assembly 1500'may be attached to chassis 1800 (FIG. 4) as described above. The distal end portion 1540 of the spine assembly 1500'is formed by a downwardly projecting joint motion pin 1542 that defines the joint motion axis BB. The range of motion pins 1542 are configured to be rotatably or pivotally received within the spine mounting holes 1254 provided in the mounting base 1252'of the end effector mounting assembly 1250'. The end effector mounting assembly 1250'extends through the lateral mounting hole 1251 of the mounting assembly 1250'and is received in the channel mounting hole 1106 (FIG. 6) provided in the proximal end 1103 of the elongated channel 1102. It is attached to the proximal end 1103 of the elongated channel 1102 by a spring pin connector 1235 (FIG. 6).

Referring to FIGS. 71 and 73, in one embodiment, the joint locking mechanism 2010 includes a ball retainer base 2022 having a central pivot hole 2024 configured to receive a joint motion pin 1542 through it. , A ball lock assembly 2020. The ball retainer base 2022 is attached to the joint lock link 1960 by a joint motion pin 2023, and the joint flexion pin 2023 passes through the pinhole 2025 of the ball retainer base 2022 and the mounting base 1252'of the surgical end effector mounting assembly 1250'. Extends within the joint slot 1264. The joint lock link 1960 is pinned to the distal end of the distal range of motion link 1710'by the link pin 1962. The distal joint motion link 1710'is described herein to axially move the distal joint motion link 1710' distally and proximally depending on the direction of the desired joint motion. Can interface with the motor system. The ball retainer base 2022 has a distal locking surface 1263 formed on the lock cradle 1262 on the surgical end effector mounting assembly 1250'and a proximal locking surface formed on the distal end portion 1540 of the spine assembly 1500'. Further included are two upright ball stop members 2026 and 2028 that serve to hold the two lock balls 2030 and 2032 between them and the 1541. The ball retainer base 2022 further includes two centering springs 2034 and 2036 that also function to support the lock balls 2030, 2032, respectively.

FIG. 73 shows the surgical end effector 1100 in a non-joint position. As seen in FIG. 73, the lock balls 2030, 2032 are locked between the distal locking surface 1263 on the lock cradle 1262 and the proximal locking surface 1541 on the distal end portion 1540 of the spine assembly 1500'. Captured in the combined state, the surgical end effector 1100 is held in a non-articular position. FIG. 74 shows a lock plane LP extending through a contact point between a lock ball 2030 and a distal lock surface 1263 and a proximal lock surface 1541 on a lock cradle 1262. FIG. 75 is a top view of the joint locking mechanism 2010 when the surgical end effector starts the joint movement to the right (arrow RD) about the joint movement axis. As seen in FIG. 75, the right joint movement process is initiated by axially advancing the distal joint movement link 1710'in the distal DD. As the distal joint motion link 1710'advance distally, the joint lock link 1960 forces the joint motion pin 2023 distally within the joint slot 1264 within the mounting base 1252'of the end effector mounting assembly 1250'. It is moved and at the same time a release load RL is applied to the ball retainer base 2022. As the ball retainer base 2022 moves to the right RD, the ball stop 2026 moves the lock ball 2032 out of its lock engagement with the distal lock surface 1263 on the lock cradle 1262. The ball stop 2026 initially moved out of engagement with the lock ball 2030, but the lock ball 2030 temporarily engaged the distal lock surface 1263 and the proximal lock surface 1541 on the lock cradle 1262. It remains. As the distal joint motion link 1710'advance further distally, the joint motion pin 2023 adds joint motion to the right RD to the surgical end effector mounting assembly 1250'and at the same time rightward the ball retainer base 2022. Move to RD. The joint angle AA represents the amount of joint movement experienced by the surgical end effector 1100. When the ball retainer base 2022 moves to the right RD, the lock ball 2030 also moves and disengages from the lock engagement with the distal lock surface 1263 and the proximal lock surface 1541. The ball stop 2028 also holds the lock ball 2032 out of lock engagement with the distal lock surface 1263 and the proximal lock surface 1541 during joint movement. When the surgical end effector 1100 is articulated to the desired position, the distal advance of the distal articulation link 1710'is interrupted. The centering springs 2034 and 2036 then urge the lock balls 2030 and 2032 to lock engage with the distal lock surface 1263 and the proximal lock surface 1541 to hold the surgical end effector 1100 in the articulated position. As can be seen in FIG. 76, a centering spring that urges the lock balls 2030, 2032 to engage the distal lock surface 1263 and the proximal lock surface 1541 in a retentive manner when in the locked articulated position. The action further results in the movement of the joint motion pin 2023 to a neutral position within the joint slot 1264. To move the surgical end effector 1100 to the left, the distal joint movement link 1710'is moved proximally, which pivots the ball lock assembly 2020 and the surgical end effector 1100 to the left. , Works in a similar way.

FIGS. 78-82 show an alternative joint locking mechanism 2110 for locking the surgical end effector 1100 at a position where the joint motion is performed with respect to the shaft axis SA about the joint motion axis BB. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500 ″. The spine assembly 1500 ″ may be mounted on chassis 1800 (FIG. 4) as described above. The distal end portion 1540'of the spine assembly 1500" includes a pivot hole 1543 defining the range of motion BB. The end effector mounting assembly 1250'' extends through the lateral mounting hole 1251 of the mounting assembly 1250'' and is within the channel mounting hole 1106 (FIG. 6) provided in the proximal end 1103 of the elongated channel 1102. Attached to the proximal end 1103 of the elongated channel 1102 by a spring pin connector 1235 (FIGS. 80-82) received by. In the illustrated embodiment, the surgical end effector mounting assembly 1250'' extends upward from the mounting base 1252 and has a tapered mounting column 1253 that extends upward from the mounting base 1252 and is received in the pivot hole 1543 of the spine assembly 1500''. include. In one mechanism, the tapered mounting column 1253 is tapered away from the mounting base 1252. In other words, the cross-sectional area of the end 1255 of the tapered mounting column 1253 is smaller than the cross-sectional area of a portion of the tapered mounting column 1253 adjacent to the mounting base 1252.

The joint locking mechanism 2110 comprises at least one locking member or lock shoe movably supported between the mounting column 1253 and the inner wall 1545 of the pivot hole 1543. In the mechanism shown, the mounting column 1253 has a triangular cross-sectional shape that defines the three column sides 1280, 1282, 1284. Therefore, three locking members or lock shoes 2112, 2114, 2116 (in the illustrated example) are used, the lock shoe 2112 is located adjacent to the column wall 1282, and the lock shoe 2114 is adjacent to the column wall 1284. The lock shoe 2116 is arranged adjacent to the column wall portion 1280. Mounting columns with other shapes and other numbers of lock shoes can also be used. The lock shoes 2112, 2114, and 2116 are each received on a corrugated washer 2120 mounted on the mounting base 1252 of the end effector mounting assembly 1250 ″. The mechanism illustrated includes, for example, a proximal closure member 2410 that can be axially advanced and retracted in various ways as described herein with respect to the proximal closure member 1410. The proximal closure member 2410 is pivotally coupled to the distal closure member 2430, which is similar in structure and operation to the distal closure member 1430. As seen in FIGS. 80-82, the distal closure member 2430 is connected to the proximal closure member 2410 by the upper double pivot link 1220 and the lower double pivot link 1222'. In one embodiment, the lower double pivot link 1222'is formed with a tapered inclined surface 1226 on its upper surface 1224. See FIG. 78. The mechanism illustrated uses two range of motion links 1710R and 1710L to add left and right joint motion to the surgical end effector 1100. See FIG. 79. In order to move the surgical end effector 1100 to the right, the joint movement link 1710R is axially retracted in the proximal direction PD and the joint movement link 1710L is axially advanced in the distal direction DD. Conversely, in order to move the surgical end effector 1100 to the left, the joint movement link 1710L is axially retracted in the proximal direction PD and the joint movement link 1710R is axially advanced in the distal direction DD. .. Various known joint movement system mechanisms and other joint movement system mechanisms disclosed herein may generate joint movement control movements and add them to the joint movement links 1710R, 1710L. The range of motion link 1710R has a slotted end portion 1711R that is received on the right range of motion pin 1266R mounted on the end effector mounting assembly 1250 ″. Similarly, the range of motion link 1710L has a slotted end portion 1711L that is received on the left range of motion pin 1266L mounted on the end effector mounting assembly 1250 ″.

Referring now to FIG. 80, in the illustrated mechanism, the corrugated washer 2120 urges the mounting base 1252 of the end effector mounting assembly 1250'' downward (arrow D) when the closure system is inactive. .. In FIG. 80, the proximal closure member 2410 is in the proximal position. Similarly, the lower double pivot link 1222'is also in a proximal position that allows the mounting base 1252 to be driven downwards. Because the mounting base 1252 is in the lowest or unlocked position, the tapered mounting column 1253 has lock shoes 2112, 2114, from the retaining engagement with the distal end portion 1540'of the spine assembly 1500''. 2116 is released (first unlocked position). Therefore, when in that position, the surgical end effector 1100 can be joint-moved around the joint movement axis BB by the joint movement links 1710R, 1710L. Once the surgical end effector 1100 has been articulated to the desired position, the articulation locking mechanism 2110 can be reactivated by advancing the proximal closure member 2410 distally.

FIG. 81 shows the start of the locking process. As can be seen in this figure, the proximal closure member 2410 and the lower double pivot link 1222'are first moved to the distal DD. As the lower double pivot link 1222'moves distally, the inclined surface 1226 above it drives the mounting base 1252 of the end effector mounting assembly 1250 ″ upward to fold the corrugated washer 2120. As the mounting base 1252 moves upwards (arrow U), the tapered mounting column 1253 moves the lock shoe 2112, 2114, 2116 from the first unlocked position to the distal end portion 1540'of the spine assembly 1500''. The surgical end effector 1100 is locked to the articulated position by urging it to hold and lock engage (second locked position). This locking of the surgical end effector 1100 is performed before the jaws of the surgical end effector are completely closed. FIG. 82 shows the positions of the proximal closure member 2410, the lower double pivot link 1222', and the joint locking mechanism 2110 when the closure system component is moved to a fully closed position where the end effector is completely closed. show. Thus, the joint locking mechanism 2110 can be activated or moved between the locked and unlocked states by activating the closure system in small amounts. An alternative mechanism is conceived, in which the mounting column is attached to the distal end of the spine assembly and the pivot hole is provided in the proximal portion of the surgical end effector.

FIGS. 83 and 84 show an alternative joint locking mechanism 2110'for locking the surgical end effector 1100 in a position of joint motion with respect to the shaft axis SA about the joint motion axis BB. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500 ″. The spine assembly 1500 ″ may be mounted on chassis 1800 (FIG. 4) as described above. The distal end portion 1540'of the spine assembly 1500" includes a pivot hole 1543 defining the range of motion BB. The end effector mounting assembly 1250 ″ extends through the lateral mounting hole 1251 of the mounting assembly 1250'' and into the channel mounting hole 1106 (FIG. 6) provided in the proximal end 1103 of the elongated channel 1102. It is attached to the proximal end 1103 of the elongated channel 1102 by a receiving spring pin connector 1235 (FIG. 6). The surgical end effector mounting assembly 1250 ″ includes a mounting column 1253 ″ extending upward from the mounting base 1252 and received within the pivot hole 1543 of the spine assembly 1500 ″. In this embodiment, the mounting column 1253'does not have to be tapered.

This embodiment also includes a plurality of lock shoes 2112', 2114', 2116', respectively, made from an electroactivated polymer material (EAP). Such materials can expand, for example, when electrically excited. For example, an electric current may be applied to one or more of the lock shoes 2112', 2114', 2116' by a conductor (not shown) extending from a housing or handle mechanism, robotic control system, or the like. Therefore, once the surgical end effector 1100 is articulated to the desired position, one or more of the lock shoes 2112', 2114', and 2116' are expanded by applying an electric current to them. To. In other mechanisms, the one or more lock shoes 2112', 2114', and 2116' may be configured to be pneumatically or hydraulically inflated. In other mechanisms, the lock shoes 2112', 2114', and 2116' may not be expandable. In such a mechanism, the mounting column 1253 may be made from EAP and selectively expandable by applying a current to it. In other mechanisms, the mounting column 1253 may be selectively expandable pneumatically or hydraulically.

FIGS. 85-89 show an alternative joint locking mechanism 2210 for locking the surgical end effector 1100 at a position where the joint movement is centered on the joint movement axis BB with respect to the shaft axis SA. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500'. The spine assembly 1500'may be attached to chassis 1800 (FIG. 4) as described above. The distal end portion 1540 of the upper 1539 of the spine assembly 1500'is formed by a downwardly projecting joint motion pin 1542 that defines the joint motion axis BB. The range of motion pins 1542 are configured to be rotatably or pivotally received within the spine mounting holes 1254 provided in the mounting base 1252 of the end effector mounting assembly 1250 ″. The end effector mounting assembly 1250'' extends through the lateral mounting hole 1251 of the mounting assembly 1250'' and is within the channel mounting hole 1106 (FIG. 6) provided at the proximal end 1103 of the elongated channel 1102. It is attached to the proximal end 1103 of the elongated channel 1102 by a receiving spring pin connector 1235 (FIG. 6).

Referring to FIG. 85, the illustrated mechanism uses two range of motion links 1710R'and 1710L'to add left and right joint motion to the surgical end effector 1100. However, in other embodiments, only one range of motion link may be used. In the illustrated mechanism, in order to move the surgical end effector 1100 to the right, the joint movement link 1710R'is axially retracted in the proximal direction PD and the joint movement link 1710L' is axially retracted in the distal direction DD. To be advanced. Conversely, in order to move the surgical end effector 1100 to the left, the joint movement link 1710L'is axially retracted in the proximal direction PD and the joint movement link 1710R' is axially advanced in the distal direction DD. Will be done. The range of motion link 1710R'has a slotted end portion 1711R that is received on the right range of motion pin 1266R mounted on the end effector mounting assembly 1250''. Similarly, the range of motion link 1710L'has a slotted end portion 1711L that is received on the left range of motion pin 1266L mounted on the end effector mounting assembly 1250''.

Further referring to FIG. 85, the articulated locking mechanism 2210 in the illustrated embodiment includes a locking assembly 2220 comprising a distal end 2222 having a right locking member or fork 2224 and a left locking member or fork 2228 projecting from it. The right lock member 2224 includes a right lock gear rack 2226 laterally adjacent to and face-to-face with the corresponding right joint motion gear rack 1720 formed on a portion extending below the right joint motion link 1710R'. Similarly, the left lock member 2228 is laterally adjacent to and face-to-face with the corresponding left joint motion gear rack 1723 formed on the portion 1722 extending below the left joint motion link 1710L'. Includes 2230. In the non-actuated state, the right lock member 2224 and the left lock member 2228 are located in the center between the right joint motion link 1710R'and the left joint motion link 1710L'and are not engaged with them. As further seen in FIG. 85, the lock assembly 2220 is supported between the lower distal spine portion 1550 and the upper spine portion 1539. The lower distal spine portion 1550 extends upward through the mounting hole 2223 of the distal end 2222 of the lock assembly 2220 and is received within the distal boss 1544 formed underneath the upper spine portion 1539. Includes an extending distal support pin 1554. See FIG. 86. The lower distal spine portion 1550 extends through the lock opening 2225 between the right locking member 2224 and the left locking member 2228 into a proximal boss 1546 formed below the upper spine portion 1539. Further included is an upwardly extending proximal support pin 1556 that is accepted.

In the mechanism illustrated, the joint locking mechanism 2210 also includes an axially movable lock bar assembly 2240 that operably interfaces with a joint motion transmitter 2250 operably supported within the shaft assembly 1400'. The lock bar assembly 2240 includes a lock wedge 2244 formed on its distal end 2242. The joint motion transmitter 2250 is configured to operably interface with a distal launch bar 1620 operably supported within the shaft assembly 1400'. In this context, the distal launch bar 1620 may include a launch actuator.

Referring here to FIGS. 85-87, in the mechanism illustrated, one form of the joint motion transmitter 2250 is on a shifter drive rack 2254 formed on a portion of the distal launch bar 1620 and on the shifter 2252. Includes a launch rack 1624 configured to operably engage. The proximal end 2253 of the shifter 2252 is configured to operably interface with the lock bar coupler 2246 formed on the lock bar assembly 2240. As further seen in FIGS. 85-87, the shifter 2252 further includes a shifter driven rack 2256 that meshes and engages with the joint movement pinion gear 2262 attached to the joint movement sprocket gear 2260. The articulating sprocket gear 2260 is rotatably supported within the shaft assembly 1400'and meshes with a right meshing engagement drive rack 1724 formed or attached to the right distal articular motion link 1710R'. Not only, but also meshing and engaging with the left joint motion drive rack 1726 formed or otherwise attached to the left distal joint motion link 1710L'.

The operations of the joint motion transmitter 2250 and the joint locking mechanism 2210 will be described with reference to FIGS. 87 to 89. FIG. 87 shows the surgical end effector 1100 in a non-joint position. The lock bar assembly 2240 is in its most distal "unlocked position" and the lock wedge 2244 is received within the lock opening 2225 located between the right lock member 2224 and the left lock member 2228. .. The right and left locking members 2224, 2228 are inactive and are not engaged with the right and left joint motion links 1710R', 1710L'. Therefore, the right lock gear rack 2226 on the right lock member 2224 is disengaged from engagement with the right joint motion gear rack 1720 on the right distal joint motion link 1710R', and the left lock gear rack 2230 is the left distal joint motion link. It is disengaged from the meshing engagement with the left joint motion gear rack 1723 on the 1710L'. Therefore, the joint locking mechanism 2210 is in an "unlocked" configuration. However, due to friction between the various components, the surgical end effector 1100 may not be able to float or rotate around the range of motion BB.

FIG. 88 shows the initiation of the range of motion process. As seen in FIG. 88, the proximal end 2253 of the shifter 2252 is operably engaged with the lock bar coupler 2246 and the lock bar assembly 2240 is in an unlocked orientation. When the shifter 2252 is thus engaged with the lock bar assembly 2240, the shifter drive rack 2254 meshes with the launch rack 1624 on the distal launch bar 1620. The range of motion process is subsequently initiated by axially moving the distal launch bar 1620. In the embodiment shown in FIG. 88, the end effector 1100 is articulated to the right RD about the articulation axis by axially moving the distal launch bar 1620 in the proximal direction PD. Axial actuation of the distal launch bar 1620 in the proximal and distal directions is discussed in detail herein. Since the lock bar coupler 2246 holds the shifter drive rack 2254 in mesh with the launch rack 1624 on the distal launch bar 1620, the shifter 2252 moves proximally with the distal launch bar 1620. .. Due to the meshing engagement of the shifter driven rack 2256 and the joint motion pinion gear 2262 to the proximal direction PD of the shifter 2252, the joint motion pinion gear 2262 and the joint motion sprocket gear 2260 rotate clockwise via the joint motion actuation angle AAA. Rotate in the direction. When the joint motion sprocket gear 2260 rotates, the right distal joint motion link 1710R'is driven in the proximal direction PD and the left distal joint motion link 1710L'is driven in the distal direction DD, thereby finally for surgery. The end effector pivots to the right RD around the joint motion axis. Once the surgical end effector 1100 is articulated to the desired position, the user advances the lock bar assembly 2240 axially to the proximal PD, thereby moving the lock wedge 2244 proximally to the right. Driving contact is made with the two actuating return stoppers 2227 and 2229 formed on the lock member 2224 and the left lock member 2228, respectively, and the right lock member 2224 and the left lock member 2228 are laterally laterally outward. The end effector 1100 can be locked at the joint-moving position by urging and locking-engaging the right and left joint movement gear racks 1720 and 1723, respectively. This proximal movement of the lock bar assembly 2240 further serves to separate the lock bar coupler 2246 from the shifter 2252, as shown in FIG.

As seen in FIG. 89, when the shifter 2252 is separated from the lock bar assembly 2240, the shifter drive rack 2254 is no longer meshing with the launch rack 1624 on the distal launch bar 1620 and the shifter driven rack 2256. Is no longer in mesh with the articulation pinion gear 2262. Thus, at this point, the distal launch bar 1620 can be advanced distally to apply firing motion to the surgical end effector and subsequently retracted proximally to the starting position shown in FIG. 87. Once the distal launch bar 1620 has returned to the starting position, the user subsequently advances the lock bar assembly 2240 distally to operably engage the lock bar connector 2246 with the proximal end 2253 of the shifter 2252. The lock wedge 2244 can be returned to its starting or unlocked position, where the right locking member 2224 and the left locking member 2228 bounce back to these unlocked positions or otherwise. You can go back. The user can then apply axial motion to the distal launch bar 1620 in the appropriate axial direction to return the surgical end effector 1100 to its non-articular position.

FIGS. 90-95 show an alternative joint locking mechanism 2310 for locking the surgical end effector 1100 in a position of joint motion with respect to the shaft axis SA about the joint motion axis BB. In the illustrated example, the surgical end effector 1100 is pivotally coupled to the spine assembly 1500'. The spine assembly 1500'may be attached to chassis 1800 (FIG. 4) as described above. The distal end portion 1540 of the upper spine portion 1539 of the spine assembly 1500'is formed by a downwardly projecting joint motion pin 1542 defining the joint motion axis BB. The range of motion pins 1542 are configured to be rotatably or pivotally received within the spine mounting holes 1254 provided in the mounting base 1252 of the end effector mounting assembly 1250 ″. The end effector mounting assembly 1250'' extends through the lateral mounting hole 1251 of the mounting assembly 1250'' and is within the channel mounting hole 1106 (FIG. 6) provided in the proximal end 1103 of the elongated channel 1102. Attached to the proximal end 1103 of the elongated channel 1102 by a spring pin connector 1235 (FIG. 6) that is received by.

Referring to FIG. 90, the illustrated mechanism uses two range of motion links 1710R ″ and 1710L ″ to add right and left joint motion to the surgical end effector 1100. In order to move the surgical end effector 1100 to the right, the joint movement link 1710R'' is axially retracted to the proximal PD and the joint movement link 1710L'' is axially advanced to the distal DD. .. Conversely, in order to move the surgical end effector 1100 to the left, the joint movement link 1710L'' is retracted axially to the proximal PD and the joint movement link 1710R'' is axially retracted to the distal DD. To be advanced. The right distal joint motion link 1710R ″ has a slotted end portion 1711R that is received on the right joint motion pin 1266R mounted on the end effector mounting assembly 1250 ″. Similarly, the left distal joint motion link 1710L ″ has a slotted end portion 1711L that is received on the left joint motion pin 1266L mounted on the end effector mounting assembly 1250 ″.

Further referring to FIG. 90, the right brake plate 2312 is formed on the right distal joint motion link 1710R ″, and the left brake plate 2320 is formed on the left distal joint motion link 1710L ″. As further seen in FIG. 90, the right and left brake plates 2312, 2320 are supported between the lower distal spine portion 1552'and the upper spine portion 1539. The lower distal spine portion 1552'has an upwardly extending distal support pin 1554 configured to be received within a distal boss (not shown) formed underneath the upper spine portion 1539. include. In the mechanism illustrated, the joint locking mechanism 2310 also operably interfaces with the types of joint motion transmitters described herein, or otherwise to distal DDs and proximal PDs. Includes an axially movable and lockable lockbar assembly 2340 that can interface with a lockbar control mechanism (not shown) configured to exert axial control motion. The lock bar assembly 2340 includes a lock clamp 2344 formed on its distal end 2342. The lock clamp 2344 extends through the right brake slot 2314 in the right brake plate 2312 and the left brake slot 2322 in the left brake plate 2320, as well as through the axial slot 2352 provided via the wedge plate 2350. It is present and engages with the clamp plate 2360.

The operation of the joint locking mechanism 2310 will be described below with reference to FIGS. 91 to 95. FIG. 91 shows the surgical end effector 1100 in a non-joint position. The lock bar assembly 2340 is in the unlocked position, where the clamp portion 2344 has not applied any clamping force to the right and left brake plates 2312, 2320. Therefore, the right distal joint motion link 1710R ″ and the left distal joint motion link 1710L ″ freely move in the axial direction when the joint motion is applied. Friction between the various components may prevent the surgical end effector 1100 from flopping or rotating around the range of motion BB. FIG. 92 shows the surgical end effector 1100 by moving the right distal joint motion link 1710R'' axially in the distal DD and the left distal joint motion link 1710L'' in the proximal PD. Shows the joint movement to the left LD. FIG. 93 shows the joint locking mechanism 2310 in the unlocked configuration. 94 and 95 show the joint locking mechanism 2310 in a locked configuration. The joint locking mechanism 2310 is locked by applying an actuating motion proximally to the lock bar assembly 2340. By such an action, the clamping portion for clamping the right and left brake plates 2312 and 2320 is clamped holdably between the wedge plate 2350 and the lower distal spine portion 1552'. Such a mechanism applies a clamping force CF between the clamp plate 2360 and the lower distal spine portion 1552', thereby the right distal joint motion link 1710R'' and the left distal joint motion link 1710L''. It serves to prevent any further axial movement.

FIGS. 96 and 97 show an example of a range of motion stroke amplifier transmission mechanism 2410 that can be used with various range of motion linkages disclosed herein. First, with reference to FIG. 97, a cross-sectional view of a portion of the shaft assembly 1400 ″ including the proximal closure member 1410 and the upper intermediate spine segment 1510 ″ and the distal spine extension 1562 ″ is shown. The intermediate spine segment 1510 ″ and the distal spine extension 1562 ″ serve to operably support the distal launch bar 1620 and the proximal launch shaft segment 1602 in various ways disclosed herein. This embodiment includes an intermediate joint motion link segment 1706 and a distal joint motion link segment 1707 that can be interfaced with an end effector mounting assembly in any of the various methods disclosed herein. The intermediate joint motion link 1706 can be operably interfaced with the joint lock 1210 in various ways disclosed herein. As seen in FIG. 96, the intermediate joint motion link segment 1706 includes an intermediate or first gear rack 1708 formed on it, and the distal joint motion link segment 1707 includes a second or distal gear rack 1709. include. Gear racks 1708 and 1709 mesh with at least one, preferably at least two amplifier pinion gear sets 2412, rotatably supported between the upper intermediate spine segment 1510'' and the distal spine extension 1562''. It fits. See FIG. 97. In the mechanism illustrated, for example, each amplifier gear set 2412 has a smaller drive gear 2414 supported in mesh engagement with the first gear rack 1708 and a larger amplifier gear 2416 supported in mesh engagement with the distal gear rack 1709. And.

FIGS. 98A to 98C show the operation of the joint motion stroke amplifier transmission mechanism 2410. FIG. 98A shows the positions of the intermediate joint motion link segment 1706 and the distal joint motion link segment 1707 when in a neutral or non-exercise position. FIG. 98B shows the positions of the intermediate joint motion link segment 1706 and the distal joint motion link segment 1707 after the intermediate joint motion link segment 1706 is axially advanced distally by a distance D _1R from the neutral position of FIG. 98A. Is shown. As can be further seen in FIG. 98B, the distal joint motion link 1707 is moving by the axial distance D _2R . In the illustrated example, D _2R > D _1R . FIG. 98C shows the intermediate joint motion link segment 1706 and the distal joint motion link segment after the intermediate joint motion link segment 1706 is axially advanced in the proximal direction PD by a distance D _{1 L} from the neutral position shown in FIG. 98A. The position of 1707 is shown. As can be further seen in FIG. 98C, the distal joint motion link 1707 is moving by the axial distance D _2L . In the illustrated example, D _2L > D _1L . Therefore, such a mechanism makes it possible to obtain an additional axial joint movement stroke and use it to move the end effector through a larger joint movement range centered on the joint movement axis.

FIGS. 99A and 99B show an example of a range of motion stroke amplifier transmitter 2510 that can be used with various range of motion linkages disclosed herein. The joint motion stroke amplifier 2510 operably interfaces with the proximal joint motion driver 1700'', and the proximal joint motion driver 1700'' is with the proximal joint motion driver 1700, except for the above differences. It may be the same. Specifically, the proximal joint motion drive 1700 ″ includes a drive rack 1701 formed on its distal end. The drive rack is configured to mesh and engage with a gear segment 2522 formed on a swing gear 2520 pivotally pinned to a corresponding portion of the spine assembly. In the mechanism illustrated, the swing gear 2520 is pivotable about a swing gear axis traversing the axial direction configured to move the proximal joint motion driver 1700 ″. The swing gear 2520 further includes a transfer slot 2524 configured to receive a transfer pin 1713 attached to the proximal end 1716 of the intermediate joint motion link segment 1706 ″. As seen in FIGS. 99A-99B, the distal end of the intermediate joint motion link segment 1706'' is configured to operably interface with the joint lock 1210 in various ways disclosed herein. ..

FIG. 99A shows a joint motion stroke amplifier transmitter 2510 in a neutral position where joint motion is not applied to the proximal joint motion driver 1700''. FIG. 99B shows the position of the joint motion stroke amplifier transmitter 2510 after the proximal joint motion driver 1700'' has been axially advanced to the distal DD by a _first axial distance D1. This distal movement of the proximal joint motion drive 1700'' causes the swing gear 2520 to pivot clockwise around the swing gear axis in the CW direction. Such movement of the swing gear 2520 drives the intermediate joint motion link segment 1706'' proximally by a _second axial distance D2. In such an example, D ₂ > D ₁ . FIGS. 99C-99D show a similar mechanism, except that the transfer slot 2524 is provided at the proximal end 1716 of the intermediate joint motion link segment 1706'' and the transfer pin 1713 is provided at the swing gear 2520.

Example 1-A surgical tool assembly comprising a surgical end effector movably connected to a shaft assembly by a joint. The joint joint is configured to selectively facilitate the selective joint movement of the surgical end effector with respect to the shaft assembly, centered on the range of motion axis. The range of motion traverses the shaft axis defined by the shaft assembly. The shaft assembly comprises a proximal end, a distal end operably connected to a joint, and an elongated notch within the shaft assembly. The elongated notch is on one side of the shaft axis and is located adjacent to the distal end.

Example 2-The surgical tool according to Example 1, wherein the joint is configured to limit the joint movement of the surgical end effector centered on the range of motion axis to one side of the shaft axis. assembly.

Example 3-A surgical tool assembly according to Example 1 or 2, wherein the shaft assembly comprises a spine assembly and a proximal closure member. The spine assembly comprises a distal spine end operably connected to a joint. The proximal closure member is supported on the spine assembly for selective axial movement relative to the spine assembly. The elongated notch is in the elongated spine notch in the distal spine end on one side of the shaft axis and in the proximal closure on one side of the shaft axis and corresponds to the elongated spine notch. And further prepare.

Example 4-The surgical end effector has a first jaw operably coupled to the joint and to selectively move relative to the first jaw in response to an applied closing motion. The surgical tool assembly according to Example 3, comprising a supported second jaw.

Example 5-The shaft assembly further comprises a distal closure member movably coupled to the proximal closure member for selective axial movement with the proximal closure member, wherein the distal closure member is a second. The surgical tool assembly according to Example 4, which operably interfaces with the jaws and applies a closing motion to the second jaw.

Example 6-The surgical tool assembly further comprises means for preventing buckling of the distal end of the shaft assembly when axial actuation is applied to the proximal end of the shaft assembly, Example 1 or. 2. The surgical tool assembly according to 2.

Example 7-The surgical tool assembly further comprises means for preventing buckling of the distal end of the shaft assembly when axial actuation is applied to the proximal end of the shaft assembly, Example 3. 4. The surgical tool assembly according to 5.

Example 8-The means for preventing buckling is set forth in Example 7, comprising at least one alignment member projecting from the proximal closure member and extending into the corresponding axial slot in the spine assembly. Surgical tool assembly.

Example 9-At least one aligning member projects from the proximal closure member in a first position and extends into a corresponding first axial slot in the spine assembly and is axially moved therein. The embodiment comprises at least one first alignment member and at least one second alignment member projecting from the proximal closure member at a second position diametrically opposite the first position. The surgical tool assembly according to Example 8. The second alignment member extends into the corresponding second axial slot in the spine assembly.

Example 10-The surgical tool assembly according to Example 8 or 9, wherein at least one of the at least one alignment member has an L-shaped cross section.

Example 11-A surgical tool assembly comprising a surgical end effector movably connected to a shaft assembly by a joint. The joint joint is configured to facilitate selective joint movement of the surgical end effector with respect to the shaft assembly, centered on the range of motion axis. The range of motion traverses the shaft axis defined by the shaft assembly. The shaft assembly comprises a proximal portion that includes an uninterrupted outer proximal perimeter and a distal portion that extends from the proximal portion and is operably connected to the joint. .. The distal portion includes a distal perimeter that includes a discontinuous distal portion located on one side of the shaft axis.

Example 12-The surgical tool according to Example 11, wherein the joint is configured to limit the joint movement of the surgical end effector centered on the range of motion axis to one side of the shaft axis. assembly.

Example 13-The shaft assembly is supported on a spine assembly having a distal spine end operably connected to a joint joint and a spine assembly for selective axial movement relative to the spine assembly. The surgical tool assembly according to Example 11 or 12, comprising a proximal closure member. The discontinuous distal portion comprises an elongated closure member notch within the proximal closure member on one side of the shaft axis.

Example 14-The surgical tool assembly according to Example 13, wherein the surgical tool assembly further comprises an elongated closure member notch.

Example 15-The surgical tool assembly further comprises means for preventing buckling of the distal end of the shaft assembly when axial actuation is applied to the proximal portion of the shaft assembly, Example 13 or. 14. The surgical tool assembly according to 14.

Example 16-Means for preventing buckling, according to Example 15, comprising at least one alignment member projecting from a proximal closure member and extending into a corresponding axial slot in the spine assembly. Surgical tool assembly.

Example 17-At least one aligning member projects from the proximal closure member in a first position and extends into a corresponding first axial slot in the spine assembly, in which axial movement is performed. Examples comprising at least one first alignment member and at least one second alignment member projecting from the proximal closure member at a second position diametrically opposite the first position. 16. The surgical tool assembly according to 16. The second alignment member extends into the corresponding second axial slot in the spine assembly.

Example 18-The surgical tool assembly according to Example 16 or 17, wherein at least one of the at least one alignment member has an L-shaped cross section.

Example 19-The surgical tool assembly according to Example 11, 12, 13, 14, 15, 16, 17, or 18, wherein the distal portion comprises a distal axial length. The proximal portion includes the proximal axial length, the proximal axial length being longer than the distal axial length.

Example 20-A surgical tool assembly comprising a surgical end effector movably connected to a shaft assembly by a joint. The joint joint is configured to facilitate selective joint movement of the surgical end effector with respect to the shaft assembly, centered on the range of motion axis. The range of motion traverses the shaft axis defined by the shaft assembly. The shaft assembly comprises a proximal end, a distal end operably connected to a joint, an elongated notch, and an axially displaceable launcher that is axially aligned with the shaft axis. The elongated notch is in the shaft assembly on one side of the shaft axis and is located adjacent to the distal end.

Example 21-A surgical tool assembly comprising a shaft assembly, a surgical end effector, and a protective cap member. The shaft assembly comprises an axially movable closing member and an axially movable launching member that is selectively axially movable between unlaunched and launched positions. The surgical end effector comprises a first jaw and a second jaw comprising a mounting portion including a pair of mounting walls. The mounting wall is configured to movably engage a portion of the first jaw and movably support the second jaw on the first jaw. The mounting portion is engaged by an axially movable closing member to define a cam region configured to move the second jaw from the open position to the closed position with respect to the first jaw. The mounting wall defines an upper open station area between the mounting walls to accommodate the launching member when the launching member is in the unlaunched position. The protective cap member is attached to the mounting wall and covers at least a portion of the upper open station area.

Example 22-Each of the mounting walls can be pivoted to the corresponding portion of the first jaw to facilitate the pivotal movement of the second jaw to the first jaw about the pivot axis. 21. The surgical tool assembly according to Example 21, which is configured to engage with.

Example 23-The surgical tool assembly of Example 22, wherein each of the mounting walls projects proximally from the cam region. The protective cap extends from the transition to a transition that is configured to cover at least a portion of the upper open residency region proximal to the cam region and form a pre-closed cam surface proximal to the cam region. It comprises at least one mounting portion that connects the protective cap to at least one of the mounting walls.

Example 24-A transition with a first leg that extends downward from the transition portion and is configured to hold and engage with the corresponding one of the mounting walls. 23. The surgical tool of Example 23, comprising a second leg extending downward from the portion and configured to holdfully engage the corresponding other of the mounting walls. assembly.

25-The surgical tool assembly according to Example 24, wherein the first and second legs are removable and mountable to the mounting wall.

Example 26-The first leg is a first mounting opening configured to hold and receive a first mounting lug formed on the corresponding one of the mounting walls. 25. The surgical tool assembly according to Example 25. The second leg comprises a second mounting opening configured to hold and receive a second mounting lug formed on the corresponding other of the mounting walls.

Example 27-The closure member is configured to come engage with the pre-closed cam surface on the protective cap and the cam area on the mounting portion to move the second jaw from the open position to the closed position. 23. 24, 25, or 26. The surgical tool assembly according to Example 23, 24, 25, or 26, comprising a distal cumming surface.

Example 28-The surgical tool assembly according to Example 22, 23, 24, 25, 26, or 27, further comprising means for urging a second jaw to an open position.

Example 29-The surgical tool assembly according to Example 28, further comprising means for preventing the second jaw from being opened beyond the maximum open position.

Example 30-The second jaw is configured to be selectively pivotable about the pivot axis with respect to the first jaw, and at least a portion of the upper open station area is near the pivot axis. The surgical tool assembly according to Example 22, 23, 24, 25, 26, 27, 28, or 29.

31-The second embodiment of Example 22, 23, 24, 25, 26, 27, 28, 29, or 30, wherein the second jaw comprises a pair of trunnions motivated to be supported within the mounting wall. Surgical tool assembly.

Example 32-A pair of trunnions is a first trunnion configured to be pivotally supported within a first lateral pivot hole in the first of the mounting walls and a mounting wall. The surgical tool assembly according to Example 31, comprising a second trunnion configured to be pivotally supported within a second lateral pivot hole in the second of the portions. .. The first and second trunnions define the pivot axis, and the second jaw can be pivoted around the pivot axis.

Example 33-The surgical tool assembly further comprises a first installation slot in the first of the mounting walls and a second installation slot in the second of the mounting walls. The surgical tool assembly according to Example 32. The first installation slot extends laterally from the first apical edge of the first of the mounting walls to the first lateral pivot hole with respect to the first lateral pivot hole. do. The second installation slot is the second lateral pivot hole from the second apex of the second of the mounting walls to the second lateral pivot hole. It extends laterally to.

Example 34-A surgical tool assembly comprising a shaft assembly, a surgical end effector, and a protective cap member. The shaft assembly comprises an axially movable closing member and an axially movable launching member that is selectively axially movable between unlaunched and launched positions. The surgical end effector comprises an elongated channel configured to operably support the surgical staple cartridge inside and an anvil with an anvil mounting portion. The anvil-mounted portion includes a pair of anvil-mounted walls that are pivotally supported on the elongated channel for selective pivotal movement with respect to the elongated channel about the pivot axis. The anvil mounting portion is engaged by an axially movable closing member to define a cam region configured to move the anvil from an open position to a closed position with respect to the elongated channel. The anvil mounting wall defines an upper open station area between the anvil mounting walls to accommodate the launching member when the launching member is in the unlaunched position. The protective cap member is attached to the anvil mounting wall and covers at least a portion of the upper open station area.

Example 35-The surgical tool assembly according to Example 34, wherein at least a portion of the upper open station area is proximal to the pivot axis.

Example 36-Surgical operation according to Example 34 or 35, wherein the launch member comprises a vertically extending launch body with a tissue cutting edge, an upper anvil engagement tab, and a bottom channel engagement tab. Tool assembly. The upper anvil engagement tab extends laterally from the upper end of the launch body and is configured to engage the anvil when the launch member is axially advanced from the unlaunched position to the launch position. The bottom channel engagement tab extends laterally from the bottom of the launch body and engages the channel and supports it within the elongated channel as the launch member is axially advanced from the unlaunched position to the launch position. It is configured to hold the underside of the anvil for the desired distance from the cartridge deck of the surgical staple cartridge.

Example 37-The surgical tool assembly according to Example 34, 35, or 36, wherein each of the mounting walls projects proximally from the cam region. The protective cap extends from the transition to a transition that is configured to cover at least a portion of the upper open residency region proximal to the cam region and form a pre-closed cam surface proximal to the cam region. It comprises at least one mounting portion that connects the protective cap to at least one of the anvil mounting walls.

Example 38-With respect to a first leg that extends downward from the transition and is configured to hold onto the corresponding one of the anvil mounting walls. The surgery according to Example 37, comprising a second leg extending downward from the transition portion and configured to holdfully engage the corresponding other of the anvil mounting walls. Tool assembly for.

Example 39-The surgery according to Example 34, 35, 36, 37, or 38, wherein the surgical tool assembly further comprises means for urging the anvil to the open position when the closing member is in the starting position. Tool assembly for.

Example 40-A surgical tool assembly comprising a shaft assembly and a surgical end effector. The shaft assembly comprises an axially movable closing member and an axially movable launching member that is selectively axially movable between unlaunched and launched positions. The surgical end effector comprises a first jaw and a second jaw with a mounting portion. The mounting portion includes a pair of mounting walls configured to movably engage a portion of the first jaw and movably support the second jaw on the first jaw. The mounting portion is engaged by an axially movable closing member to define a cam region configured to move the second jaw from the open position to the closed position with respect to the first jaw. The mounting wall defines an upper open station area between the mounting walls to accommodate the launching member when the launching member is in the unlaunched position. The surgical tool assembly further comprises means for covering at least a portion of the upper open station area and defining the pre-closed cam surface proximal to the cam area.

Example 41-A surgical tool assembly comprising a first jaw, a second jaw, and a shaft assembly. The second jaw is movably supported on the first jaw to selectively move between the open and closed positions about the fixed pivot axis with respect to the first jaw. There is. The shaft assembly has an initial closing motion in the first closing direction that is perpendicular to the cam surface with respect to the cam surface and the cam surface as the closing member is axially advanced on the cam surface on the second jaw. On the other hand, it is configured to apply an additional closing motion in a second closing direction parallel to the shaft axis.

Example 42-The cam surface is formed on the second jaw mounting portion, and the second jaw is pivotable to each of the first jaws for selective pivotal movement about the pivot axis. The surgical tool assembly according to Example 41, further comprising first and second mounting walls that are mounted.

Example 43-An axially movable closure member comprises a distal end surface and a distal cumming surface configured to cum engage with a cam surface on a second jaw. The surgical tool assembly according to Example 41 or 42.

Example 44-In Example 43, the distal end surface is configured to apply an initial closing motion to the cam surface and the distal cumming surface is configured to apply an additional closing motion to the cam surface. Described surgical tool assembly.

Example 45-described in Example 44, wherein the distal end surface comprises a portion of the cross-sectional thickness of the closed tube, the cumming surface extends from the distal end surface and comprises another portion of the cross-sectional thickness of the closed tube. Surgical tool assembly.

Example 46-The surgical tool assembly of Example 45, wherein the closed tube comprises an outer surface, an inner surface, and a distal end defining a distal end surface. The distal cumming surface extends from the distal end surface to the medial surface at an obtuse angle to the distal end surface.

Example 47-The shaft assembly is axially movable, selectively axially between the start and end positions, between the first mounting wall and the second mounting wall. 42. The surgical tool assembly according to Example 42, further comprising a launching member.

Example 48-The surgical tool assembly according to Example 47, wherein at least a portion of the launch member is proximal to the cam surface when the launch member is in the starting position.

Example 49-A surgical tool assembly comprising an end effector and a shaft assembly. The end effector comprises an elongated channel configured to operably support the surgical staple cartridge inside, and an anvil. The anvil comprises an anvil mounting portion movably supported on the elongated channel for selectively moving between an open position and a closed position about a fixed pivot axis with respect to the elongated channel. The shaft assembly defines a shaft axis and also comprises an axially movable closure member that allows the closure member to axially advance on the cam surface on the anvil mount. Then, the initial closing motion in the first closing direction perpendicular to the cam surface and the additional closing motion in the second closing direction parallel to the shaft axis with respect to the cam surface are performed. It is configured to apply.

Example 50-Anvil further comprises first and second anvil mounting walls that are pivotally attached to elongated channels, respectively, for selective pivotal movement about the pivot axis. The surgical tool assembly according to Example 49.

Example 51-An axially movable closure member comprises a distal closure tube comprising a distal end surface and a distal cumming surface configured to cum engage with a cam surface on an anvil mounting portion. The surgical tool assembly according to Example 49 or 50.

Example 52-In Example 51, the distal end surface is configured to apply an initial closing motion to the cam surface and the distal cumming surface is configured to apply an additional closing motion to the cam surface. Described surgical tool assembly.

Example 53-described in Example 52, wherein the distal end surface comprises a portion of the cross-sectional thickness of the closed tube, the cumming surface extends from the distal end surface and comprises another portion of the cross-sectional thickness of the closed tube. Surgical tool assembly.

Example 54-The shaft assembly is axially movable between a first anvil mounting wall and a second anvil mounting wall, selectively axially between a start position and an end position. The surgical tool assembly according to Example 50, further comprising a movable launch member.

Example 55-The surgical tool assembly according to Example 54, wherein at least a portion of the launch member is proximal to the cam surface when the launch member is in the starting position.

Example 56-A surgical tool assembly comprising an end effector and a shaft assembly that defines a shaft axis and includes a closure member that is axially movable. The end effector is on the elongated channel to selectively move between the open and closed positions with respect to the elongated channel configured to operably support the surgical cartridge inside. It is equipped with an anvil, which is provided with an anvil mounting part supported by the armor so as to be movable. The surgical tool assembly provides a first closing means on the closing member and closing to apply an initial closing motion in the first closing direction perpendicular to the cam surface to the cam surface on the anvil mounting portion. When the member is axially advanced on the cam surface, a second closing means for applying a second closing motion parallel to the shaft axis to the cam surface is further provided. Be prepared.

Example 57-The first closing means comprises a distal cam surface on one part of the distal end of the closing member and the second closing means is on another part of the distal end on the distal cam surface. The surgical tool assembly according to Example 56, comprising a distal cumming surface that extends from the distal cam surface at an obtuse angle.

Example 58-The cam surface is formed on the anvil mounting portion, and the anvil is pivotally attached to an elongated channel for selective pivotal movement about the pivot axis, respectively. The surgical tool assembly according to Example 56 or 57, further comprising a mounting wall of 2.

Example 59-The shaft assembly is axially movable, selectively axially between the start and end positions, between the first mounting wall and the second mounting wall. 58. The surgical tool assembly according to Example 58, further comprising a launching member.

Example 60-The surgical tool assembly according to Example 59, wherein at least a portion of the launch member is proximal to the cam surface when the launch member is in the starting position.

Example 61-A surgical tool assembly comprising a surgical end effector and a closing member that is axially movable in response to applied closing and opening movements. The surgical end effector comprises a first jaw and a second jaw comprising a second jaw body portion and a second jaw mounting portion. The second jaw mounting portion is movably connected to the first jaw in order to selectively move between the open position and the closed position with respect to the first jaw. The closing member comprises at least one open cam formed on it, the at least one open cam configured to movably engage the corresponding cam surface formed on the second jaw body portion. As a result, when an opening motion is applied to the closing member, at least one opening cam movably engages with the corresponding cam surface to move the second jaw to the opening position. When a closing motion is applied to the closing member, the closing member engages the second jaw and moves the second jaw to one of the closing positions.

Example 62-At least one open cam extends distally from the distal end of the closing member and is a camming entanglement on one of the cam surfaces formed on the second jaw body portion. A second hook portion configured to fit and a second one of the cam surfaces extending distally from the distal end of the closing member and formed on the second jaw body portion. The surgical tool assembly according to Example 61, comprising: a second hook portion configured to come together and engage.

Example 63-The surgical tool assembly according to Example 61 or 62, wherein the cam surface comprises a downwardly extending inclined surface formed on a second jaw body portion.

Example 64-Each of at least one open cam comprises a cumming end formed on top that is configured to come engage with the corresponding tilted surface when an open motion is applied to the closing member. 63. The surgical tool assembly.

Example 65-Each inclined surface comprises an inclined surface end, and each cumming end is engaged with the inclined surface end of the corresponding inclined surface to completely open the second jaw to the first jaw. The surgical tool assembly according to Example 64, which is configured to hold in place.

Example 66-Surgical tool according to Example 61, 62, 63, 64, or 65, wherein the surgical tool assembly further comprises a secondary jaw opening means for applying an additional opening motion to the second jaw. assembly.

Example 67-The secondary jaw opening means engages with the corresponding jaw opening mechanism on the second jaw to add additional opening movement to the second jaw when the opening movement is applied to the closing member. The surgical tool assembly according to Example 66, comprising at least one secondary jaw opening member on the closing member configured.

Example 68-The secondary jaw opening mechanism is at least one first jaw opening tab integrally formed within the closing member and configured to contact the corresponding one of the corresponding jaw opening mechanisms. And an embodiment comprising at least one second jaw opening tab integrally formed within the closing member and configured to contact another corresponding one of the corresponding jaw opening mechanisms. 67. The surgical tool assembly.

Example 69-The surgical tool of Example 66, 67, or 68, wherein the secondary jaw opening means comprises at least one urging member configured to add an additional opening motion to the second jaw. assembly.

Example 70-The surgical tool assembly according to Example 62, 63, 64, 65, 66, 67, 68, or 69, wherein each of the first and second hook portions comprises a flexible portion therein.

Example 71-The surgical tool assembly according to Example 70, wherein the flexible portion comprises a flexible material attached to each of the first and second hook portions.

Example 72-Embodiment 70 or 80, wherein the at least one urging member corresponds to each of the first and second hook portions and comprises a spring attached to each of the first and second hook portions. 71. Surgical tool assembly.

Example 73-A surgical tool assembly comprising a surgical end effector and a closing member that is axially movable in response to applied closing and opening movements. The surgical end effector comprises an elongated channel configured to operably support the surgical staple cartridge inside and an anvil with an anvil body and anvil attachment, with the anvil attachment in open and closed positions. It is pivotally supported on the staple channel to selectively move to and from the position with respect to the staple channel. The closing member comprises at least one open cam formed on it, wherein the at least one open cam is configured to movably engage with a corresponding cam surface formed on the anvil body. As a result, when an opening motion is applied to the closing member, at least one opening cam movably engages with the corresponding cam surface to move the anvil to the opening position, and when the closing motion is applied to the closing member, The closing member engages the anvil and moves the anvil to one of the closed positions.

Example 74-The surgical tool assembly further comprises at least one tissue stop formed on the anvil body, the at least one cam surface located proximal to at least one tissue stop, Example 73. Surgical tool assembly described in.

Example 75-At least one open cam extends distally from the distal end of the closure member and comes into engagement with the first one of the cam surfaces formed on the anvil body. Coming engaged with the first hook portion configured and the second one of the cam surfaces formed on the anvil body extending distally from the distal end of the closure member. The surgical tool assembly according to Example 73 or 74, comprising a second hook portion configured.

Example 76-The surgical tool assembly according to Example 75, wherein the first and second hook portions each include a flexible portion on it.

Example 77-The surgical tool assembly according to Example 73 or 74, wherein each of the first and second hook portions comprises a flexible portion therein.

Example 78-Surgical tool according to Example 73, 74, 75, 76, or 77, wherein the surgical tool assembly further comprises a secondary anvil opening means for applying an additional opening motion to the second jaw. assembly.

Example 79-described in Example 78, wherein the anvil is pivotally linked to an elongated channel for selective pivotal movement between the open and closed positions around the pivot axis. Surgical tool assembly. The secondary anvil opening means is located proximal to the pivot axis.

Example 80-A surgical tool assembly comprising a surgical end effector and a closing member. The surgical end effector comprises an elongated channel configured to operably support the surgical staple cartridge inside, and an anvil with an anvil body and anvil mounting portion. The anvil-mounted portion is pivotally supported on the elongated channel for selective movement with respect to the elongated channel between the open and closed positions. The closing member is axially movable between the fully actuated position corresponding to the fully closed position of the closed positions and the non-actuated position corresponding to the open position. The closing member comprises a closing system configured to sequentially apply an initial opening motion to the anvil and an additional secondary motion to the anvil as the closing member is moved from the fully actuated position to the non-actuated position.

Example 81-A surgical end effector for selective movement between an open position and a closed position with a first jaw configured to operably support a surgical staple cartridge in. A surgical end effector comprising a second jaw movably supported relative to the first jaw, a launching member, and a launching member lockout system. The launching member is supported within the first jaw to move axially between the start and end positions along the shaft axis when launch and retreat motions are applied. The launcher lockout system is movable between the inactive and locked positions by a second jaw and is located in the unlaunched position when the launcher is first moved distally from the starting position. Unless a non-launched surgical staple cartridge with a cam assembly is supported within the first jaw, the launcher will engage a launcher lockout system and lock to prevent further distal advancement of the launcher. It fits.

Example 82-The surgical end effector of Example 81, wherein the launch member lockout system comprises a locking member mounted on a first jaw.

Example 83-The surgery of Example 82, wherein the locking member further comprises a spring tab configured to support the locking member on a first jaw and urge the locking member to an unlocked position. End effector for.

Example 84-The locking member is a launching member during the first distal advancement of the launching member when the second jaw is in the closed position, unless an unlaunched surgical staple cartridge is supported within the first jaw. The surgical end effector according to Example 82 or 83, comprising at least one laterally movable locking portion configured to lock engage with a portion of.

Example 85-The launch member comprises a launcher body with lock protrusions corresponding to each of the laterally movable lock portions, where each lock protrusion is supported by an unfired surgical staple cartridge in a first jaw. 84. Surgical end effector.

Example 86-The cam assembly laterally attaches each of the corresponding laterally movable locking portions when the unfired surgical staple cartridge is supported in the first jaw and the cam assembly is in the unfired position. The surgical end effector according to Example 85, comprising an unlocking mechanism corresponding to each laterally movable locking portion to forcefully disengage from the locking engagement with the corresponding locking protrusion.

Example 87-Each of the laterally movable lock portions has a lock window configured to lock-accept a portion of the corresponding lock overhang when the laterally movable lock portion lock engages with the corresponding lock overhang. The surgical end effector according to Example 85 or 86.

Example 88-The launcher lockout system moves to the second jaw above to move along the corresponding lock axis across the shaft axis when the anvil is in the closed position. The surgical end effector according to Example 81, 82, 83, 84, 85, 86, or 87, comprising at least one locking member that is possibly connected.

Example 89-The launching member lockout system comprises a locking member movably supported to move between the unlocked position and the locked position, upon initial distal advancement of the launching member, the locking member. 81, 82, 83, wherein at least a portion of the launch member is configured to hook engage the corresponding portion of the launch member to prevent the launch member from advancing from the start position to the end position. 84, 85, 86, 87, or 88. The surgical end effector.

Example 90-An elongated channel configured to operably support a surgical staple cartridge in a surgical end effector and an anvil in which the anvil is open and closed with respect to the elongated channel. A surgical end effector comprising an anvil supported for an elongated channel, a launching member, and a launching member lockout system so that it can be selectively moved between and. The launching member is supported to move axially between the start and end positions along the shaft axis within the elongated channel when launch and retreat motions are applied. The launcher lockout system is movable by the anvil between the inactive position and the locked position, and when the launcher is first moved distally from the starting position, the launcher is positioned in the unlaunched position. Unless an unlaunched surgical staple cartridge with a cam assembly is supported within the elongated channel, it lock-engages with the launcher lockout system to prevent further distal advancement of the launcher. The launcher lockout system is configured to move from the inactive position to the locked position when the anvil is moved to the closed position.

Example 91-The surgical end effector according to Example 90, wherein the launch member lockout system comprises a lock member. The locking member includes a pair of laterally movable locking portions, a mounting portion configured to support the locking member on the surgical end effector and urge the locking member to the non-actuated position, and the anvil in the closed position. It comprises at least one anvil tab on the locking member for contact by the corresponding portion of the anvil when being moved.

Example 92-Each laterally movable locking portion retains the corresponding portion of the launching member when the locking member is in the locked position, unless an unlaunched surgical staple cartridge is supported within the elongated channel. The surgical end effector according to Example 91, comprising a lock window configured to engage.

Example 93-Each corresponding portion of the launch member corresponds to each of the lock windows of the corresponding laterally movable locking portion, and a non-launched surgical staple cartridge with a cam assembly located in the non-launched position. Is sized to be held in each of the lock windows in lock engagement with each of the lock windows when the lock member is in the locked position, unless is supported in the elongated channel. The surgical end effector according to Example 92, comprising a laterally projecting lock lug.

Example 94-The cam assembly laterally urges each of the corresponding laterally movable locking portions when an unfired surgical staple cartridge is supported in an elongated channel and the cam assembly is in the unfired position. The surgical end effector according to Example 93, further comprising an unlocking mechanism corresponding to each laterally movable locking portion to disengage from the lock engagement with the corresponding lock lug.

Example 95-The launch member lockout system comprises at least one lock member, the anvil comprising an anvil body and an anvil mounting portion comprising a pair of separated anvil mounting walls, each anvil mounting wall. In Example 90, 91, 92, 93, or 94, pivotally supported on an elongated channel, each anvil mounting wall movably supports one of the corresponding lock members in. The surgical end effector described.

Example 96-The launch member lockout system has at least one lock member movably coupled to the anvil to move along the corresponding lock axis across the shaft axis when the anvil is in the closed position. The surgical end effector according to Example 90, 91, 92, 93, 94, or 95.

Example 97-The surgical end effector according to Example 90, 91, 92, 93, 94, 95, or 96, wherein the surgical end effector further comprises a tissue cut surface on the launching member.

Example 98-A surgical instrument with an elongated shaft defining a shaft axis and an elongated channel operably connected to the elongated shaft and configured to operably support a surgical staple cartridge inside. A surgical instrument comprising an anvil supported for an elongated channel so that the anvil can be selectively moved between an open position and a closed position with respect to the elongated channel. Surgical instruments have no anvil in the closed position with a launching member supported to move axially between the start and end positions within the staples when launch and retreat movements are applied. Means to prevent the launching member from moving from the start position to the end position unless an unlaunched surgical staple cartridge with a cam assembly located in the unlaunched position is supported within the elongated channel. Further prepare.

Example 99-The surgical instrument of Example 98, wherein the anvil comprises an anvil body and a pair of anvil mounting walls extending from the anvil body. Each anvil mounting wall is such that the anvil can selectively move between the open and closed positions with respect to the elongated channel when the anvil is subjected to closing and opening motions by the closure of the elongated shaft assembly. Is pivotally connected to an elongated channel.

Example 100-Means to prevent is a locking member movably supported to move between an unlocked position and a locked position, at least in part where the launching member is in the starting position. To urge the locking member and the launching member to the unlocked position, which is configured to hook-engage the corresponding portion of the launching member to prevent it from advancing from to the end position. The surgical instrument according to Example 98 or 99, comprising the means.

Example 101-A surgical instrument comprising a surgical end effector, an elongated shaft defining a shaft axis, a closure member, and a joint. The surgical end effector is movably supported on the first jaw and on the first jaw to selectively move between the open and closed positions with respect to the first jaw. With Joe (just). The closing member is movably supported on an elongated shaft and is configured to selectively move from the open position to the closed position in the closed direction and from the closed position to the open position in the open direction. The joint joint connects the surgical end effector to the elongated shaft so that the surgical end effector can selectively move with respect to the elongated shaft around the axis of motion that traverses the shaft axis. The joint joint has a locked configuration in which the surgical end effector is prevented from moving around the joint movement axis, and the surgical end effector is unlocked so that the joint can move around the joint movement axis. It is equipped with a joint locking mechanism configured to move from the configuration. The joint locking mechanism moves from the locked configuration to the unlocked configuration when the closing member is moved from the open position to the closing direction. Surgical instruments further provide means for applying joint motion to the surgical end effector when the joint locking mechanism is in the unlocked configuration.

Example 102-The joint locking mechanism comprises at least one locking member, the at least one locking member having a first position corresponding to the unlocked configuration, and at least one locking member mounting the surgical end effector. The surgical instrument according to Example 101, which is movable between a portion and a distal end portion of an elongated shaft and a second position of frictional engagement. The at least one locking member operably interfaces with the closing member such that the first movement of the closing member in the closing direction moves the at least one locking member from the first position to the second position.

Example 102-Ibid. 102, wherein the mounting portion of the surgical end effector comprises an upright mounting column that includes a plurality of column flanks, and at least one locking member comprises a locking member corresponding to each of the column flanks. Surgical instruments.

Example 104-The distal end portion of the elongated shaft comprises a pivot hole defining the joint motion axis, the upright mounting column extends within the pivot hole, whereby each of the locking members is within the pivot hole. The surgical instrument according to Example 103, which is movably supported between the corresponding column flank and the inner wall of the pivot hole.

Example 105-The upright mounting column is configured to move a plurality of locking members to frictionally engage with the inner wall of the pivot hole and the corresponding column side surface when the closing member is moved in the closing direction. , The surgical instrument according to Example 104.

Example 106-The closure member is pivoted to the proximal closure member by an interface with the source of the closure and opening movements to move the proximal closure member in the closure and opening directions, and by a link mechanism. With a freely coupled distal closure member, a portion of the linking mechanism interfaces with the upright mount column, and when the closure member is first moved in the closure direction, the upright mount column has multiple locking members. 105. The surgical instrument of Example 105, which is configured to be moved to frictionally engage with the inner wall of the pivot hole and the corresponding column sidewall.

Example 107-The link mechanism is pivotally coupled to and extending between the proximal closure member and the distal closure member, the upper double pivot link and the proximal closure member and the distal closure. The surgical instrument according to Example 106, comprising a lower double pivot link, which is pivotally connected to a member and extends between them. The lower double pivot link is configured to operably interface with the upright mount column and apply locking motion to the upright mount column when the lower double pivot link is first moved in the closed direction. ..

Example 108-The upright mounting column comprises a first end mounted on a mounting based adjacent to the lower double pivot link, the upright column is tapered towards the free end and is free. The surgical instrument according to Example 107, wherein the cross-sectional area of the end is smaller than another cross-sectional area of the first end of the column.

Example 109-The first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil, Examples 101, 102, 103, 104. , 105, 106, 107, or 108.

Example 110-Means for adding joint movement to a surgical end effector is to add a first joint movement to the surgical end effector and place the surgical end effector in the direction of the first joint movement around the joint movement axis. Includes a means for joint movement and a means for adding a second joint movement to the surgical end effector and for the surgical end effector to be jointly moved in the direction of the second joint movement around the joint movement axis. , The surgical instrument according to Example 101, 102, 103, 104, 105, 106, 107, 108, or 109.

Example 111-A surgical instrument comprising an elongated shaft comprising a distal end portion and defining a shaft axis, a surgical end effector, a joint locking mechanism, and a joint kinetic member. .. The surgical end effector comprises an end effector mounting portion, one of the distal end portion of the elongated shaft and the end effector mounting portion has a pivot hole, and the distal end portion of the elongated shaft and the other end effector mounting portion are provided. A joint motion pin that is pivotally received within the pivot hole and defines the joint motion axis across the shaft axis is defined, and around the shaft axis, the surgical end effector turns the joint motion into a surgical end effector. In addition, joint movement is possible with respect to the elongated shaft. The joint locking mechanism is supported within the pivot hole between the range of motion pins and the inner wall of the pivot hole. The joint locking mechanism is a first locking mechanism in which the joint locking mechanism frictionally engages the joint motion pin with the inner wall of the pivot hole to prevent relative pivotal movement of the joint motion pin and the distal end portion of the elongated shaft. It is mobile from the configuration and the unlocked configuration in which the articular motor pins and distal ends are pivotable with respect to each other. The joint movement member interfaces with the surgical end effector so that the joint movement member applies joint movement to the surgical end effector by the operation of the joint movement member. The joint movement member moves from the locked configuration to the unlocked configuration by the initial operation of the joint movement member, and when the joint movement member is stopped, the joint lock mechanism is unlocked. Interfaces the joint locking mechanism to move to a locked configuration.

Example 112-The surgical instrument of Example 111, wherein the joint locking mechanism comprises a torsion spring supported between a joint motion pin and an inner wall of a pivot hole.

Example 113-The torsion spring is a first method in which the torsion spring frictionally engages with the joint motion pin and the inner wall of the pivot hole to prevent the relative pivot movement of the distal end portion of the elongated shaft and the surgical end effector. The surgical instrument according to Example 112, which is rotatable from a position and a position where the torsion spring does not prevent relative pivotal movement.

Example 114-The joint locking mechanism comprises at least one lock ball, wherein the at least one lock ball is between the joint motion pin and the inner wall of the pivot hole, and each lock ball is between the joint motion pin and the inner wall of the pivot hole. A first position that frictionally engages with to prevent relative pivotal movement of the distal end portion of the elongated shaft and the surgical end effector, and a position where each of the above lock balls does not prevent said relative pivotal movement. The surgical instrument according to Example 111, 112, or 113, comprising at least one lock ball movably supported between and.

Example 115-described in Example 111, 112, 113, or 114, wherein the surgical end effector comprises a first jaw and a second jaw supported for movable movement relative to the first jaw. Surgical instruments.

Example 116-Surgical instrument according to Example 115, wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. ..

Example 117-The articulating member comprises an axially movable articulating member that is pivotally coupled to a surgical end effector, whereby its first axial movement is. The surgical end effector is moved in the first joint movement direction around the joint movement axis, and the movement of the axially movable joint movement member in the second axial direction is the joint movement of the surgical end effector. The surgical instrument according to Example 111, 112, 113, 114, 115, or 116, wherein the joint is moved in the second joint movement direction around the movement axis.

Example 118-A surgical instrument comprising a surgical end effector, an elongated shaft defining a shaft axis, closing means, and a joint. The surgical end effector has a first jaw and a first jaw that are movably connected to the elongated shaft for selective joint motion with respect to the elongated shaft centered on the joint motion axis that traverses the shaft axis. On the other hand, a second jaw movably supported on the first jaw for selectively moving between the open position and the closed position is provided. The closing means is further configured to selectively move the second jaw from the open position to the closed position, and the closing means is further configured to selectively move the second jaw from the closed position to the open position. .. The joint joint connects the surgical end effector to the elongated shaft so that the surgical end effector can selectively move with respect to the elongated shaft around the axis of motion that traverses the shaft axis. The joint joint has a locked configuration in which the surgical end effector is prevented from moving around the joint movement axis, and the surgical end effector is unlocked so that the joint can move around the joint movement axis. It is equipped with a joint locking mechanism configured to move from the configuration. The joint locking mechanism moves from the locked configuration to the unlocked configuration when the closing means moves the second jaw from the open position to the closed position. Surgical instruments further provide means for applying joint motion to the surgical end effector when the joint locking mechanism is in the unlocked configuration.

Example 119-Surgical instrument according to Example 118, wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. ..

Example 120-The joint locking mechanism comprises at least one locking member, the at least one locking member having a first position corresponding to the unlocked configuration, and at least one locking member mounting the first jaw. The surgical instrument according to Example 119 or 120, which is movable between a portion and a distal end portion of an elongated shaft and a second position for frictional engagement. The at least one locking member operably interfaces with the closing member such that the first movement of the closing member in the closing direction moves the at least one locking member from the first position to the second position.

Example 121-A surgical instrument comprising an elongated shaft defining a shaft axis, a surgical end effector, at least one joint motion link, and a joint locking mechanism. The surgical end effector is connected to the elongated shaft so as to selectively perform joint motion with respect to the elongated shaft around the joint motion axis crossing the shaft axis. At least one joint motion link operably interfaces with the source of joint motion and is connected to the surgical end effector to add joint motion to the surgical end effector. The joint locking mechanism comprises a joint locking member corresponding to each joint movement link, and each joint locking member moves laterally from an unlocked position laterally adjacent to the corresponding joint movement link to correspond. It is configured to lock engage with the articular motion link. The surgical instrument operably interfaces with each of the joint locking members and selectively moves each joint locking member laterally from the unlocked position to lock engage with the corresponding joint motion link. Further provided with means.

Example 122-Each at least one joint movement link comprises a joint movement gear rack, the joint locking member corresponding to the joint movement gear rack corresponds to each joint movement gear rack, and the corresponding joint movement link is directed toward the joint movement link. 121. Example 121, comprising a lock gear rack that is oriented laterally to each joint motion gear rack in a laterally face-to-face relationship to mesh and engage with each joint motion gear rack when advanced laterally. Surgical instruments.

Example 123-At least one joint motion link includes an axially movable right joint motion link, including a right joint motion gear rack above, and an axially movable left joint, including a left joint motion gear rack above. The surgical instrument according to Example 121 or 122, comprising an exercise link. The joint lock member is a right lock that is laterally face-to-face with the right joint movement gear rack to mesh and engage with the right joint movement gear rack when the right joint lock member is laterally advanced toward the right joint movement link. Lateral face-to-face relationship with the left joint movement gear rack to engage with the left joint movement gear rack when the right joint locking member, including the gear rack, and the left joint locking member are laterally advanced toward the left joint movement link. It comprises a left joint lock member, including a left lock gear rack in.

Example 124-The actuating means comprises a lock actuator movably positioned relative to a right joint lock member and a left joint lock member, whereby the lock actuator is axially moved in a first axial direction. The right joint locking member is laterally moved towards the right joint motion link so that the right lock gear rack is lock-engaged with the right joint motion gear rack and the left joint locking member is laterally oriented towards the left joint motion link. The surgical instrument according to Example 123, which is moved to and, as a result, lock-engages the left lock gear rack with the left articular motion gear rack.

Example 125-The source of joint motion is an axially movable launching actuator and an axially movable launching actuator configured to selectively add launching motion to the corresponding portion of the surgical end effector. It comprises an actuator and a joint motion transmitter operably interfaced with at least one joint motion link, whereby an axially movable launch actuator has at least one actuation in the first axial launch direction. Moving the joint motion link in the joint motion direction in the first axial direction and moving the firing actuator in the axial direction in the second axial retreat direction causes at least one joint motion link in the second axial direction. The surgical instrument according to Example 121, 122, 123, or 124, which is moved in the direction of joint movement.

Example 126-A source of joint motion is an axially movable launch actuator configured to selectively add launch motion to the corresponding portion of the surgical end effector, and a right joint motion link and left joint. It comprises a motion link as well as an axially movable launcher and a joint motion transmitter that operably interfaces with it so that the axially movable launcher actuator operates in the first axial launch direction. The right joint motion link is moved in the first axial direction, the left joint motion link is moved in the second axial direction, and the axially movable launch actuator is moved in the second axial direction. 123 or 124 of the surgical instrument according to Example 123 or 124, wherein the left joint motion link is moved in the first axial direction.

Example 127-The joint locking mechanism further comprises a lock actuator positioned movably with respect to the joint locking member and the left joint locking member, whereby the axial movement of the lock actuator in the first axial direction is to the right. The joint locking member is laterally moved towards the right joint motion link so that the right lock gear rack is lock-engaged with the right joint motion gear rack and the left joint lock member is laterally displaced towards the left joint motion link. The surgical instrument according to Example 126, which moves and, as a result, lock-engages the left lock gear with the left articular motion gear rack.

Example 128-The joint motion transmitter is configured to selectively mesh and engage a gear assembly that meshes and engages with the right and left joint motion links, and a gear assembly and an axially movable launch actuator. The surgical instrument according to Example 127, comprising a shifter. The shifter is configured to selectively operably engage the lock actuator so that when the shifter is operably engaged with the lock actuator, the shifter is moved and axially movable launch. Once engaged with the actuator and gear assembly and the shifter moves out of the operable engagement with the lock actuator, the shifter also moves and engages with the gear assembly and the axially movable launch actuator. Disengage from engagement.

Example 129-Surgical instrument according to Example 125, wherein the corresponding portion of the surgical end effector comprises a firing member attached to a firing actuator that is axially movable. The launching member is supported to move axially between a start position and an end position within the surgical end effector through the surgical end effector.

Example 130-A surgical instrument at least one configured to selectively operably engage an elongated shaft defining a shaft axis, a surgical end effector, a launch actuator, and a launch actuator. A surgical instrument with a joint motion link and a joint locking mechanism. The surgical end effector is connected to the elongated shaft so as to selectively perform joint motion with respect to the elongated shaft around the joint motion axis crossing the shaft axis. The firing actuator is selectively axially movable in the first and second axial directions so as to exert a firing motion on the firing member operably supported within the surgical end effector. Axial movement of the firing actuator is transmitted to each of at least one joint motion link. The joint locking mechanism has a locked configuration in which each of the at least one joint motion link is immovably locked in place, and each of the at least one joint motion link responds to the movement of the launch actuator. It is configured to move laterally to and from a movable, unlocked configuration. The joint locking mechanism is at least when the firing actuator is operably engaged with each of at least one joint motion link when the joint locking mechanism is in the unlocked configuration and the joint locking mechanism is in the locked configuration. Each of the joint motion links interfaces with the launch actuator so that it is prevented from engaging operably with the launch actuator.

Example 131-The surgical instrument of Example 130, wherein the joint locking mechanism comprises a joint locking member corresponding to each range of motion link. Each joint locking member is configured to move laterally from an unlocked position laterally adjacent to the corresponding joint motion link to lock engage with the corresponding joint motion link.

Example 132-Each at least one joint movement link comprises a joint movement gear rack, and each corresponding joint locking member is laterally advanced towards the corresponding joint movement link and the corresponding joint movement. To engage with the joint motion gear rack of the link, it is equipped with a lock gear rack oriented laterally to the joint motion gear rack of the corresponding joint motion link with respect to the joint motion gear rack of the corresponding joint motion link. , The surgical instrument according to Example 131.

Example 133-At least one joint motion link includes an axially movable right joint motion link, including a right joint motion gear rack above, and an axially movable left joint, including a left joint motion gear rack above. The surgical instrument according to Example 132, comprising an exercise link. The joint lock member is a right lock that is laterally face-to-face with the right joint movement gear rack to mesh and engage with the right joint movement gear rack when the right joint lock member is laterally advanced toward the right joint movement link. Lateral face-to-face relationship with the left joint movement gear rack to engage with the left joint movement gear rack when the right joint locking member, including the gear rack, and the left joint locking member are laterally advanced toward the left joint movement link. It comprises a left joint lock member, including a left lock gear rack in.

Example 134-In Example 130, 131, 132, or 133, wherein the surgical end effector comprises a firing member coupled to a firing actuator and supported to move axially through the surgical end effector. The surgical instruments described.

Example 135-The surgical end effector is on an elongated channel configured to operably support the surgical staple cartridge in and on the elongated channel to selectively move between open and closed positions. The surgical instrument according to Example 134, comprising a movably supported anvil. The elongated channel is connected to the elongated shaft so as to selectively perform joint motion with respect to the elongated shaft about the joint motion axis. The launching member comprises a tissue cutting mechanism.

Example 136-Surgical instruments further include right and left joint motion links and joint motion transmitters that operably interface with axially movable launch actuators, thereby being axially movable. Actuation of the firing actuator in the first axial firing direction causes the right joint motion link to move in the first axial direction, the left joint motion link to move in the second axial direction, and an axially movable launch. The surgical instrument according to Example 133, wherein the second axial movement of the actuator moves the right joint motion link in the second axial direction and the left joint motion link in the first axial direction.

Example 137-The joint locking mechanism further comprises a lock actuator positioned movably with respect to the right joint locking member and the left joint locking member, whereby the axial movement of the lock actuator in the first axial direction is. The right joint locking member is laterally moved towards the right joint motion link so that the right lock gear rack is lock-engaged with the right joint motion gear rack and the left joint locking member is laterally oriented towards the left joint motion link. The surgical instrument according to Example 133 or 136, which is moved to and, as a result, the left lock gear is lock-engaged with the left articular motion gear rack.

Example 138-The joint motion transmitter is configured to selectively mesh and engage a gear assembly that meshes and engages with the right and left joint motion links, and a gear assembly and an axially movable launch actuator. The surgical instrument according to Example 136, comprising a shifter. The shifter is configured to selectively operably engage the lock actuator so that when the shifter is operably engaged with the lock actuator, the shifter is moved and axially movable launch. It meshes with the actuator and gear assembly. When the shifter disengages from the operable engagement with the lock actuator, the shifter is moved to disengage from the meshing engagement with the gear assembly and the axially movable firing actuator.

Example 139-A surgical instrument connected to an elongated shaft that defines a shaft axis so that it selectively articulates with respect to the elongated shaft centered on a joint motion axis that traverses the shaft axis. A surgical instrument comprising a surgical end effector, means for generating axial firing motion, and means for joint motion. The joint movement means interface with the means for generation, and the joint movement means is to apply the joint movement to the surgical end effector in response to the axial launch movement generated by the means for generation. It is configured in. The surgical instrument selectively locks the joint movement means in a non-movable configuration and unlocks the joint movement means so that the means for producing can add axial firing motion to the joint movement means. Further provided are means for operably connecting the joint movement means and the means for generating.

Example 140-The surgical end effector is on an elongated channel configured to operably support the surgical staple cartridge in and on the elongated channel to selectively move between open and closed positions. 139. The surgical instrument according to Example 139, comprising a movably supported anvil. The elongated channel is connected to the elongated shaft so as to selectively perform joint motion with respect to the elongated shaft about the joint motion axis. The launching member comprises a tissue cutting mechanism.

Example 141-A surgical tool assembly that is coupled to an elongated shaft that defines a shaft axis so that it selectively articulates with respect to the elongated shaft centered on a joint motion axis that traverses the shaft axis. A surgical tool assembly comprising a surgical end effector, a first joint motion link, a second joint motion link, and a joint motion stroke amplifier. The first joint motion link is operably interfaced with a source of joint motion in order to selectively move the first joint motion link in the first joint motion direction by the first axial distance. do. The second joint motion link operably interfaces with the surgical end effector to add joint motion to the surgical end effector. When the joint motion stroke amplifier moves the first joint motion link axially by the first axial distance in the first axial direction, the joint motion stroke amplifier moves the second joint motion link to the first joint motion link. It operably interfaces with the first joint motion link and the second joint motion link so as to move axially by another first axial distance greater than the first axial distance.

Example 142-The joint motion source is configured to additionally move the first joint motion link in the second axial direction by a second axial distance, and the first joint motion link. When is moved in the second axial direction by the second axial distance, the joint motion stroke amplifier will move the second joint motion link in the second axial direction and another larger than the second axial distance. The surgical tool assembly according to Example 141, which is moved by a second axial distance.

Examples 143-The first joint motion link comprises a first joint motion gear rack, the second joint motion link comprises a second joint motion gear rack, and the joint motion stroke amplifier has first and second joint motions. The surgical tool assembly according to embodiment 141 or 142, comprising at least one gear set that meshes and engages with the gear rack.

Example 144-Each at least one gear set is rotatably engaged with a first gear that is rotatably supported by meshing engagement with a first joint motion gear rack and meshing engagement with a first joint motion gear rack. 143. The surgical tool assembly according to Example 143, comprising a first gear supported by.

Example 145-The surgical tool according to Example 141, 142, 143, or 144, wherein the second joint motion link operably interfaces with a joint lock assembly that is operably linked to a surgical end effector. assembly.

Example 146-The first joint motion link comprises a first joint motion gear rack, and the joint motion stroke amplifier meshes with and engages with the first joint motion gear rack and is slidable to the second joint motion link. The surgical tool assembly according to Example 141, 142, 143, 144, or 145, comprising a coupled swing gear.

Example 147-The swing gear is supported to rotate about a swing gear mounting axis across the first and second range of motion links, Examples 141, 142, 143, 144, 145, or. 146. The surgical tool assembly.

Example 148-The surgical tool assembly of Example 146 or 147, wherein the second range of motion link comprises a slotted distal end that slidably engages a portion of a swing gear in.

149-The swing gear according to Example 146, 147, or 148, wherein the swing gear has a slot configured therein to be slidably engaged with a distal end portion of a second range of motion link. Surgical tool assembly.

Example 150-A surgical tool assembly comprising an elongated shaft defining a shaft axis, a surgical end effector, a first joint motion link, a second joint motion link, and a joint motion stroke amplifier. Prepared surgical tool assembly. The surgical end effector is configured to operably support the surgical staple cartridge inside, with a slender shaft for selective articulation with respect to the slender shaft centered on the range of motion across the shaft axis. It comprises a linked elongated channel and an anvil movably supported on the elongated channel. The first joint motion link is operably interfaced with a source of joint motion in order to selectively move the first joint motion link in the first joint motion direction by the first axial distance. do. The second joint motion link operably interfaces with the surgical end effector to add joint motion to the surgical end effector. When the joint motion stroke amplifier moves the first joint motion link axially by the first axial distance in the first axial direction, the joint motion stroke amplifier moves the second joint motion link to the first joint motion link. It operably interfaces with the first joint motion link and the second joint motion link so as to move in the axial direction of the first axial distance by another first axial distance larger than the first axial distance.

Example 151-A source of joint motion is a launcher assembly that operably interfaces with a launcher that is supported to move axially within an elongated channel, and a first joint motion link and launcher assembly. Between a launch mode in which the launch member assembly is operably interfaced and axial movement of the launch member assembly is applied to the launch member, and a joint motion mode in which the axial movement of the launch member assembly is applied to the first joint motion link. The surgical tool assembly according to Example 150, comprising a clutch assembly that is selectively configurable in.

Example 152-When the clutch assembly is in joint motion mode, the launcher assembly is configured to additionally move the first joint motion link axially by a second axial distance in the second axial direction. Then, when the first joint motion link is moved in the second axial direction by the second axial distance, the joint motion stroke amplifier moves the second joint motion link in the second axial direction to the second axial direction. The surgical tool assembly according to Example 151, which moves by another second axial distance greater than the axial distance.

Examples 153-The first joint motion link comprises a first joint motion gear rack, the second joint motion link comprises a second joint motion gear rack, and the joint motion stroke amplifier has first and second joint motions. The surgical tool assembly according to Example 151 or 152, comprising at least one gear set that meshes and engages with the gear rack.

Example 154-Each at least one gear set is in a first gear rotatably supported by meshing engagement with a first range of motion gear rack and in a first gear to rotate with the first gear. The surgical tool assembly according to Example 153, comprising a second gear attached. The second gear has a diameter larger than the diameter of the first gear, and the second gear meshes with and engages with the second range of motion gear rack.

Example 155-The surgical tool according to Example 151, 152, 153, or 154, wherein the second joint motion link operably interfaces with a joint lock assembly operably linked to a surgical end effector. assembly.

Example 156-The first joint motion link comprises a first joint motion gear rack, and the joint motion stroke amplifier meshes with and engages with the first joint motion gear rack and is slidable to the second joint motion link. 15. The surgical tool assembly according to Example 151, 152, 153, 154, or 155, comprising a coupled swing gear.

Example 157-The surgical tool assembly according to Example 156, wherein the swing gear is supported to rotate around a swing gear mounting axis that traverses the first and second range of motion links.

Example 158-The surgical tool assembly according to Example 156 or 157, wherein the second range of motion link comprises a slotted distal end that slidably engages a portion of a swing gear in.

159. Surgical tool assembly.

Example 160-A surgical tool assembly comprising an elongated shaft defining a shaft axis, a surgical end effector, a first joint motion link, a second joint motion link, and a joint motion stroke amplification means. A surgical tool assembly that features. The surgical end effector is connected to the elongated shaft so as to selectively perform joint motion with respect to the elongated shaft around the joint motion axis crossing the shaft axis. The first joint motion link is operably interfaced with a source of joint motion in order to selectively move the first joint motion link in the first joint motion direction by the first axial distance. do. The second joint motion link operably interfaces with the surgical end effector to add joint motion to the surgical end effector. The joint motion stroke amplification means performs a second joint motion (second articulation) in response to the movement of the first joint motion link by a first axial distance smaller than the second axial distance. It operably interfaces with the first joint motion link and the second joint motion link in order to move by the axial distance of.

Embodiment 161-A surgical tool assembly comprising an elongated shaft assembly defining a shaft axis, a surgical end effector, and a distal range of motion member. The surgical end effector is movably connected to the elongated shaft assembly by a distal support link, and the distal support link is pivotally connected to the surgical end effector to define a joint motion axis across the shaft axis. do. The distal support link is pivotally and axially movably connected to the elongated shaft assembly and the surgical end effector is aligned with the elongated shaft assembly along the shaft axis. Facilitates selective joint movement of the surgical end effector centered on the joint movement axis with respect to the elongated shaft assembly between the position and the joint movement position located on one side of the shaft axis. The distal joint movement member operably interfaces with the source of joint movement and is pivotally coupled to the surgical end effector to add joint movement to the surgical end effector.

Example 162-The distal joint movement member is configured to move axially on one side of the shaft axis in response to the applied joint movement, and the distal support link is elongated along the shaft axis. 161. The surgical tool assembly according to Example 161 that is configured to move axially with respect to the shaft assembly.

Example 163-Distal support links are attached to the distal end operably connected to a surgical end effector for pivotal movement about the articular axis of motion and to the distal end of an elongated shaft assembly. The surgical tool assembly according to Example 161 or 162, comprising a proximal end comprising a proximal axial slot configured to receive a corresponding articular motion pin.

Example 164-The surgical tool assembly is operably coupled to a proximal joint motion member that operably interfaces with a source of joint motion, a proximal joint motion member, and a proximal end of the distal joint motion member. The surgical tool assembly according to Example 161, 162, or 163, further comprising a joint locking assembly that selectively locks the distal joint motor member in an axial position.

Example 165-Surgical tool assembly according to Example 164, wherein the proximal end of the distal joint range of motion is pivotally coupled to a joint lock assembly.

Example 166-Surgery according to Example 161; 162, 163, 164, or 165, wherein the distal support link is pivotally and axially movably coupled to a distal spine member of an elongated shaft assembly. Tool assembly for.

Example 167-The surgical end effector selectively moves relative to the elongated channel between the open and closed positions and the elongated channel configured to operably support the surgical staple cartridge inside. 16. The surgical tool assembly according to Example 161, 162, 163, 164, 165, or 166, comprising an anvil movably supported on an elongated channel for use.

Example 168-The surgical tool assembly according to Example 167, wherein the elongated channel is pivotally connected to a distal support link by an end effector mounting assembly connected to the elongated channel.

Example 169-The distal joint motor member is configured to axially move in the first and second axial directions, resulting in surgical movement of the distal joint motor member in the first axial direction. The end effector is jointly moved in the first joint movement direction from the first non-joint movement position to any one of the joint movement positions, and the distal joint movement member is axially oriented in the second axial direction. Once moved, the surgical end effector has been moved in the second joint movement direction from any one of the joint movement positions to the first non-joint movement position, Examples 161, 162, 163. The surgical tool assembly according to 164, 165, 166, 167, or 168.

Example 170-The surgical tool assembly is for surgical use in a second range of motion beyond the first non-moving position when the distal joint range of motion is being moved in the second axial direction. The surgical tool assembly according to Example 169, further comprising means for preventing the movement of the end effector.

Example 171-A surgical tool assembly comprising an elongated shaft assembly defining a shaft axis, a surgical end effector, a distal support link, and a distal range of motion. The surgical end effector comprises an elongated channel configured to operably support the surgical staple cartridge in and an anvil supported to move movably with respect to the surgical staple cartridge. The distal support link is pivotally connected to the elongated channel to demarcate the range of motion, the range of motion traverses the shaft axis, around which the elongated channel articulates against the elongated shaft assembly. obtain. The distal support link is attached to the distal end of the elongated shaft assembly for axial and pivotal movement along the shaft axis with respect to the distal end of the elongated shaft assembly. The distal joint kinetic member is supported to move axially on one side of the shaft axis, and the distal joint kinetic member is pivotally coupled to an elongated channel and can operate with a source of joint kinematics. Interface to.

Example 172-The proximal end of the distal support link has a proximal axial slot configured to receive the corresponding range of motion pins attached to the distal end of the elongated shaft assembly described above. The surgical tool assembly according to Example 171.

Example 173-The surgical tool assembly is operably coupled to the proximal joint motor member, which operably interfaces with the source of joint movement, the proximal joint motor member, and the proximal end of the distal joint motor member. 171 or 172. The surgical tool assembly according to Example 171 or 172, further comprising a joint locking assembly that selectively locks the distal joint motor member in an axial position.

Example 174-The surgical tool assembly according to Example 173, wherein the proximal end of the distal joint range of motion is pivotally coupled to the joint lock assembly.

Example 175-The surgical tool of Example 171, 172, 173, or 174, wherein the distal support link is pivotally and axially movably coupled to a distal spine member of an elongated shaft assembly. assembly.

Example 176-The distal joint motor member is configured to move in the first and second axial directions, and as a result, when the distal joint motor member is moved in the first axial direction, the surgical end. When the effector is joint-moved in the first joint-moving direction from the first non-joint-moving position to any one of the joint-moving positions, and the distal joint-moving member is moved in the second axial direction. The surgical end effector has been moved in the second joint movement direction from any one of the joint movement positions to the first non-joint movement position, Examples 171, 172, 173, 174, or. 175. The surgical tool assembly.

Example 177-The surgical tool assembly is for surgical use in a second range of motion beyond the first non-moving position when the distal joint range of motion is being moved in the second axial direction. The surgical tool assembly according to Example 176, further comprising means for preventing the movement of the end effector.

Example 178-A surgical tool assembly, a means for connecting an elongated shaft assembly defining a shaft axis and a surgical end effector to the distal end of the elongated shaft assembly, thereby the surgical end. The effector is a joint that is centered on the joint movement axis that crosses the shaft axis, the surgical end effector is aligned with the elongated shaft along the shaft axis, and the joint is located on one side of the shaft axis. Means for connecting the surgical end effector to the distal end of the elongated shaft assembly and means for applying the joint movement to the surgical end effector, which may be selectively articulated to and from the motion position. Prepared surgical tool assembly. The means for connecting is coupled to the elongated shaft assembly for axial and pivotal movement with respect to the elongated shaft assembly.

Example 179-The surgical tool assembly according to Example 178, wherein the means for addition is pivotally coupled to a surgical end effector at a position laterally offset from the shaft axis.

Example 180-The surgical tool assembly according to Example 178 or 179, wherein the means for adding further comprises means for selectively locking the surgical end effector in any one of the range of motion positions. ..

Example 181-The surgical staple cartridge is configured to be supported within the jaws of the surgical end effector, the at least one jaw of the surgical end effector being relative to the second jaw of the surgical end effector. It is movable between the open position and the closed position. The surgical end effector is moved from the unlocked configuration to the locked configuration when at least one jaw is moved to the closed position to prevent axial movement of the launcher through the surgical end effector. Includes lock member. The surgical end effector comprises a cartridge body sized to be seated within the surgical end effector, the cartridge body containing multiple surgical staples and cam assemblies placed within the staple line within it. Support operably. The cam assembly is movable between the start and end positions in the cartridge body, the cam assembly defines the central axis and multiple cam mechanisms on it, and each cam mechanism is a staple line. Corresponds to at least one of them. The cam assembly is laterally offset from the central axis and unlocks and engages with the corresponding portion of the locking member when the cartridge body is seated in the surgical end effector and the cam assembly is in the starting position. Further on the cam assembly, there is at least one unlocking mechanism configured to prevent the locking member from reaching the locked configuration when at least one jaw is moved to the closed position. Be prepared.

Example 182-At least one unlocking mechanism is centered on a first unlocking slope formed on the proximal end of the cam assembly at a position laterally offset to one side of the central axis. 181. The surgical staple cartridge according to Example 181, comprising a second unlocking slope formed on the proximal end of the cam assembly at another position offset laterally to the opposite side of the axis.

Example 183-The surgical staple cartridge of Example 181 or 182, wherein each unlocking mechanism is configured to urge the locking member into an unlocked configuration.

Example 184-The proximal end of the cam assembly is a first unlocked slope configured to be engaged by the launcher as the launcher is axially advanced through the surgical end effector. 182. The surgical staple cartridge according to Example 182, which defines a central contact area located between and a second unlocked slope.

Example 185-A surgical end effector comprising a first jaw, an anvil, a launching member, a locking member, and a surgical staple cartridge. The anvil is supported against the first jaw in order to selectively move relative to each other between the open and closed positions with respect to the first jaw. The launching member is supported to move axially between the start and end positions within the end effector when launch and retreat motions are applied. The locking member has a locked configuration in which the launching member is prevented from moving axially through the surgical end effector, and the launching member is unlocked so that the launching member can advance axially through the surgical end effector. It is movable to and from the configured configuration. The surgical staple cartridge comprises a cartridge body and a cam assembly. The cartridge body is sized to be seated in a first jaw, and the cartridge body operably supports a plurality of surgical staples located within the staple line within the cartridge body. The cam assembly is movable between the start and end positions within the cartridge body, the cam assembly defines a central axis and contains multiple cam mechanisms on which each cam mechanism is of staple line. Corresponds to at least one of them. The cam assembly is laterally offset from the central axis and unlocks and engages with the corresponding portion of the locking member when the cartridge body is seated in the first jaw and the cam assembly is in the starting position. , Thereby providing at least one unlocking mechanism on the cam assembly that is configured to prevent the locking member from reaching the locked configuration when the anvil is moved to the closed position.

Example 186-At least one unlocking mechanism is centered on a first unlocking slope formed on the proximal end of the cam assembly at a position laterally offset to one side of the central axis. The surgical end effector according to Example 185, comprising a second unlocked slope formed on the proximal end of the cam assembly at another position offset laterally to the opposite side of the axis.

Embodiment 187-Anvil is configured to move the locking member in a first direction to lock engage with the launching member when the anvil is moved to the closed position, with each unlocking mechanism corresponding to the locking member. The surgical end effector according to Example 185 or 186, wherein the portion to be squeezed is configured to be urged in a second direction opposite to the first direction.

Example 188-The proximal end of the cam assembly is a first unlocked slope configured to be engaged by the launcher as the launcher is axially advanced through the surgical end effector. 186. The surgical end effector according to Example 186, which defines a central contact area located between and a second unlocked slope.

Example 189-The surgical staple cartridge comprises an elongated slot configured to slidably receive the launching member into the locking member as the launching member is moved between the start and end positions. 181, 182, 183, or 184 of the surgical end effector, wherein the launch member is configured to be axially aligned with an elongated slot.

Example 190-The launching member comprises two sides, the locking member being configured to holdfully engage with each side surface of the launching member when the locking member is in a locked configuration, Example 185. , 186, 187, or 188. The surgical end effector.

Embodiment 191-The locking member comprises a spring arm corresponding to each side surface of the launching member and a lock notch in each spring arm configured to releasably engage the corresponding lock lugs on each side surface of the launching member. The surgical end effector according to Example 190.

Example 192 The surgical end effector according to Example 185, 186, 187, 188, 190, or 191 further comprises a tissue cut surface on the launching member.

Embodiment 193-Anvil is an anvil body, an axial slot in the anvil body that allows a portion of the launching member to pass axially through the interior, and each side of the axial slot in the anvil body. 185, 186, 187, 188, 190, 191 or 192 of the surgical end effector, comprising an upper axial passage.

Example 194-The launching member extends laterally from the foot portion configured to slidably pass through the corresponding passage in the first jaw and from the top of the launching member body and into the anvil body. A laterally extending anvil engagement mechanism configured to pass through one of the axial passages of the first and second engagement mechanisms is a foot and anvil. The surgical end effector of Example 193, located between the engagement mechanism.

Example 195-The surgical staple cartridge is configured to be supported within a jaw of the surgical end effector defining the shaft axis, and at least one jaw of the surgical end effector is a second jaw of the surgical end effector. It is movable between the open position and the closed position with respect to the jaw. The surgical end effector has a locked configuration in which the launching member is prevented from moving axially through the surgical end effector, and the launching member is axially forwardable through the surgical end effector. Includes locking members that are movable to and from the unlocked configuration. A surgical staple cartridge is a cartridge body sized to sit within one jaw of a surgical end effector, the cartridge body being a plurality of surgical staples arranged within a row of staples. The cartridge body and staple cumming means that operably support the staples, and when the cumming means is moved axially from the start position to the end position in the cartridge body, the staples are cummed out of the cartridge body. It is equipped with a staple coming means for putting out. The staple coming means is at least one corresponding portion of the locking member that is laterally offset from the shaft axis when the staple body is seated in the jaws of the surgical end effector and the staple coming means is in the starting position. It is configured to engage in unlocking engagement to prevent the locking member from reaching the locked configuration when at least one jaw is moved to the closed position.

Example 196-The method comprises obtaining a first staple cartridge having a row of first staples and a second staple cartridge having a row of second staples, the first staple. And the second staple row have the same length. The method is to insert the first staple cartridge into a channel having a key shape, and inserting the first staple cartridge completely into the channel is due to interference between the key shape and the channel. It is prevented, and that the second staple cartridge is inserted into the channel, and that the second staple cartridge is completely inserted into the channel is allowed by the keyed shape. Further includes.

Example 197-The method of Example 196, wherein inserting the second staple cartridge into the channel further comprises aligning the key mechanism on the second staple cartridge with the key shape on the channel.

Example 198-The method of Example 196 or 197, further comprising that the bottom surface of the first staple cartridge is separated from the channel when the first staple cartridge is inserted into the channel.

Example 199-The method of Example 198, further comprising positioning the bottom surface of the second staple cartridge in contact with the channel when the second staple cartridge is inserted into the channel. ..

Example 200-The method further comprises preventing the proximal portion of the first staple cartridge from clamping the anvil to the distal portion of the first staple cartridge when the first staple cartridge is inserted into the channel. 196, 197, 198, or 199.

Example 201-Method further comprises preventing the firing stroke of the firing lockout of the first staple cartridge when the first staple cartridge is inserted into the channel, Examples 196, 197, 198, 199. , Or the method according to 200.

Example 202-A method comprising obtaining a first staple cartridge comprising an amount of a first staple and obtaining a second staple cartridge comprising an amount of a first staple. The method is to insert the first staple cartridge into a channel having a key shape, and completely inserting the first staple cartridge into the channel is prevented by the key shape. By inserting the first staple cartridge into a channel having a key shape, and inserting the first staple cartridge completely into the channel is prevented by the key shape. Further included.

Example 203-The method of Example 202, wherein inserting the second staple cartridge into the channel further comprises aligning the key mechanism on the second staple cartridge with the key shape on the channel.

Example 204-The method of Example 202 or 203, further comprising that the bottom surface of the first staple cartridge is separated from the channel when the first staple cartridge is inserted into the channel.

Example 205-The method of Example 204, further comprising that when the first staple cartridge is inserted into the channel, the bottom surface of the first staple cartridge is separated from the channel.

Example 206-The method further comprises preventing the first staple cartridge from clamping the anvil to the first staple cartridge when the first staple cartridge is inserted into the channel, embodiments 202, 203, 204. , Or the method according to 205.

Example 207-Methods further include that the firing lockout of the first staple cartridge prevents firing stroke when the first staple cartridge is inserted into the channel, Examples 202, 203, 204, 205. , Or the method according to 206.

Example 208-The method is to obtain a channel, to obtain a compatible staple cartridge containing a proximal alignment protrusion and a distal alignment protrusion, and to make the proximal alignment protrusion the corresponding proximal within the channel. Includes alignment with the alignment mechanism. The method is to align the distal alignment protrusion with the corresponding distal alignment mechanism within the channel and the proximal alignment protrusion interlocks with the corresponding proximal alignment mechanism for distal alignment. Further comprising inserting a compatible staple cartridge into the channel so that the protrusion interlocks with the corresponding distal alignment mechanism.

Example 209-The method of Example 208, further comprising positioning the bottom surface of the conforming staple cartridge in contact with the channel when the conforming staple cartridge is inserted into the channel.

Example 210-The method of Example 208 or 209, wherein the method further comprises preventing the firing lockout of the conforming staple cartridge from firing stroke until the conforming staple cartridge is inserted into the channel.

Example 211-The method further comprises attempting to insert a non-conforming staple cartridge into the channel, wherein the non-conforming staple cartridge further comprises an interference mechanism for the corresponding proximal alignment mechanism on the channel, Examples 208, 209. Or the method according to 210.

Example 212-The method of Example 211, further comprising that the bottom surface of the non-conforming staple cartridge is separated from the channel when the non-conforming staple cartridge is inserted into the channel.

Example 213-Method is described in Example 212, further comprising preventing the proximal portion of the non-conforming staple cartridge from clamping the anvil to the distal portion of the non-conforming staple cartridge when the non-conforming staple cartridge is inserted into the channel. the method of.

Example 214-The method of Example 211, 212, or 213, further comprising locking out preventing at least one surgical function when the non-conforming staple cartridge is positioned within the channel.

Example 215-Channels include end effector jaws, the method further comprising matching a classification index on the end effector with a classification index on a conforming staple cartridge, Examples 208, 209, 210, 211, 212. 213, or 214.

Example 216-A system comprising a replaceable staple cartridge and a channel configured to receive the replaceable staple cartridge. The replaceable staple cartridge comprises a plurality of staples, a first downwardly projecting tab and a second downwardly projecting tab. The channel is a first container positioned and sized to receive a first downwardly projecting tab and a second container positioned and sized to receive a second downwardly projecting tab. It is equipped with a container.

Example 217-The replaceable staple cartridge further comprises a cartridge body and a pan positioned around a portion of the cartridge body, the pan further comprising a base, a first downwardly projecting tab and a second. The system of Example 216, wherein the downwardly projecting tabs project from the base.

218-The system of Example 217, wherein the first downwardly projecting tab and the second downwardly projecting tab are made of metal.

219-The replaceable staple cartridge according to Example 216, 217, or 218, further comprising a first laterally extending lug and a second laterally extending lug. system.

Example 220-The replaceable staple cartridge is a first sidewall comprising a first cut, the first cut is positioned and positioned to receive a first laterally extending lug. A sized first side wall and a second side wall with a second cut, the second cut is positioned to receive a second laterally extending lug. 219. The system of Example 219, further comprising a second sidewall, which is sized and sized.

Example 221-The replaceable staple cartridge further comprises a molded cartridge body, the first laterally extending lug and the second laterally extending lugs forming the molded cartridge body. The system according to Example 220, which is a featured portion.

222-The system according to Example 221 in which the cartridge body is made of a plastic material.

Example 223-The first laterally extending lug and the second laterally extending lug are located distal to the first downwardly projecting tab and the second downwardly projecting tab. The system according to Example 219, 220, 221 or 222.

Example 224-A system comprising a replaceable staple cartridge and a channel configured to receive the replaceable staple cartridge. The replaceable staple cartridge comprises a plurality of staples and an outer surface including a plurality of ribs. The channel comprises a plurality of slots, each of which is configured to receive one of the ribs.

Example 225-The system of Example 224, wherein the ribs include a first rib and a second rib.

Example 226-The plurality of slots include a first slot and a second slot, and the channel comprises a first side wall comprising a first slot and a second side wall comprising a second slot. The system according to Example 225, further comprising.

Example 227-The system of Example 224, 225, or 226, wherein the replaceable staple cartridge further comprises a molded cartridge body, the rib being a molded feature of the molded cartridge body.

Example 228-The replaceable staple cartridge further comprises a first laterally extending lug and a second laterally extending lug, according to Example 224, 225, 226, or 227. The system described.

Example 229-The channel is a first sidewall comprising a first cut, the first cut is positioned and dimensioned to receive a first laterally extending lug. A second side wall comprising a first side wall and a second cut portion, the second cut portion being positioned and dimensioned to receive a second laterally extending lug. 224, 225, 226, 227, or 228, further comprising a second sidewall.

Example 230-The replaceable staple cartridge further comprises a molded cartridge body, the first laterally extending lug and the second laterally extending lug within the molded cartridge body. The system according to Example 229, which is molded.

Example 231-The system of Example 230, wherein the molded cartridge body is made of a plastic material.

Example 232-The system of Example 231, wherein the first laterally extending lug and the second laterally extending lug are located distal to the rubs.

233-A system comprising a compatible staple cartridge with a plurality of staples and a channel. The system allows the conforming staple cartridge to be fully inserted and is a means to prevent the non-conforming staple cartridge from being fully inserted into the channel, the non-conforming staple cartridge and the conforming staple cartridge having the same length. Further provided with means having the same width.

Example 234. The system of Example 233, wherein the means comprises a proximal alignment key and a distal alignment key.

Example 235-The system of Example 233 or 234, wherein the system further comprises a second channel and the non-conforming staple cartridge is adapted to the second channel.

Example 236-A system comprising a replaceable staple cartridge and a channel configured to receive the replaceable staple cartridge. The replaceable staple cartridge comprises a plurality of staples, a proximal laterally projecting lug and a distal laterally projecting lug. Channels are positioned and dimensioned to receive proximal laterally projecting lugs and distal vessels positioned and dimensioned to receive distal laterally projecting lugs. It comprises a container and a side wall comprising.

Example 237-The channel further comprises an obstacle, and the replaceable staple cartridge further comprises a complementary anti-obstruction positioned and sized to overcome the obstacle, Example 236. The system described in.

Example 238-The system of Example 237, further comprising a second replaceable staple cartridge with a non-complementary obstacle stop positioned and sized to interfere with obstacles.

Example 239-The system of Example 236, 237, or 238, wherein the proximal container defines a cutout within the side wall, the cutout comprising recesses and protrusions.

Example 240-The system of Example 239, wherein the protrusions are located within the recess.

Example 241-A second exchange comprising a second plurality of staples, a second proximal laterally projecting lug, and a second distal laterally projecting lug. 236, 237, 238, 239, or 240. The system of Example 236, 238, 239, or 240, further comprising a possible staple cartridge.

Example 242-The second distal laterally projecting lug is separated from the second proximal laterally projecting lug by a certain distance, which is close to the replaceable staple cartridge. The system according to Example 241, wherein the first distance between the laterally projecting lugs and the distal laterally projecting lugs is different.

Example 243-The second distal laterally projecting lug coincides with the distal laterally projecting lug, and the second proximal laterally projecting lug is proximal laterally projecting. The system according to Example 241 or 242, which is different from the lag.

Embodiment 244-The second replaceable staple cartridge further comprises a deck, the channel further comprises a bottom surface, and the deck has a deck relative to the bottom surface when the second replaceable staple cartridge is positioned within the channel. 241. 242, or 243 of an obliquely oriented system.

Example 245-The system of Example 241, 242, 243, or 244, wherein the replaceable staple cartridge and the second replaceable staple cartridge have the same width and length.

Example 246-The system of Example 241 242, 243, 244, or 245, wherein the plurality of staples and the second plurality of staples comprises the same amount of staples.

Examples 247-The distal laterally projecting lugs have a different geometry than the proximal laterally projecting lugs, Examples 236, 237, 238, 239, 240, 241 and 242, 243. 244, 245, or 246.

Example 248-The system of Example 247, wherein the laterally projecting lugs are wedged.

Example 249-The system of Example 247 or 248, wherein the laterally projecting lugs of the proximal are provided with cutouts that coincide with the protrusions in the proximal container.

Example 250-Proximal laterally projecting lugs project from the first side of the replaceable staple cartridge and distal laterally projecting lugs project from the second side of the replaceable staple cartridge. 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, or 249.

Example 251-The replaceable staple cartridge further comprises a deck, the channel further comprises a bottom surface, and the deck is parallel to the bottom surface when the replaceable staple cartridge is positioned within the channel. 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, or 250.

Example 252-System with a channel comprising an obstacle and a complementary obstacle stop positioned and sized to complement the obstacle when a compatible staple cartridge is received within the above channel. A conforming staple cartridge comprising a non-conforming staple cartridge with a non-complementary obstacle stop positioned and sized to interfere with an obstacle when the non-conforming staple cartridge is received in the channel. system.

253-The system of Example 252, wherein the conforming staple cartridge and the non-conforming staple cartridge comprises a row of staples of the same length.

Example 254. The system of Example 252 or 253, wherein the conforming staple cartridge and the non-conforming staple cartridge have the same amount of staples.

Example 255-The system of Example 252, 253, or 254, wherein the obstacle further comprises a cutout including recesses and protrusions.

Example 256-A conforming staple cartridge with a first amount of staples, a non-conforming staple cartridge with a first amount of staples, and a channel that allows full insertion of the conforming staple cartridge, the non-conforming staple cartridge. A system comprising a channel, which comprises means for preventing it from being completely inserted into the channel.

Example 257-An end effector configured to receive a compatible replaceable staple cartridge, comprising a first outer surface, having a classification identification of the end effector. A compatible replaceable staple cartridge with an end effector engraved on the outer surface of 1 has a second outer surface and a matching replaceable staple cartridge classification identification is on the second outer surface. The classification identification display of the replaceable staple cartridge engraved and compatible with the end effector classification identification display corresponds to the system.

Example 258-The system further comprises a non-conforming replaceable staple cartridge, the non-conforming replaceable staple cartridge comprises a third outer surface, and the non-conforming replaceable staple cartridge classification identification label is the third outer. The system according to Example 257, wherein the classification identification display of the replaceable staple cartridge positioned and fitted on the surface is different from the classification identification display of the end effector.

Example 259-The system of Example 257 or 258, wherein the end effector further comprises a distal portion, the classification identification indication of the end effector is positioned on the distal portion.

Example 260-The system of Example 259, wherein the end effector further comprises an anvil, with the end effector classification identification indication positioned at the distal end of the anvil.

Example 261-The end effector further comprises an anvil with a pair of tissue stops, the secondary classification identification of the end effector is positioned on each of the tissue stops, Examples 257, 258, 259, or 260. The system described in.

Example 262-The compatible replaceable staple cartridge further comprises a wedge-shaped distal nose, and the classification identification of the compatible replaceable staple cartridge is on the wedge-shaped distal nose. 257, 258, 259, 260, or 261.

263. The system according to Example 257, 258, 259, 260, 261 or 262, wherein the classification identification display of the end effector and the classification identification display of the compatible replaceable staple cartridge contain the same alphanumericals.

Example 264. The system of Example 263, wherein the same alphanumericals indicate the length of the staple line resulting from firing from a compatible replaceable staple cartridge.

Example 265-The system of Example 264, wherein the same alphanumericals indicate the type of end effector.

Example 266-End effector classification identification and matching replaceable staple cartridge classification identification indications include the same shape, in Example 257, 258, 259, 260, 261, 262, 263, 264, or 265. Described system.

Example 267-The classification identification of the end effector and the classification identification of the compatible replaceable staple cartridges include the same color, Examples 257, 258, 259, 260, 261, 262, 263, 264, 265, or. 266.

Example 268-The system further comprises a lockout configured to prevent at least one surgical function unless a compatible replaceable staple cartridge is positioned within the end effector, Example 257, 258. 259, 260, 261, 262, 263, 264, 265, 266, or 267.

Example 269-In the system, an end effector configured to receive compatible replaceable staple cartridges, comprising an end effector comprising a first distal end with a cartridge compatibility indicator. A compatible replaceable staple cartridge comprises multiple staples and a compatible interchangeable staple cartridge comprises a second distal end with an end effector compatibility indicator.

Example 270-The system of Example 269, wherein the cartridge compatibility indicator is embossed on the outer surface of the end effector.

Example 271-The system of Example 270, wherein the end effector compatibility indicator is embossed on the outer surface of a compatible replaceable staple cartridge.

Example 272-As described in Example 269, 270, or 271, the cartridge compatibility indicator overlaps the end effector compatibility indicator longitudinally when a compatible replaceable staple cartridge is positioned within the end effector. system.

Example 273-A system having an end effector configured to receive a compatible replaceable staple cartridge, comprising a first outer surface with a first cord, comprising an end effector, fitted. The replaceable staple cartridge comprises a plurality of staples and a second outer surface, the second outer surface comprises a second cord, the second cord matching the first cord, the system.

Example 274-The system of Example 273, wherein the first cord is embossed on the first outer surface and the second cord is embossed on the second outer surface.

Example 275-The system according to Example 273 or 274, wherein the first and second cords indicate the length of a compatible replaceable staple cartridge.

Example 276-The system of Example 273, 274, or 275, wherein the first and second codes include at least one number and at least one letter.

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 embodiments, the motors disclosed herein may include parts 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 No. 13 / 118,241, title of invention "SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS", current US Patent Application Publication No. 2012/02987719 is, for example, some examples of robotic surgical instrument systems. Is disclosed in more detail.

The surgical instrument system described herein has been described in connection with the deployment and modification of staples, but the embodiments described herein are not limited thereto. Various embodiments are also conceivable, such as deploying fasteners other than staples, such as clamps or tacks. In addition, various embodiments are 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, the end effector according to a particular embodiment can apply vibration energy to seal the tissue.

The entire disclosure below is incorporated herein by reference.
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-US Pat. No. 7,000,818 issued on February 21, 2006, title of invention "SURGICAL STAPLING INSTRUMENT HAVING SPECALTE DISTINCT CLOSEING AND FIRING SYSTEMS",
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-US Patent Application No. 12 / 031,573 filed on February 14, 2008, title of invention "SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES",
-US Patent Application No. 12 / 031,873 filed on February 15, 2008, title of invention "END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT", now US Patent No. 7,980,443,
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Although various instruments have been described herein with specific embodiments, modifications and modifications may be made to those embodiments. Certain features, structures, or properties can be combined in any suitable manner in one or more embodiments. Thus, a particular feature, structure, or property illustrated or described with respect to one embodiment may, indefinitely, be combined in whole or in part with one or more of the features, structures, or properties of another embodiment. You may. 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 with multiple components to perform a given function (s), and multiple components may be combined into a single component. You may replace it. The above description and the following claims are intended to include all such modifications and variations.

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 may be readjusted for reuse after at least one use. The readjustment can include, but is not limited to, a device disassembly step, a subsequent cleaning or replacement step of a particular part of the device, and a subsequent device reassembly step. Specifically, the readjustment facility and / or the surgical team may disassemble the device, clean and / or replace certain parts of the device, and then reassemble the device 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 this application.

The devices disclosed 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. Subsequently, the vessel and instrument can 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. Subsequently, 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. Devices can also be sterilized using any other technique known in the art, including but not limited to β-rays, gamma-rays, ethylene oxide, hydrogen peroxide plasma, 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 content that conflicts with current definitions, views, or other disclosures described herein, or parts thereof, shall be incorporated herein by reference, but with reference and current disclosure. It shall be referred to only to the extent that there is no contradiction with.

[Implementation mode]
(1) It is a surgical instrument and
It ’s a surgical end effector.
With the first Joe
A surgical end effector comprising a second jaw movably supported on the first jaw for selectively moving between an open position and a closed position with respect to the first jaw. In preparation, the surgical instrument is
An elongated shaft that defines the shaft axis, and
A closing member movably supported on the elongated shaft and configured to selectively move from the open position to the closed position in the closed direction and from the closed position to the open position in the open direction. When,
A joint that connects the surgical end effector to the elongated shaft, whereby the surgical end effector selectively with respect to the elongated shaft, centered on a joint motion axis that traverses the shaft axis. The joint is capable of joint movement, and the joint has a locked configuration in which the surgical end effector is prevented from moving about the joint movement axis, and the surgical end effector has the joint movement axis. It comprises a joint locking mechanism configured to move from an unlocked configuration capable of joint movement in the center, the joint locking mechanism said when the closing member is moved from the open position to the closing direction. With the joints moving from the locked configuration to the unlocked configuration,
A surgical instrument further comprising means for applying joint motion to the surgical end effector when the joint locking mechanism is in the unlocked configuration.
(2) The joint locking mechanism includes at least one locking member, the at least one locking member having a first position corresponding to the unlocked configuration, and the at least one locking member for the surgical operation. It is movable between the mounting portion of the end effector and the distal end portion of the elongated shaft and the second position of frictional engagement, wherein the at least one locking member is the closing member in the closing direction. The surgical instrument according to embodiment 1, wherein the surgical instrument operably interfaces with the closing member such that the first movement moves the at least one locking member from the first position to the second position.
(3) The mounting portion of the surgical end effector comprises an upright mounting column including a plurality of column side surfaces, and the at least one locking member comprises a locking member corresponding to each of the column side surfaces. Surgical instruments described in.
(4) The distal end portion of the elongated shaft comprises a pivot hole defining the joint motion axis, the upright mounting column extends into the pivot hole, thereby each of the locking members. The surgical instrument according to embodiment 3, wherein the surgical instrument is movably supported within the pivot hole between the corresponding column side surface and the inner wall of the pivot hole.
(5) When the closing member is moved in the closing direction, the upright mounting column moves the plurality of locking members to frictionally engage with the inner wall of the pivot hole and the corresponding column side surface. The surgical instrument according to embodiment 4, which is configured as described above.

(6) The closing member is
Proximal closing members that interface with a source of closing and opening motions to move the proximal closing member in the closing and opening directions.
A distal closure member pivotally connected to the proximal closure member by a link mechanism, comprising a portion of the link mechanism.
When the closing member is first moved in the closing direction in interface with the upright mounting column, the upright mounting column moves the plurality of locking members to the inner wall of the pivot hole and the corresponding corresponding. The surgical instrument according to embodiment 5, which is configured to be frictionally engaged with the column sidewall.
(7) The link mechanism is
An upper double pivot link that is pivotally connected to and extends between the proximal closure member and the distal closure member.
It comprises a lower double pivot link that is pivotally connected to and extends between the proximal closure member and the distal closure member, wherein the lower double pivot link is the lower two. 6. The embodiment according to embodiment 6, wherein when the pivotal link is first moved in the closed direction, it is configured to operably interface with the upright mount column and apply a locking motion to the upright mount column. Surgical instruments.
(8) The upright mounting column comprises a first end mounted on a mounting base adjacent to the lower double pivot link, the upright column is tapered towards a free end and the free end. 7. The surgical instrument according to embodiment 7, wherein the cross-sectional area of the column is smaller than another cross-sectional area of the first end of the column.
(9) The surgical operation according to embodiment 1, wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. Instrument.
(10) The means for applying joint motion to the surgical end effector is
A means for adding the first joint movement to the surgical end effector and causing the surgical end effector to move in the direction of the first joint movement around the joint movement axis.
The first embodiment includes, in addition to the surgical end effector, a means for jointly moving the surgical end effector in the direction of the second joint movement around the joint movement axis. The surgical instruments described.

(11) It is a surgical instrument and
An elongated shaft with a distal end and defining the shaft axis,
A surgical end effector comprising an end effector mounting portion, the distal end portion of the elongated shaft and one of the end effector mounting portions comprising a pivot hole, the distal end portion of the elongated shaft and the said. The other end effector mounting portion is pivotally received within the pivot hole to define a joint motion pin that defines a joint motion axis across the shaft axis, and around the shaft axis, the surgery. The end effector for surgery is a surgical end effector capable of joint movement with respect to the elongated shaft when joint movement is applied to the surgical end effector.
A joint locking mechanism supported between the joint movement pin and the inner wall of the pivot hole in the pivot hole, wherein the joint locking mechanism frictionally engages the joint movement pin with the inner wall of the pivot hole. A first locked configuration that prevents relative pivotal movement of the joint motion pin and the distal end portion of the elongated shaft, and the joint motion pin and the distal end portion pivotally with respect to each other. With an unlocked configuration that is possible, and a joint locking mechanism that is mobile from,
It is a joint movement member, and by the operation of the joint movement member, the joint movement member interfaces with the surgical end effector so that the joint movement applies the joint movement to the surgical end effector, and the initial operation of the joint movement member. When the joint locking mechanism moves from the locked configuration to the unlocked configuration and the joint movement member is stopped, the joint locking mechanism changes from the unlocked configuration to the locked configuration. A surgical instrument comprising a joint movement member that interfaces with the joint locking mechanism so as to move to.
(12) The surgical instrument according to embodiment 11, wherein the joint locking mechanism comprises a torsion spring supported between the joint movement pin and the inner wall of the pivot hole.
(13) In the torsion spring, the torsion spring frictionally engages with the joint movement pin and the inner wall of the pivot hole, and the relative pivot of the distal end portion of the elongated shaft and the surgical end effector. 12. The surgical instrument according to embodiment 12, which is rotatable from a first position that prevents movement and a position where the torsion spring does not prevent relative pivotal movement.
(14) The joint locking mechanism comprises at least one lock ball, wherein the at least one lock ball is between the joint movement pin and the inner wall of the pivot hole, and each lock ball is a joint movement pin. A first position that frictionally engages with the inner wall of the pivot hole to prevent relative pivotal movement of the distal end portion of the elongated shaft and the surgical end effector, and each said lock ball. 11. The surgical instrument according to embodiment 11, which is movably supported to and from a position that does not prevent relative pivotal movement.
(15) The surgical end effector is
With the first Joe
11. The surgical instrument according to embodiment 11, comprising a second jaw supported for movable movement relative to the first jaw.

(16) The surgical operation according to embodiment 15, wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. Instrument.
(17) The joint movement member comprises an axially movable joint movement member pivotally connected to the surgical end effector, whereby an axial movement thereof is performed in the first axial direction. The surgical end effector is jointly moved in the first joint movement direction around the joint movement axis, and the movement of the joint movement member that can move in the axial direction in the second axial direction is the surgical operation. The surgical instrument according to embodiment 11, wherein the end effector is jointly moved in the second joint movement direction around the joint movement axis.
(18) Surgical instrument
It ’s a surgical end effector.
A first jaw movably connected to the elongated shaft for selective joint motion with respect to the elongated shaft about the joint motion axis crossing the shaft axis.
A surgical end effector comprising a second jaw movably supported on the first jaw for selectively moving between an open position and a closed position with respect to the first jaw. The surgical instrument is equipped with
An elongated shaft that defines the shaft axis, and
A closing means for selectively moving the second jaw from the open position to the closed position, such as selectively moving the second jaw from the closed position to the open position. Further configured, closing means and
A joint that connects the surgical end effector to the elongated shaft, whereby the surgical end effector selectively joins the elongated shaft around a joint motion axis that traverses the shaft axis. The joint is movable and the joint has a locked configuration in which the surgical end effector is prevented from moving about the joint movement axis, and the surgical end effector is centered on the joint movement axis. The joint locking mechanism comprises a joint locking mechanism configured to move from an unlocked configuration capable of joint movement, wherein the closing means directs the second jaw from the open position to the closed position. When moved, the joint joint moves from the locked configuration to the unlocked configuration.
A surgical instrument further comprising means for applying joint motion to the surgical end effector when the joint locking mechanism is in the unlocked configuration.
(19) The surgical procedure of embodiment 18, wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. Instrument.
(20) The joint locking mechanism includes at least one locking member, the at least one locking member having a first position corresponding to the unlocked configuration, and the at least one locking member having the first locking member. The jaw is movable between the mounting portion of the jaw and the distal end portion of the elongated shaft and a second position for frictional engagement, wherein the at least one locking member is the closing member in the closing direction. 18. The surgical instrument according to embodiment 18, wherein the first movement operably interfaces with the closing member such that the first movement moves the at least one locking member from the first position to the second position.

Claims (13)

It ’s a surgical instrument,
It ’s a surgical end effector.
With the first Joe
A surgical end effector comprising a second jaw movably supported on the first jaw for selectively moving between an open position and a closed position with respect to the first jaw. In preparation, the surgical instrument is
An elongated shaft that defines the shaft axis, and
A closing member movably supported on the elongated shaft and configured to selectively move from the open position to the closed position in the closed direction and from the closed position to the open position in the open direction. When,
A joint that connects the surgical end effector to the elongated shaft, whereby the surgical end effector selectively with respect to the elongated shaft, centered on a joint motion axis that traverses the shaft axis. The joint is capable of joint movement, and the joint has a locked configuration in which the surgical end effector is prevented from moving about the joint movement axis, and the surgical end effector has the joint movement axis. It comprises a joint locking mechanism configured to move from an unlocked configuration capable of joint movement in the center, the joint locking mechanism said when the closing member is moved from the open position to the closing direction. With the joints moving from the unlocked configuration to the locked configuration ,
A surgical instrument further comprising means for applying joint motion to the surgical end effector when the joint locking mechanism is in the unlocked configuration. The joint locking mechanism comprises at least one locking member, wherein the at least one locking member is in a first position corresponding to the unlocked configuration and the at least one locking member is the surgical end effector. Movable between the mounting portion and the distal end portion of the elongated shaft and a second position that frictionally engages, the at least one locking member is the first movement of the closing member in the closing direction. The surgical instrument according to claim 1, wherein the closing member is operably interfaced so as to move the at least one locking member from the first position to the second position. 2. The mounting portion of the surgical end effector comprises an upright mounting column including a plurality of column side surfaces, wherein the at least one locking member comprises a locking member corresponding to each of the column side surfaces, claim 2. Surgical instruments. The distal end portion of the elongated shaft comprises a pivot hole defining the joint motion axis, wherein the upright mounting column extends into the pivot hole, whereby each of the locking members has the pivot. The surgical instrument according to claim 3, wherein the surgical instrument is movably supported within the moving hole between the corresponding column side surface and the inner wall of the pivot hole. The upright mounting column is configured such that when the closing member is moved in the closing direction, each of the locking members is moved to frictionally engage with the inner wall of the pivot hole and the corresponding column side surface. The surgical instrument according to claim 4. The closing member is
Proximal closing members that interface with a source of closing and opening motions to move the proximal closing member in the closing and opening directions.
A distal closure member pivotally connected to the proximal closure member by a link mechanism, comprising a portion of the link mechanism.
When the closing member is first moved in the closing direction in interface with the upright mounting column, the upright mounting column moves the plurality of locking members to the inner wall of the pivot hole and the corresponding corresponding. The surgical instrument according to claim 5, which is configured to be frictionally engaged with the column sidewall. The link mechanism is
An upper double pivot link that is pivotally connected to and extends between the proximal closure member and the distal closure member.
It comprises a lower double pivot link that is pivotally connected to and extends between the proximal closure member and the distal closure member, wherein the lower double pivot link is the lower two. 6. Surgical instruments. The upright mounting column comprises a first end attached to a mounting base adjacent to the lower double pivot link, the upright mounting column is tapered towards the free end and the free end breaks. The surgical instrument according to claim 7, wherein the area is smaller than another cross-sectional area of the first end of the upright mounting column. The surgical instrument according to claim 1, wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. The means for applying range of motion to the surgical end effector is
A means for adding the first joint movement to the surgical end effector and causing the surgical end effector to move in the direction of the first joint movement around the joint movement axis.
The first aspect of the present invention includes, in addition to the surgical end effector, a means for jointly moving the surgical end effector in the direction of the second joint movement around the joint movement axis. The surgical instruments described. It ’s a surgical instrument,
It ’s a surgical end effector.
Joint movement across the shaft axis A first jaw movably connected to the elongated shaft for selective joint motion with respect to the elongated shaft,
A surgical end effector comprising a second jaw movably supported on the first jaw for selectively moving between an open position and a closed position with respect to the first jaw. The surgical instrument is equipped with
With the elongated shaft defining the shaft axis,
A closing means for selectively moving the second jaw from the open position to the closed position, such as selectively moving the second jaw from the closed position to the open position. Further configured, closing means and
A joint that connects the surgical end effector to the elongated shaft, whereby the surgical end effector selectively with respect to the elongated shaft centered on the joint motion axis that traverses the shaft axis. The joint is capable of joint movement, and the joint has a locked configuration in which the surgical end effector is prevented from moving about the joint movement axis, and the surgical end effector has the joint movement axis. The joint locking mechanism comprises a joint locking mechanism configured to move from an unlocked configuration capable of joint movement in the center, wherein the closing means moves the second jaw from the open position to the closed position. A joint that moves from the unlocked configuration to the locked configuration when moved towards.
A surgical instrument further comprising means for applying joint motion to the surgical end effector when the joint locking mechanism is in the unlocked configuration. 11. The surgical instrument of claim 11 , wherein the first jaw comprises an elongated channel configured to operably support a surgical staple cartridge therein, and the second jaw comprises an anvil. The closing means moves in the closing direction in order to move the second jaw from the open position toward the closed position.
The joint locking mechanism comprises at least one locking member, the at least one locking member having a first position corresponding to the unlocked configuration, and the at least one locking member having the first jaw. Movable between the mounting portion and the distal end portion of the elongated shaft and a second position that frictionally engages, the at least one locking member is the first movement of the closing means in the closing direction. 11. The surgical instrument according to claim 11 , which operably interfaces with the closing means so as to move the at least one locking member from the first position to the second position.

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